JP2016161409A - Radar system and radar signal processing method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To output the accurate position and speed of a target.SOLUTION: In a radar system of an embodiment, a transmission-reception radar device is configured to transmit-receive a radar wave by an FMICW, and one or more reception radar device is configured to acquire position information and transmission information on the transmission-reception radar device to receive a reflection wave of the radar wave to be transmitted from the transmission-reception radar device. The transmission-reception radar device and the reception radar device are configured to implement a range finding and measure a speed for an object target by means of MRAV processing from a sweep modulation component of a reception signal, respectively; obtain a frequency deviation due to a Doppler frequency of the object target from a single frequency modulation component of the reception signal; correct a value having the speed measured on the basis of the frequency deviation; and output the corrected value together with the value having the speed measured. An integration processing device is configured to output a distance, speed and angle of the target determined to be mutually identical on the basis of results of the range finding, measured speed and measurement angle of a detection target obtained by the transmission-reception radar device and the reception radar device, respectively as target information.SELECTED DRAWING: Figure 1

Description

  The present embodiment relates to a radar system that detects a target position and velocity by a multistatic method and a radar signal processing method thereof.

  Recently, in a radar system, one or a plurality of radar wave transmitting devices and a plurality of receiving radar devices are arranged apart from each other, and a multi-static method is used to detect the target position and velocity based on the observation results of each receiving radar device. A method has been developed. In this type of radar system, there is a problem that an error in the observation position becomes large when time synchronization between the separated radar wave transmitting apparatus and the receiving radar apparatus is insufficient. In addition, when a deviation occurs in the center frequency of the local signal between the radar wave transmitting apparatus and the receiving radar apparatus, the speed accuracy by the Doppler frequency is insufficient.

Bistatic radar Doppler frequency, M. Skolnik, Radar Handbook 3rd, McGraw hill, pp23.14-23.17 (2008) Phase monopulse (phase comparison monopulse) method, IEICE, revised radar technology, pp.262-264 (1996) Amplitude monopulse (amplitude comparison monopulse) system, IEICE, revised radar technology, pp.260-262 (1996) Taylor distribution, IEICE, Revised radar technology, pp.134-135 (1996) FMICW, FRED E. Nathanson, 'RADAR DESIGN PRINCIPLES second edition', Scitech, p452-454 (1999) FMCW, IEICE, revised radar technology, p.274-275 (1996)

JP 2009-121902 A

  As described above, in the conventional multistatic radar system, the distance accuracy and speed accuracy are insufficient due to the effects of time synchronization deviation and center frequency deviation between the radar wave transmitting device and the receiving radar device. There was a problem.

  The present embodiment has been made in view of the above problems, and a radar system that reduces the influence of a time synchronization shift and a center frequency shift between a radar wave transmission device and a reception radar device, and outputs a highly accurate position and velocity. An object of the present invention is to provide a radar signal processing method.

  In order to solve the above problem, the radar system according to the present embodiment transmits at least one pulse wave of at least one single frequency and at least one pulse wave of up sweep or down sweep having a frequency sweep gradient as a radar wave. And at least one transmission device and the transmission device are arranged at least at different positions, and acquire at least information on the position of the transmission device, transmission beam direction, transmission frequency, and transmission waveform, and are transmitted from the transmission device. Nr units (Nr ≧ 1) of receiving radar devices that receive the reflected wave of the radar wave, and an integrated processing device that integrates the output of the receiving radar device, and the transmitting device targets the radar wave as a target target In accordance with the Doppler frequency, the transmission is selected and transmitted so that the influence of the clutter is reduced. A reflected wave of a da wave is received, and ranging and speed measurement are performed on the target target by MRAV (Measurement Range After measurement Velocity) processing from the pulse wave component of the received signal, and from the continuous wave component of the received signal A frequency shift is obtained from the target Doppler frequency, the speed-measured value is corrected based on the frequency shift, and is output together with the distance-measured value, and the integrated processing device is provided for each of the Nr receiving radar devices. The target distance, speed, and angle determined to be identical to each other based on the distance measurement, speed measurement, and angle measurement results of the detection target obtained in step S5 are output as target information.

