JP2020041878A - Moving body detection device - Google Patents

Abstract

To provide a low-cost moving body detection device with low power consumption that can obtain at least direction information and rotation information of a moving body.SOLUTION: The moving body detection device has: a transmission antenna 11 for emitting a transmission wave toward a moving body; an array antenna 12 having a plurality of first receiving antennas for receiving a reflection wave from the moving body; a second receiving antenna 13 for receiving the reflection wave; a transmission part 30 for generating a transmission signal and supplying it to the transmission antenna; a first receiving part 40 for generating a first signal used to obtain direction information of the moving body from the reception signal of the reflection wave received by the array antenna; and a second receiving part 41 for generating a second signal used to obtain rotation information of the moving body from the reception signal of the reflection wave received by the second receiving antenna.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a moving object detection device.

  2. Description of the Related Art Conventionally, a device that radiates radio waves such as microwaves toward a moving object to be detected and acquires information on the speed of the moving object (hereinafter referred to as speed information) based on a change in the frequency of a reflected wave received from the moving object. It has been known. The device is called a Doppler sensor.

  In addition, by receiving a reflected wave from a moving object with an array antenna in which a plurality of receiving antennas are arranged and applying processing based on a beamformer method or the like to a received signal, information on the direction of the moving object (hereinafter referred to as direction information) ) Is known (for example, see Patent Document 1).

  Further, it is known to acquire information on rotation of a moving body such as a golf ball (hereinafter referred to as rotation information) based on a modulation component included in a received signal (for example, see Patent Document 2).

  However, when the moving object is a sphere such as a ball, since the non-uniformity of the shape is small, the modulation component due to the rotation is small, so that it is not easy to obtain the rotation information. For this reason, the modulation component is expanded by, for example, marking the ball with a metal tape or the like.

JP-A-2015-114143 JP 2006-508768 A

  Although one reception antenna may be used to acquire the rotation information of the moving object, a moving object detection device that can acquire both the direction information and the rotation information acquires both using the reception signal from the array antenna. It is possible.

  When the direction information and the rotation information are obtained by using the array antenna in this manner, the modulation component due to the rotation of the moving object is small as described above, so that the reception channel for each reception antenna of the array antenna has high sensitivity. Need to be

  However, if the sensitivity of all the receiving channels is increased to acquire the rotation information, manufacturing costs and power consumption increase.

  An object of the present invention is to provide a low-cost and low-power-consumption mobile object detection device capable of acquiring at least direction information and rotation information of a mobile object.

  The disclosed technology relates to a transmitting antenna that radiates a transmitting wave toward a moving object, an array antenna having a plurality of first receiving antennas that receive a reflected wave from the moving object, and a second receiving antenna that receives the reflected wave A transmitting unit that generates a transmission signal and supplies the transmission signal to the transmission antenna; and a first unit that generates a first signal used for acquiring direction information of the moving object from a reception signal of the reflected wave received by the array antenna. A mobile object detection device comprising: a reception unit; and a second reception unit that generates a second signal used for acquiring rotation information of the mobile object from a reception signal of the reflected wave received by the second reception antenna. .

  Advantageous Effects of Invention According to the present invention, it is possible to provide a low cost and low power consumption mobile object detection device capable of acquiring at least direction information and rotation information of a mobile object.

FIG. 2 is a block diagram illustrating a schematic configuration of a moving object detection device. It is a figure which defines the position of the mobile object based on the mobile object detection device. FIG. 2 is a circuit diagram illustrating a configuration of a front end circuit. FIG. 3 is a block diagram illustrating a configuration of a signal processing unit. FIG. 4 is a diagram illustrating coordinates of a rotating moving object with respect to the moving object detection device. FIG. 4 is a diagram illustrating a configuration for increasing the sensitivity of a first receiving unit.

  Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and redundant description may be omitted.