1 is a block diagram showing a configuration of a radar system according to a first embodiment. The wave form diagram which shows the modulation wave by FMICW by which pulse modulation of the CW signal and the sweep signal produced | generated as a radar transmission signal in 1st Embodiment. 6 is a flowchart showing a procedure of distance measurement / speed measurement by MRAV according to the first embodiment. FIG. 3 is a timing chart for explaining a sweep signal transmission cycle according to the first embodiment. The frequency distribution figure which shows (SIGMA) and (DELTA) beam distribution on the frequency axis by the phase monopulse of 1st Embodiment. The frequency distribution figure which shows a mode that the target frequency is extracted from the (SIGMA) and (DELTA) beam on the frequency axis by the phase monopulse of 1st Embodiment. The frequency distribution figure and characteristic figure for demonstrating the error voltage calculation process by the phase monopulse of 1st Embodiment. The figure for demonstrating the sweep process in the unit cycle of 1st Embodiment. The figure which shows the spread direction of the clutter with respect to each of the up / down sweep of 1st Embodiment. The figure which shows the positional relationship of a transmitter, a receiver, and a clutter reflection point when the transmission side and receiving side of 1st Embodiment have a velocity vector. The block diagram which shows the structure of the radar system which concerns on 2nd Embodiment. The wave form diagram for demonstrating the time synchronous process of 2nd Embodiment. The conceptual diagram for demonstrating the method of calculating a target position by the multistatic system by one transmission / reception radar apparatus and two reception radar apparatuses after the time synchronization and center frequency correction | amendment of 2nd Embodiment. The conceptual diagram for demonstrating the method of calculating a target position by the multistatic system by one transmission / reception radar apparatus and one receiving radar apparatus after the time synchronization and center frequency correction of 2nd Embodiment. The conceptual diagram for demonstrating the method of calculating a target position by the multistatic system by one transmission radar apparatus and two receiving radar apparatuses after the time synchronization and center frequency correction | amendment of 2nd Embodiment.

  Hereinafter, embodiments will be described with reference to the drawings. In the description of each embodiment, the same portions are denoted by the same reference numerals, and redundant description is omitted.

First Embodiment (Frequency / Speed Correction by MRAV and CW)
The radar system according to the first embodiment will be described with reference to FIGS.

  FIG. 1 is a block diagram showing a system configuration of the radar system, FIG. 2 is a waveform diagram showing a modulated wave by FMICW (Frequency Modulated Interrupted Continuous Wave, see Non-Patent Document 5), and FIG. 3 is a procedure for distance measurement and speed measurement by MRAV. 4 is a timing diagram for explaining a sweep signal transmission cycle, FIGS. 5A and 5B are frequency distribution diagrams showing Σ and Δ beam distributions on the frequency axis by phase monopulses, and FIG. Is a frequency distribution diagram showing how the target frequency is extracted from the Σ and Δ beams on the frequency axis by the phase monopulse, and FIGS. 7A and 7B are frequencies for explaining the error voltage calculation processing by the phase monopulse, respectively. Distribution diagram and characteristic diagram, FIGS. 8A and 8B are conceptual diagrams for explaining the sweep process in a unit cycle, and FIG. 9 is an up / down diagram. FIG. 10 is a diagram showing the positional relationship between the transmission side device, the reception side device, and the clutter reflection point when the transmission side and the reception side have velocity vectors.

  The radar system shown in FIG. 1 includes one transmission / reception radar apparatus A and a plurality (two in this case) of reception radar apparatuses arranged at positions where the reflected wave of the radar signal transmitted from the transmission / reception radar apparatus A can be received. B and C are provided.

  In the transmission / reception radar apparatus A, the antenna A1 is a phased array antenna in which a plurality of antenna elements are arranged to form a large aperture array. In the transmitter / receiver A2, the transmitter / receiver A21 includes a pulse wave modulated by a single frequency shown in FIG. 2 and a pulse wave (FMICW: Frequency Modulated Interrupted Continuous Wave, frequency modulated by an up sweep or a down sweep having a frequency sweep gradient). The non-patent document 5)) is generated, and the beam control unit A22 directs the beam transmitted by the antenna A1 in the target direction. The transmission / reception unit A21 receives the signal reflected from the target, demodulates it with a local signal using a modulated wave signal similar to the transmission waveform, and converts the frequency to baseband. The sweep reception signal obtained in this way is sent to the signal processor A3.

  The reception radar devices B and C have the same configuration except for the transmission function of the transmission / reception radar device A. That is, in the receiving radar apparatuses B and C, the antennas B1 and C1 are receiving phased array antennas in which a plurality of antenna elements are arranged to form a large aperture array, and are specified to be repeatedly transmitted from the transmitting / receiving radar apparatus A. A reflected wave of a frequency radar signal is received. In the receivers B2 and C2, in the receiving units B21 and C21, the signals received by the antennas B1 and C1 are subjected to phase control in accordance with instructions from the beam control units B22 and C22 to synthesize a received beam in an arbitrary direction. The PRF received signal is formed and frequency-converted to baseband. The sweep reception signals obtained in this way are sent to the signal processors B3 and C3 and distributed to the Σ beam system and the Δ beam system in the same manner as the transmission / reception radar apparatus A, and the distance measurement and angle measurement at the CFAR detection target are performed. An operation is performed.

  The signal processor A3 of the transmission / reception radar apparatus A and the signal processors B3 and C3 of the reception radar apparatuses B and C have the same configuration, and distribute the input sweep reception signal to the Σ beam system and Δ beam system. . The sweep reception signal input to the Σ beam system is converted into a digital signal by AD (Analog-Digital) converters A31, B31, and C31, and the Σ for FFT by the Σ · Δ weight multipliers A32, B32, and C32 for FFT. Weights and Δ weights are multiplied, converted into frequency domain signals by FFT processing units A33, B33, and C33, and detection of cells (time samples) exceeding a predetermined threshold is executed by CFAR detection units A34, B34, and C34. . The cell sweep signal detected by the CFAR detection cell is sent to MRAV (Measurement Range after Measurement Velocity) processing units A35, B35, and C35, and the CW signal is sent to CW speed calculation units A36, B36, and C36. The MRAV processing units A35, B35, and C35 perform target distance measurement / speed measurement calculations from the input sweep signal, and the CW speed calculation units A36, B36, and C36 perform target Doppler speed calculations from the input CW signal. The target distance measurement / speed measurement results obtained by the MRAV processing units A35, B35, C35 are speed-corrected by the speed correction units A37, B37, C37 based on the Doppler speeds obtained by the CW speed calculation units A36, B36, C36. Are sent to the angle measuring sections A38, B38, C38.

  On the other hand, the PRF reception signal input to the Δ beam system is converted into a digital signal by the AD conversion units A39, B39, and C39, and the FFT Σ weight multipliers A3a, B3a, and C3a have the FFT Σ weight and Δ weight. The signals are multiplied, converted into frequency domain signals by the FFT processing units A3b, B3b, and C3b, and sent to the angle measuring units A38, B38, and C38. The angle measuring units A38, B38, and C38 perform angle calculation based on the distance measurement / speed measurement calculation results obtained by the MRAV processing of the Σ beam system and the Δ detection signal obtained by the Δ beam system. The distance measurement, speed measurement, and angle measurement results of the detection targets obtained by the radar apparatuses A, B, and C are sent to the integrated processing apparatus D, and the target distance, speed, and angle determined to be identical to each other are output as target information. Is done.