[Schematic configuration]
A configuration of a moving object detection device according to an embodiment of the present invention will be described. The moving object detection device according to the present embodiment is a radar device that detects information related to the motion of a moving object as an object by an FM-CW (Frequency Modulated Continuous Wave) method.

  FIG. 1 is a block diagram illustrating a schematic configuration of the moving object detection device 10. FIG. 2 is a diagram that defines the position of the moving object 20 with respect to the moving object detection device 10.

  As shown in FIG. 1, the mobile object detection device 10 includes a transmitting antenna 11, an array antenna 12 having a plurality of first receiving antennas 12a, a second receiving antenna 13, a front end circuit 14, a signal processing unit 15 , A control unit 16, an operation unit 17, and a communication unit 18.

  The moving body 20 is, for example, a substantially spherical ball used for baseball, golf, tennis, and the like. The moving body 20 is an object launched from a certain initial position, and moves in the air while performing translational movement and rotational movement. Here, the translational movement is a movement in a direction in which the center of gravity of the moving body 20 moves. The rotational motion is a motion around the center of gravity of the moving body 20, that is, a so-called spin motion.

  The transmission antenna 11 generates a transmission wave 21 and radiates it toward a moving body 20 moving in space. The transmission wave 21 is, for example, a sinusoidal continuous wave having a constant frequency, for example, a microwave.

  The moving body 20 receives and reflects the transmission wave 21. Due to the Doppler effect, the reflected wave 22 undergoes frequency modulation (Doppler shift) in accordance with the movement (translational movement and rotational movement) of the moving body 20. The reflected wave 22 undergoes amplitude modulation due to a change in the radar reflection cross-sectional area due to the shape and movement of the moving body 20.

  The array antenna 12 has a plurality of first receiving antennas 12a arranged therein. The array antenna 12 is preferably arranged near the transmission antenna 11. The array antenna 12 receives the reflected wave 22 from the moving body 20. The signal received by the array antenna 12 is used to acquire information (direction information) on the direction of the moving body 20. Here, the direction of the moving object 20 is the arrival direction of the reflected wave 22 to the moving object detecting device 10, and specifically, as shown in FIG. 2, based on the position of the moving object detecting device 10. It is represented by the azimuth angle θ and the elevation angle δ of the moving body 20.

  The array antenna 12 has a plurality of first receiving antennas 12a arranged in at least two directions in order to estimate the azimuth angle θ and the elevation angle δ. The plurality of first receiving antennas 12a are arranged, for example, in a cross shape or an L shape. The arrangement pattern of the plurality of first receiving antennas 12a may be a two-dimensional square lattice or the like.

The signal received by the array antenna 12 is used for obtaining information (speed information) on the speed of the moving body 20. Here, the estimated speed of the moving object 20 is a speed along the receiving direction of the reflected wave 22. Specifically, as shown in FIG. 2, the moving object detecting device 10 and the moving object 20 are connected. The velocity V _rad in the linear direction. The speed V _rad is different from the true speed V of the moving body 20 in the translation direction.

  The second receiving antenna 13 receives the reflected wave 22 from the moving body 20. The signal received by the second receiving antenna 13 is used to acquire information (rotation information) about the rotation of the moving body 20.

  The front end circuit 14 generates a transmission signal to be supplied to the transmission antenna 11 and performs detection from the reception signals received by the array antenna 12 and the second reception antenna 13.

  The signal processing unit 15 performs signal processing relating to estimation of motion information (direction information, speed information, rotation information, and the like) of the moving body 20 based on the detection signal generated by the front end circuit 14. The signal processing unit 15 includes a CPU (Central Processing Unit), a memory, and the like.

  The control unit 16 controls operations of the front-end circuit 14 and the signal processing unit 15 based on an operation signal from the operation unit 17 and the like. The communication unit 18 is connected to a display device (not shown) by wire or wirelessly, and transmits information on the moving body 20 obtained by the signal processing unit 15 under the control of the control unit 16.

[Configuration of front-end circuit]
Next, the configuration of the front end circuit 14 will be described.