  In the above configuration, a processing operation for reducing the influence of a time synchronization shift, a center frequency shift, and the like between the radar apparatuses A, B, and C will be described with reference to FIGS.

  First, the distance measurement / speed measurement procedure by MRAV will be described with reference to FIG. Here, as shown in FIG. 4, the transmission signal waveform is described in the case of two down sweeps at the time interval T12. However, as a down-up sweep continuous waveform, only one of the down sweeps or only the up sweeps is shown. It may be when processing. For simplicity, the case of two sweeps will be described, but it goes without saying that the same applies to N (N ≧ 2) times.

In FIG. 3, when the signals 1 and 2 for continuously sweeping the frequency shown in FIG. 4 are transmitted and received (step S10), the sample sequence of the sweeps 1 and 2 is subjected to FFT processing to perform monopulse calculation (step S11), and threshold detection is performed. The beat frequency fp having the peak signal is extracted and stored in (Step S12) (Step S13). When the processing of the sweep signals 1 and 2 is completed in steps S14 and S15, the relative distances R1 and R2 are calculated from the following equations using the beat frequencies fp of the sweep 1 and the sweep 2, and the velocity v is calculated (step S16). .

Next, the target distance R and speed V are calculated by the following simultaneous equations using the beat frequency fp and the speed v (steps S16 and S17).

  The above method is called a MRAV (Measurement Range after Measurement Velocity) method (refer to Patent Document 1) because the distance is calculated after the velocity is calculated based on the beat frequency.

  After calculating the speed v and the distance R by the above processing, it is stored as target information (step S18). The above steps S16 to S18 are performed for all targets (steps S19 and S20), and the process proceeds to the next cycle.

  Here, there is a method for improving the observation accuracy of the beat frequency. In particular, when the beat frequency is within the same bank between sweeps, such as when the target speed is low, it is necessary to calculate the beat frequency accurately within the same bank. As a countermeasure against this, as shown in FIGS. 5A, 5B, and 6, the phase monopulse used on the angle axis (see Non-Patent Document 2) is used as the beat frequency on the frequency axis so that the frequency in the bank can be accurately set. This is an observation method. The procedure is shown below.

(1) Frequency axis monopulse Using the extracted target frequency Σ (fp) and Δ (fp), an error voltage ε of the following equation is calculated (see FIGS. 7A and 7B).

(2) Beat frequency extraction The error voltage reference value ε0 calculated using the previously stored frequency characteristics of Σ and Δ is tabulated (corresponding to ε0 and frequency f), and using the reference table, A highly accurate beat frequency fp value is extracted from the observed value ε.

(3) Calculation of distance to target and speed Using the beat frequency fp, the distance R and speed V are calculated by the procedure shown in FIG. 3 (the calculation procedure according to (1) and (2)). In addition, about weighting, in addition to -1 or 1, you may multiply weights, such as a tailor weight (refer nonpatent literature 4), in order to reduce a side lobe.

  Although the above processing has been described for the case of two sweeps, it may generally be a case of multiple sweeps. As an example, the case of four sweeps is shown in FIGS. When calculating the speed from the gradient of the beat frequency at four points with respect to the sweep time, linear fitting or the like may be used.

  Moreover, although the case of the phase monopulse on the frequency axis was described as the MRAV technique, a method of obtaining a highly accurate beat frequency by amplitude monopulse calculation (see Non-Patent Document 3) using an adjacent bank may be used.

  Next, the sweep selection method is described. In the FMICW, when the clutter spreads in the distance direction, the beat frequency component differs depending on each distance. Therefore, unlike the case of the CW signal, as shown in FIGS. 9A, 9B, and 9C, the clutter Will spread out. This is because the sweep signal is observed as a beat frequency in which a time delay occurs according to the distance of the reflection point and the frequency is shifted by that amount (see Non-Patent Document 6). This spreading direction is different between the down sweep shown in FIG. 9B (the direction in which the Doppler frequency is high) and the up sweep shown in FIG. 9C (the direction in which the Doppler frequency is low). For this reason, according to the relationship between the target signal and the clutter on the frequency axis, either down sweep or up sweep may be selected so that the target is not buried in the clutter.

As shown in FIG. 10, the frequency of the main lobe clutter can be calculated by the following equation as a general equation when the transmission side and the reception side have velocity vectors (see Non-Patent Document 1).

  When the transmitting side and the receiving side are fixed, the clutter center frequency is 0, and the spectrum has a Doppler frequency dispersion according to the speed dispersion of the clutter.

  From the relationship between the frequency fc of the main lobe clutter and the observed target Doppler frequency ft, when fc ≧ ft, a down sweep that spreads in the direction in which the clutter Doppler frequency increases is high, and when fc <ft, the clutter Doppler frequency is Select an up sweep that extends in the lower direction. The clutter frequency calculation and sweep selection are performed by the integration process D for grasping the target Doppler frequency, and the sweep direction is controlled by the beam control units A22, B22, and C22. If the target Doppler frequency and clutter frequency can be grasped, the beam control units A22, B22, and C22 may be controlled by selecting a sweep using, for example, the speed correction units A37, B37, and C37.

With the above method, even in a clutter environment, a sweep that is not affected by clutter can be selected according to the relationship with the Doppler frequency with the target, and the target speed can be observed by MRAV. The Doppler frequency is calculated by the following equation: be able to.

On the other hand, the Doppler frequency fdcw can be extracted by detecting the FFT result of a single frequency CW signal without a sweep gradient by performing CFAR processing. This fdcw includes an error due to a difference between the center frequencies of transmission and reception. In order to correct this, Doppler frequency error can be corrected by correcting fdmrav as a correct value and correcting the difference from fdcw as the correction frequency fdcal.

When fdcal is determined, the observed Doppler frequency fdm can be corrected thereafter, and the Doppler frequency fd having no error due to the center frequency can be calculated.

  In addition, a highly accurate target speed can be calculated from the corrected Doppler speed by the same relationship as the equation (5).

  The monopulse calculation of the angle axis is performed on the cells detected by the CFAR processing by the CFAR processing units A34, B34, and C34 using the Σ signal. In addition, the angle measuring units A38, B38, and C38 perform angle measurement using the beam outputs Σ and Δ to calculate the Az angle and the EL angle.

  As described above, in the radar system according to the first embodiment, using one transmission radar apparatus A and two reception radar apparatuses B and C, the position of the transmission radar apparatus A, the transmission beam direction θ, the transmission The frequency, transmission waveform, etc. are transmitted to the receiving radar devices B and C through a communication line as necessary, and the transmission radar device A performs up sweep or down sweep having at least one single frequency pulse wave and frequency sweep gradient. At least one pulse wave (FMICW) is selected and transmitted according to the target Doppler frequency so that the influence of the clutter is small, and the speed measured by the MRAV processing in the receiving radar device and the Doppler frequency of a single frequency Calculates and corrects the frequency deviation, and outputs the speed and distance. Thus, since the target speed is observed using the change in relative distance by MRAV processing and the target speed (Doppler) is observed by CW, the center frequency difference (target speed difference) can be corrected.

Second Embodiment (Time Synchronization)
In this embodiment, since the radar apparatuses are separated from each other, a method for adjusting time synchronization will be described. The system is shown in FIG. 11, the same parts as those in FIG. 1 are denoted by the same reference numerals, and different parts will be described here.

  This embodiment differs from the first embodiment in that the receiving radar devices B and C include time synchronization control units B3c and C3c, and are swept into the frequency domain by the Σ series FFT processing units B33 and C33. The output is captured to determine the start time of the sweep, and based on the determination result, the start time of the sweep frequency is changed through the timing controllers B23 and C23 provided in the receivers B2 and C2, and the time error is corrected ( Time synchronization).