  FIG. 3 is a circuit diagram illustrating the configuration of the front end circuit 14. As shown in FIG. 3, the front-end circuit 14 includes a transmission unit 30, a first reception unit 40, and a second reception unit 41. The first receiver 40 includes a multiplexer 42 and a first synchronous detector 50. The second receiving section 41 includes a second synchronous detection section 60.

  The transmission unit 30 includes a transmitter 31, a frequency multiplier 32, an amplifier 33, a variable gain amplifier 34, and a power amplifier 35. Further, the transmission unit 30 is configured to distribute a part of the transmission signal to the first synchronous detection unit 50 and the second synchronous detection unit 60, and includes a first distributor 36, a second distributor 37, an amplifier 38, 39.

  The transmitter 31 generates and outputs a transmission signal composed of a sinusoidal continuous wave having a constant frequency. The frequency multiplier 32 converts the frequency of the transmission signal output from the transmitter 31 into, for example, twice as high and outputs it. The transmission signal output from the frequency multiplier 32 is input to the first distributor 36 via the amplifier 33.

  The first distributor 36 distributes the input transmission signal to the variable gain amplifier 34 and the second distributor 37. The second distributor 37 distributes the transmission signal supplied from the first distributor 36 to the first synchronous detector 50 and the second synchronous detector 60. The transmission signal distributed by the second distributor 37 is supplied to the first synchronous detector 50 and the second synchronous detector 60 via the amplifiers 38 and 39, respectively.

  The variable gain amplifier 34 amplifies the transmission signal supplied from the first distributor 36 according to the amplification factor set by the control unit 16 and inputs the amplified signal to the power amplifier 35. The power amplifier 35 amplifies the transmission signal input from the variable gain amplifier 34 and supplies the transmission signal to the transmission antenna 11. The transmission antenna 11 radiates a transmission wave 21 according to the supplied transmission signal.

  The multiplexer 42 included in the first receiver 40 is connected between the array antenna 12 and the first synchronous detector 50 so that the input side is the array antenna 12 and the output side is the first synchronous detector 50.

  The multiplexer 42 has a plurality of switches 43, and any one of the plurality of switches 43 is turned on based on the control of the control unit 16. That is, the multiplexer 42 selectively connects any one of the plurality of first receiving antennas 12a included in the array antenna 12 to the first synchronous detection unit 50. The plurality of first receiving antennas 12a are sequentially selected by the control unit 16 in a time-division manner. For example, the selection of the first receiving antenna 12a is controlled in synchronization with the frequency of the transmission wave 21.

  As described above, in the present embodiment, only one reception channel is provided for the plurality of first reception antennas 12a.

  The first synchronous detection unit 50 includes a low noise amplifier (LNA) 51, a phase shifter 52, mixers 53a and 53b, IF (Intermediate Frequency) amplifiers 54a and 54b, low-pass filters (LPF) 55a and 55b, and A / D converters (ADCs) 56a and 56b.

  The low noise amplifier 51 amplifies the received signal of the reflected wave 22 received by the first receiving antenna 12a selected by the multiplexer 42, and inputs the amplified signal to the mixers 53a and 53b. The phase shifter 52 outputs a transmission signal (sine wave) supplied from the transmission unit 30 and a signal (cosine wave) obtained by shifting the phase of the transmission signal by 90 degrees, and outputs the signals to the mixers 53a and 53b as reference signals. input. For example, a first reference signal (sine wave) is input to the mixer 53a, and a second reference signal (cosine wave) is input to the mixer 53b.

  The mixer 53a multiplies the received signal input from the low noise amplifier 51 by the first reference signal and outputs the result to the IF amplifier 54a. The mixer 53b multiplies the received signal input from the low noise amplifier 51 by the second reference signal and outputs the result to the IF amplifier 54b.

  IF amplifiers 54a and 54b amplify signals received from mixers 53a and 53b, respectively, and input the signals to low-pass filters 55a and 55b.

  The low-pass filters 55a and 55b attenuate components having a predetermined frequency or higher among the frequency components of the signals amplified by the IF amplifiers 54a and 54b, respectively.

  The A / D converters 56a and 56b digitize the signals that have passed through the low-pass filters 55a and 55b at a predetermined sampling frequency, and output the signals.

  The output signal RDI output from the A / D converter 56a is an in-phase component in the quadrature demodulation (quadrature detection) method. The output signal RDQ output from the A / D converter 56b is a quadrature component.

  The second synchronous detector 60 included in the second receiver 41 includes a low noise amplifier 61, a phase shifter 62, mixers 63a and 63b, IF amplifiers 64a and 64b, low-pass filters 65a and 65b, and an A / D. It has converters 66a and 66b.

  The configuration of the second synchronous detection unit 60 is the same as that of the first synchronous detection unit 50 except that the low noise amplifier 61 is connected to the second receiving antenna 13, and thus detailed description is omitted.

  The low noise amplifier 61 amplifies the received signal of the reflected wave 22 received by the second receiving antenna 13. The output signal RSI output from the A / D converter 66a is an in-phase component. The output signal RSQ output from the A / D converter 66b is a quadrature component.

[Configuration of signal processing unit]
Next, the configuration of the signal processing unit 15 will be described.

  FIG. 4 is a block diagram illustrating the configuration of the signal processing unit 15. As shown in FIG. 4, a first demodulation processing unit 70, a second demodulation processing unit 71, a speed information estimation unit 72, a direction information estimation unit 73, a rotation information estimation unit 74, and a trajectory estimation unit 75 Have. Each unit is realized, for example, by the CPU performing a process based on a predetermined program read from the memory.

  The first signals (output signals RDI and RDQ) are input to the first demodulation processing unit 70 from the first synchronous detection unit 50. The first demodulation processing unit 70 generates a demodulated signal DM1 by calculating a phase and an amplitude based on the output signals RDI and RDQ. The demodulated signal DM1 is a modulation signal (Doppler signal) generated by the transmission wave 21 being reflected by the moving body 20.

  The second signal (output signals RSI and RSQ) is input to the second demodulation processing unit 71 from the second synchronous detection unit 60. The second demodulation processing unit 71 has the same configuration as the first demodulation processing unit 70, and generates a demodulated signal DM2 by calculating the phase and the amplitude based on the output signals RSI and RSQ. This demodulated signal DM2 is a Doppler signal like the demodulated signal DM1.

  Demodulated signal DM1 generated by first demodulation processing section 70 is input to speed information estimation section 72 and direction information estimation section 73. The demodulated signal DM2 generated by the second demodulation processing unit 71 is input to the rotation information estimation unit 74.

The speed information estimating unit 72 estimates the speed V _rad as speed information of the mobile unit 20 based on information on frequency modulation (Doppler shift) obtained from the demodulated signal DM1. The speed information estimating unit 72 inputs the value of the estimated speed V _rad to the trajectory estimating unit 75.

  The direction information estimating unit 73 estimates the direction of the mobile unit 20 based on a plurality of demodulated signals DM1 input from the first demodulation processing unit 70 using a known beamformer method. Specifically, the direction information estimating unit 73 obtains phase information from the plurality of demodulated signals DM1, and estimates an azimuth angle θ and an elevation angle δ as direction information by obtaining an equiphase plane from a phase difference between the signals. The direction information estimation unit 73 inputs the values of the estimated azimuth angle θ and the estimated elevation angle δ to the trajectory estimation unit 75.

  In the present embodiment, since the plurality of first receiving antennas 12a are selected in a time-division manner, the acquisition times of the demodulated signals DM1 used by the direction information estimating unit 73 are different. However, since the moving amount of the moving body 20 is sufficiently small with respect to the selection time interval, the influence on the calculation of the equal phase plane can be ignored.