  In the above configuration, a time synchronization method will be described with reference to FIG. Here, the signal waveform is described as an up (down) sweep waveform as shown in the figure, but a method of selecting either sweep by combining an up sweep and a down sweep may be used.

On the receiving radar devices B and C side, the transmission waveform of the transmission / reception radar device A is known, but a time error occurs even if the time is synchronized with the GPS and the atomic clock. Therefore, with respect to the start time of the modulation side sweep frequency shown in FIG. 12A, the start time Δt of the demodulation side sweep frequency is changed Nt as shown in FIG. ), The target signal after each FFT is detected, and Δtsel which is the maximum value is selected. This Δtsel includes a time delay difference and a time shift between the transmission radar device, the target, and the reception radar device.

Using this selected Δtsel, Δterr is calculated using the relationship of equation (8), and the time of the receiving radar device is corrected by the following equation.

Using this time tcal, the processing of the first embodiment is performed to calculate the target distance and speed.

  A method of calculating the target position by the multistatic method after the above time synchronization and center frequency correction will be described with reference to FIGS.

  FIG. 13 shows how the target presence area is measured in the case of one transmission / reception radar apparatus (RDR1) and two reception radar apparatuses (RDR2, RDR3). When two reception radar devices are provided in this way, the same processing as the transmission / reception radar device RDR1 is performed for the reception radar devices RDR2 and RDR3, thereby transmitting RDR1 to reception RDR1, transmission RDR1 to reception RDR2, and transmission RDR1 to reception RDR3. R1, R12, and R13 can be obtained as the respective distances up to.

Using these distances R1, R12, and R13, a target position (x, y, z) is calculated as shown in FIG. This method is an intersection of the spherical surface of R1 and the elliptical spherical surfaces of R12 and R13. Among them, an intersection is calculated by setting a predetermined range as a target existence area around a three-dimensional position calculated from the distance, AZ angle, and EL angle observed by the transmission / reception radar apparatus. If the solution cannot be calculated, the points in the target existence area are divided into (x, y, z) grid points, and the point (x, y, z) at which the value of the following expression is the minimum at each point is calculated. To do.

When there is one transmission / reception radar apparatus and one reception radar apparatus, the three-dimensional position cannot be specified by the intersection line of the spherical surface R1 and the elliptical spherical surface R12 as shown in FIG. In this case, in the target existence area calculated from the distance and the angle measurement value of the transmission / reception radar apparatus, a common area with the range based on the angle measurement value of the reception radar apparatus is extracted as the target existence area, and the target existence area Among the lattice points (x, y, z), (x, y, z) is output as an observation position according to the following equation according to the observation distance of transmission RDR1 to reception RDR2.

As another example, as shown in FIG. 15, a case where there is one radar wave transmission device and two reception radar devices will be described. In this example, since there is no transmission / reception radar device, the processing shown in FIG. 13 cannot be performed, and only the frequency correction of the first embodiment is performed. In this case, since the center point of the target existence area can be calculated from the intersection of the AZ / EL angles observed from the two receiving radar devices at known positions, the lattice point of (x, y, z) is centered on the center point. And the position of the grid point may be selected by the following equation.

  The method of the present embodiment is a method of improving the accuracy of the target position and target speed by performing a center frequency shift and time synchronization between multi-static devices, and calculating the position and speed using the corrected observation values. If it is a method to do this, a method of calculating a position only from the AZ / EL angle measurement value from the receiving device may be used as a method of not setting a grid point.

  That is, in the second embodiment, the FFT output when the FFT (Fast Fourier Transform) start time is changed in a plurality of ways in at least one transmission / reception device 1 and Nr (Nr> = 1) reception radar devices. The maximum start time is selected and the time is synchronized, and the frequency deviation is calculated and corrected from the value measured by MRAV processing and the single frequency Doppler frequency, and the speed and distance are output. For this reason, time can be synchronized by extracting the sweep start time which becomes the maximum value of the FFT output by the sweep signal.