  The rotation information estimating unit 74 obtains a time change of the amplitude (intensity) of the modulation signal based on the demodulated signal DM2 sequentially input from the second demodulation processing unit 71, and obtains the rotation speed as rotation information of the mobile unit 20 from the time change. (Spin rate) is estimated.

The trajectory estimating unit 75 uses the speed information (speed V _rad ) estimated by the speed information estimating unit 72 and the direction information (azimuth angle θ and elevation angle δ) estimated by the direction information estimating unit 73, and Estimate 20 trajectories.

[Rotation information estimation method]
Next, a method of estimating rotation information of the moving body 20 will be described.

  FIG. 5 is a diagram illustrating coordinates of the rotating moving body 20 with respect to the moving body detection device 10. In the coordinate system shown in FIG. 5, the origin is the center of the moving body 20, and the axis connecting the moving body detection device 10 and the origin is the α axis. In addition, one axis orthogonal to the α axis is defined as the β axis.

The moving body 20 is a sphere having a radius of r, and is rotating at an angular velocity ω around the β axis. The wavelength of the transmission wave 21 is λ. In this case, the relationship between the received signal α _A (t) received by the mobile object detection device 10 by reflection at the proximity point A on the mobile object 20 and the received signal α _B (t) received by reflection at the point B is , Represented by the following equation (1).

ここで、ｔは時間を表す。α_ｍｏｄＢ（ｔ）は、送信波２１が点Ｂで反射されることによる変調成分である。この変調信号α_ｍｏｄＢ（ｔ）は、移動体２０の回転運動に起因するものであり、下式（２）で表される。

Here, t represents time. α _modB (t) is a modulation component due to the transmission wave 21 being reflected at the point B. The modulation signal α _modB (t) is caused by the rotational movement of the moving body 20 and is represented by the following equation (2).

ここで、ｄ（ｔ）は、移動体２０上の近接点Ａからの受信信号に対する点Ｂからの受信信号の相対的な振幅である。

Here, d (t) is a relative amplitude of the reception signal from the point B with respect to the reception signal from the proximity point A on the moving body 20.

Thus, the rotational movement of the moving body 20 modulates the received signal α _A (t) from the proximity point A. This modulation signal α _modB (t) changes at a rotation cycle T = 2π / ω.

  The amplitude d (t) also has a component that changes with time in the rotation period T. The amplitude d (t) has a correlation with the non-uniformity of the shape of the moving body 20. This is because there is a strong correlation between a change in the reception intensity of the reflected wave 22 due to the rotation of the moving body 20 and a change in the radar reflection cross-sectional area. The radar reflection cross section depends on the shape of the moving body 20. As the shape of the moving body 20 is more spherical and the change in the surface is smaller, the change in the radar reflection cross section is smaller and the change in the amplitude d (t) is smaller.

  Therefore, the rotation information estimating unit 74 can estimate the number of rotations (spin rate) by frequency-analyzing the change of the demodulated signal DM2 and obtaining the reciprocal of the rotation period T.

  The modulation component included in the modulation signal (Doppler signal) generated by the transmission wave 21 being reflected by the moving body 20 has a smaller component due to the rotational movement than the component due to the translational movement of the moving body 20. Therefore, in order to accurately estimate the rotation information of the moving body 20, it is necessary that unevenness and the like exist on the surface of the moving body 20 and that the amount of change in the radar reflection cross-sectional area due to the rotating motion is large. Is preferred.

  For example, a golf ball has a large number of dimples on the surface. However, since the dimples of the golf ball are small and evenly arranged, the amount of modulation given to the Doppler signal by the rotational motion is small. For example, the radar reflection cross-sectional area of a golf ball has a component due to translational motion of −23 dBsm, whereas a component due to rotational motion is as low as −55 dBsm.