  As is clear from the above, the radar system of the present embodiment can realize a multistatic radar system that can correct (tune) the center frequency difference between the radars and synchronize time.

  In the above embodiment, a CW signal or a sweep signal is used, and the target position and speed can be observed together with Doppler frequency correction and time synchronization. However, it goes without saying that this method may be used only during cooperative operation, and in target observation, for example, transmission / reception using pulses by chirp modulation may be performed.

  In addition, the present embodiment is not limited to the above-described embodiment as it is, and can be embodied by modifying the components without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

A ... transmission / reception radar device, A1 ... antenna, A2 ... transmission / reception unit, A21 ... transmission / reception unit, A22 ... beam control unit, A3 ... signal processor, A31, A39 ... AD conversion unit, A32, A3a ... west multiplication unit, A33, A3b ... FFT processing unit, A34 ... CFAR detection unit, A35 ... MRAV processing unit, A36 ... CW speed calculation unit, A37 ... speed correction unit, A38 ... angle measuring unit,
B ... reception radar device, B1 ... antenna, B2 ... receiver, B21 ... reception unit, B22 ... beam control unit, B23 ... timing control unit, B3 ... signal processor, B31, B39 ... AD conversion unit, B32, B3a ... West multiplier, B33, B3b ... FFT processor, B34 ... CFAR detector, B35 ... MRAV processor, B36 ... CW speed calculator, B37 ... Speed corrector, B38 ... Angle detector,
C ... Receiving radar device, C1 ... antenna, C2 ... receiver, C21 ... receiving unit, C22 ... beam control unit, C23 ... receiving demodulating unit, C3 ... signal processor, C31, C39 ... AD converting unit, C32, C3a ... West multiplier, C33, C3b ... FFT processor, C34 ... CFAR detector, C35 ... MRAV processor, C36 ... CW speed calculator, C37 ... speed corrector, C38 ... angle measuring unit, D ... integrated processor.

Claims (4)

At least one transmitter for transmitting at least one single-frequency pulse wave and at least one up-sweep or down-sweep pulse wave having a frequency sweep gradient as a radar wave;
Nr that is arranged at least at a position different from that of the transmission device, obtains at least information on the position of the transmission device, a transmission beam direction, a transmission frequency, and a transmission waveform, and receives a reflected wave of a radar wave transmitted from the transmission device A receiving radar device (Nr ≧ 1);
An integrated processing device for integrated processing of the output of the receiving radar device,
The transmission device selects and transmits the radar wave according to the Doppler frequency of the target target so that the influence of clutter is reduced,
The Nr receiving radar devices receive the reflected wave of the radar wave, and measure the target target by MRAV (Measurement Range After Measurement Velocity) processing from the pulse wave component having the frequency sweep gradient of the received signal. And measuring the speed, obtaining a frequency deviation from the Doppler frequency of the target target from the pulse wave component of the single frequency of the received signal, correcting the measured value based on the frequency deviation, and measuring the distance Output with the value,
The integrated processing device outputs, as target information, the target distance, speed, and angle determined to be the same based on the distance measurement, speed measurement, and angle measurement results of the detection target obtained by each of the Nr receiving radar devices. Radar system. At least one transmitting / receiving radar apparatus that transmits at least one pulse wave of at least one single frequency and an up sweep or down sweep having a frequency sweep gradient as a radar wave and receives a reflected wave of the radar wave When,
Arranged at least at a position different from the transmission / reception radar apparatus, obtains information on at least the position, transmission beam direction, transmission frequency, transmission waveform of the transmission / reception radar apparatus, and reflects the reflected wave of the radar wave transmitted from the transmission / reception radar apparatus. Nr units (Nr ≧ 1) of receiving radar devices for receiving;
An integrated processing device that performs integrated processing on outputs of the at least one transmission / reception radar device and the Nr reception radar devices;
The transmission / reception radar device selects and transmits the radar wave according to the Doppler frequency of the target target so that the influence of clutter is reduced,
The transmitting / receiving radar device and the Nr receiving radar devices receive the reflected wave of the radar wave, and perform MRAV (Measurement Range After Measurement Velocity) processing from the component of the pulse wave having the frequency sweep gradient of the received signal. Ranging and measuring the target target, obtaining a frequency shift from the Doppler frequency of the target target from the single-frequency pulse wave component of the received signal, and correcting the measured value based on the frequency shift , Output together with the measured value,
The Nr reception radar devices perform FFT (Fast Fourier Transform) processing on a received signal at a plurality of start times, select a start time at which the FFT output is maximized, and control the reception timing. Time synchronization,
The integrated processing device is configured such that the target distance, velocity, and angle determined to be identical to each other based on the distance measurement, velocity measurement, and angle measurement results of the detection target obtained by the transmission / reception radar device and the Nr reception radar devices, respectively. System that outputs as target information. At least one transmitter for transmitting at least one single-frequency pulse wave and at least one up-sweep or down-sweep pulse wave having a frequency sweep gradient as a radar wave;
Nr that is arranged at least at a position different from that of the transmission device, obtains at least information on the position of the transmission device, a transmission beam direction, a transmission frequency, and a transmission waveform, and receives a reflected wave of a radar wave transmitted from the transmission device A receiving radar device (Nr ≧ 1);
Applied to a radar system comprising an integrated processing device for integrated processing of the output of the receiving radar device;
By the transmission device, the radar wave is selected and transmitted so as to reduce the influence of clutter according to the Doppler frequency of the target,
The Nr reception radar devices receive the reflected wave of the radar wave, and measure the target target by MRAV (Measurement Range After Measurement Velocity) processing from the pulse wave component having the frequency sweep gradient of the received signal. And measuring the speed, obtaining a frequency deviation from the Doppler frequency of the target target from the pulse wave component of the single frequency of the received signal, correcting the measured value based on the frequency deviation, and measuring the distance Output with the value,
The integrated processing device outputs, as target information, the target distance, velocity, and angle determined to be identical to each other based on the distance measurement, velocity measurement, and angle measurement results of the detection target obtained by each of the Nr receiving radar devices. A radar signal processing method for a radar system. At least one transmitting / receiving radar apparatus that transmits at least one pulse wave of at least one single frequency and an up sweep or down sweep having a frequency sweep gradient as a radar wave and receives a reflected wave of the radar wave When,
Arranged at least at a position different from the transmission / reception radar apparatus, obtains information on at least the position, transmission beam direction, transmission frequency, transmission waveform of the transmission / reception radar apparatus, and reflects the reflected wave of the radar wave transmitted from the transmission / reception radar apparatus. Nr units (Nr ≧ 1) of receiving radar devices for receiving;
Applied to a radar system comprising an integrated processing device for integrated processing of the output of the receiving radar device;
The transmission / reception radar device selects and transmits the radar wave according to the Doppler frequency of the target target so that the influence of the clutter is reduced,
The reflected wave of the radar wave is received by the transmission / reception radar apparatus and the Nr reception radar apparatuses, and the received signal is subjected to MRAV (Measurement Range After Measurement Velocity) processing from the pulse wave component having the frequency sweep gradient. Ranging and measuring the target target, obtaining a frequency shift from the Doppler frequency of the target target from the single-frequency pulse wave component of the received signal, and correcting the measured value based on the frequency shift , Output together with the measured value,
The Nr reception radar devices perform FFT (Fast Fourier Transform) processing on a received signal at a plurality of start times, select a start time at which the FFT output is maximized, and control the reception timing. Time synchronization,
Target distance, velocity, and angle determined to be the same by the integrated processing device based on the distance measurement, velocity measurement, and angle measurement results of the detection target obtained by the transmission / reception radar device and the Nr reception radar devices, respectively. Radar signal processing method for a radar system that outputs a target as target information.

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