  For this reason, the second receiving unit 41 for the second receiving antenna 13 used for acquiring the rotation information of the moving body 20 has higher sensitivity than the first receiving unit 40 for the array antenna 12 used for acquiring the directional information of the moving body 20. Is preferred. The first receiving unit 40 includes the low noise amplifier 51, but has lower sensitivity than the second receiving unit 41 because a loss is caused by the multiplexer 42. Therefore, in the present embodiment, the second receiver 41 has higher sensitivity than the first receiver 40.

  To increase the sensitivity of the first receiving unit 40, it is necessary to provide a plurality of low noise amplifiers 80 between the array antenna 12 and the multiplexer 42 as shown in FIG. It leads to an increase.

  As means for making the second receiving section 41 more sensitive than the first receiving section 40, a means for increasing the sensitivity such as increasing the antenna gain of the second receiving antenna 13 may be used other than providing a low noise amplifier. Is also possible.

[Orbit estimation method]
Next, a method of estimating the trajectory of the moving body 20 will be described.

Using the XYZ coordinate system shown in FIG. 2, the position of the moving body 20 at the initial time t ₀ is (x ₀ , y ₀ , z ₀ ), the true velocity is (v _x0 , v _y0 , z _z0 ), and the acceleration is ( a _x0 , a _y0 , a _z0 ). In this case, the position (x, y, z) and the true velocity (v _x , v _y , z _z ) of the moving body 20 at a certain time t are represented by the following equations (3) and (4), respectively. It is represented by

そして、ある時間ｔにおける移動体検出装置１０を基準とした移動体２０の速度Ｖ_ｒａｄ、方位角θ、及び仰角δは、それぞれ下式（５）〜（７）で表される。

The velocity V _rad , azimuth angle θ, and elevation angle δ of the moving body 20 with respect to the moving body detection device 10 at a certain time t are represented by the following equations (5) to (7), respectively.

したがって、軌道推定部７５は、速度情報推定部７２及び方向情報推定部７３から順次入力される速度Ｖ_ｒａｄ、方位角θ、及び仰角δの値と、式（３）〜（７）とに基づいて移動体２０の軌道を推定することができる。

Therefore, the trajectory estimating unit 75 is based on the values of the speed V _rad , the azimuth angle θ, and the elevation angle δ sequentially input from the speed information estimating unit 72 and the direction information estimating unit 73, and the expressions (3) to (7). Thus, the trajectory of the moving body 20 can be estimated.

Specifically, first, the trajectory estimating unit 75 determines the values of the speed V _rad , the azimuth angle θ, and the elevation angle δ sequentially input from the speed information estimating unit 72 and the direction information estimating unit 73 from the initial time t _0. storing up to the time _{t n.}

Next, the trajectory estimating unit 75 minimizes the difference between the stored values of the velocity V _rad , the azimuth angle θ, and the elevation angle δ, and the values calculated by the equations (5) to (6). , An initial position (x ₀ , y ₀ , z ₀ ), an initial velocity (v _x0 , v _y0 , z _z0 ), and an initial acceleration (a _x0 , a _y0 , a _z0 ) are selected.

Then, the trajectory estimating unit 75 calculates the position (x, y, z) at each time (t _{0 to} t _n ) based on the equation (3) using the selected value, whereby the trajectory of the moving body 20 is calculated. Is estimated.

It is also possible to estimate the true velocity at each time based on equation _{(4) (v x, v} y, z z) a.

[effect]
In the above embodiment, apart from the array antenna 12 and the first receiving unit 40 for acquiring the direction information of the moving body 20, the second receiving antenna 13 and the second receiving unit for acquiring the rotating information of the moving body 20 Since 41 is provided, only the reception channel can be made highly sensitive in order to accurately estimate the rotation information. Thereby, at least the direction information and the rotation information of the moving body 20 can be acquired, and the moving body detecting device 10 with low cost and low power consumption can be provided.

[Modification]
Next, various modifications of the above embodiment will be described.

  In the above embodiment, the speed information estimating unit 72 estimates the speed information of the mobile unit 20 based on the demodulated signal DM1 from the first demodulation processing unit 70, but the demodulation signal DM2 from the second demodulation processing unit 71 May be estimated on the basis of the speed information. Therefore, in the moving object detection device according to the present invention, the receiving channel for estimating the rotation information of the moving object with high accuracy only needs to be configured separately from at least the receiving channel for acquiring the directional information of the moving object.

  In the above embodiment, one first receiving unit 40 is provided for the array antenna 12, but a plurality of first receiving units 40 may be provided.

  In the above embodiment, the transmission wave 21 is a sine wave, but the waveform is not limited to this, and may be a triangular wave or the like.

  In the above embodiment, the first demodulation processing unit 70 and the second demodulation processing unit 71 are provided in the signal processing unit 15, but may be provided in the front end circuit 14. Also, the trajectory estimating unit 75 is not limited to the inside of the signal processing unit 15, and may be provided in an external device or the like connected via the communication unit 18. Further, the information of the mobile unit 20 may be displayed on an electronic device such as a smartphone, a tablet, and a personal computer connected to the communication unit 18. Further, the mobile device detection device 10 may be operated from the electronic device.

  As described above, the preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the above-described embodiments, and various modifications may be made to the above-described embodiments without departing from the scope of the present invention. And substitutions can be added.

DESCRIPTION OF SYMBOLS 10 Moving body detection apparatus 11 Transmitting antenna 12 Array antenna 12a 1st receiving antenna 13 2nd receiving antenna 14 Front end circuit 15 Signal processing part 20 Moving body 21 Transmitting wave 22 Reflection wave 30 Transmitting part 40 First receiving part 41 Second receiving Unit 42 multiplexer 43 switch 50 first synchronous detection unit 51 low noise amplifier 60 second synchronous detection unit 61 low noise amplifier 72 speed information estimation unit 73 direction information estimation unit 74 rotation information estimation unit 75 trajectory estimation unit 80 low noise amplifier

Claims (7)

A transmitting antenna that radiates a transmitting wave toward a moving object,
An array antenna having a plurality of first receiving antennas for receiving reflected waves from the moving object;
A second receiving antenna for receiving the reflected wave;
A transmission unit that generates a transmission signal and supplies the transmission signal to the transmission antenna;
A first receiving unit that generates a first signal used for acquiring direction information of the moving object from a reception signal of the reflected wave received by the array antenna,
A second receiving unit that generates a second signal used for acquiring rotation information of the moving object from a reception signal of the reflected wave received by the second reception antenna;
A moving object detection device having the same. The first receiving unit includes a multiplexer and a first synchronous detection unit,
The second receiving unit includes a second synchronous detection unit,
The multiplexer is connected between the array antenna and the first synchronous detector, and selectively connects one of the plurality of first receiving antennas to the first synchronous detector. 2. The moving object detection device according to 1. The first synchronous detection unit generates the first signal including an in-phase component and a quadrature phase component by performing quadrature demodulation on the reception signal of the reflected wave using a reference signal input from the transmission unit,
The said 2nd synchronous detection part produces | generates the said 2nd signal which consists of an in-phase component and a quadrature-phase component by performing orthogonal demodulation of the received signal of the said reflected wave using the reference signal input from the said transmission part. Item 3. The moving object detection device according to Item 2. A direction information estimating unit that estimates direction information of the moving object based on the first signal;
A rotation information estimating unit that estimates rotation information of the moving body based on the second signal;
The moving object detection device according to any one of claims 1 to 3, further comprising:   The moving object detection device according to claim 4, further comprising a speed information estimating unit that estimates speed information of the moving object based on the first signal or the second signal.   The trajectory estimating unit for estimating the trajectory of the moving object based on the direction information estimated by the direction information estimating unit and the speed information estimated by the speed information estimating unit, further comprising: Moving object detection device.   The mobile object detection device according to claim 1, wherein the second receiving unit has higher sensitivity than the first receiving unit.

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