JP3292075B2 - Multipath separation detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multipath separation / detection device used for a radio wave detection device for receiving a radio wave emitted from a radar and identifying a radar attribute from the received radio wave, and more particularly to a radar. The present invention relates to a multipath separation and detection device that receives radio waves emitted from a CDMA, detects it as pulse data, and detects a pulse train from which multipath has been removed from the pulse data.

[0002]

2. Description of the Related Art FIG. 11 shows a conventional multipath separation / detection device. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from the radio waves received by the receiving antenna 1, and 3 is a subsequent process for radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in a pulse signal detector 4 that performs signal processing on radio waves accumulated by the pulse data accumulator 3 to detect as pulse data having a pulse width and a pulse arrival time A separation multipath determiner for detecting whether or not the pulse data detected by the pulse data detector includes a separation multipath separated from the fundamental wave based on the arrival time (input time) difference; Is a pulse train detector that detects a pulse train of a direct wave in consideration of the presence / absence of multipath determined by the separated multipath determiner 5.

Next, the operation will be described. Radio waves received by the receiving antenna 1 are separated into only radio waves of a predetermined frequency by passing through a frequency filter 2. The separated radio waves are accumulated in the pulse data accumulator 3 for the time required for analysis. The stored radio waves are subjected to signal processing in the pulse data detector 4 and detected as pulse data having a pulse width and a pulse arrival time. Also, when a reflected wave that arrives with an unspecified time delay from the direct wave is received, the reflected wave is detected here as pulse data.

[0004] Next, the separation multipath determiner 5 determines whether or not a multipath exists. The reflected wave, which is generally called a multipath, has the same frequency and pulse width as the direct wave from the radar, and the direct wave directly arrives at the receiving antenna 1, whereas the reflected wave is reflected by an arbitrary reflector. After being reflected, it arrives at the receiving antenna 1 and is received with a delay from the direct wave. Note that this delay time changes depending on the relative positional relationship between the radar transmitting the radio wave, the receiving antenna 1, and the reflector. For this reason, the separated multipath determiner 5 compares the arrival time difference of the pulses having the same frequency and pulse width with a specified value (time). If the difference is smaller than the specified time, the pulse that arrives later is a multipath. Is determined, and if it is large, processing is performed to determine that the path is not a multipath. The empirical value is used as the specified value. The determination result is used in the pulse train detector 6 to classify the pulse train for each transmission source radar so that the reflected wave pulse is not included in the direct wave pulse train. In the prior art, by the operation up to this point, it is possible to detect a multipath for radio waves detected as pulse data.

[0005]

However, in the conventional multipath separation / detection apparatus, when receiving a radio wave including a multipath, a continuous pulse is detected as pulse data, and thereafter, based on the arrival time difference of the pulse data. If the arrival time of the direct wave and the arrival time of the multipath are very close to each other and they arrive at the same time, they should be separated at the stage of detecting as pulse data. However, there is a problem that the reflected wave and the direct wave are recognized as the same pulse and the multipath cannot be detected, but may be detected with an incorrect pulse width.

Further, in the conventional multipath separation detecting apparatus, since the multipath is determined only from the pulse frequency, the pulse width and the arrival time difference from the detected pulse data, radio waves having the same specifications are transmitted. There is a problem that a pulse arriving at the same time from a plurality of radars may be erroneously determined as a multipath and removed.

Accordingly, the present invention has been made to solve the above-described problem, and it is possible to reduce the erroneous recognition of a pulse train due to a multipath existing in a received radio wave as much as possible and to perform a more accurate pulse train analysis. It is an object to provide a path separation detection device.

[0008]

In order to achieve the above object, according to the present invention, a radio wave emitted from a radar is received and detected as pulse data, and a pulse train from which multipath is removed is detected from the pulse data. In the multipath separation and detection apparatus configured as described above, an autocorrelation process based on the amplitude value of each pulse of the detected pulse data is performed to determine the presence or absence of an overlapped multipath that overlaps with a direct wave. A determiner, a separated multipath determiner that determines the presence or absence of a separated multipath that has arrived separately from the direct wave based on the arrival time difference of the pulse data ;
The judgment result of the overlapping multi-path judgment device and the separation multi
A pulse train detector for detecting a pulse train from which the overlapped multipath and the separated multipath have been removed from the detected pulse data based on the determination result of the path determiner . A technique for performing the correlation processing is described in Japanese Patent Application Laid-Open No. 5-264729. In this technique, while the correlation target is a pulse transmitted by itself, the present invention is based on Correlation is performed, and the correlation target is different.

Further, in the next invention, when it is determined by the overlapped multipath determiner that there is a multipath overlapping the direct wave, a pulse width for detecting the pulse width of the pulse that arrives first in the pulse is detected. A pulse train detector, wherein when the overlapping multipath determining unit determines that there is an overlapping multipath, the pulse width detected by the pulse width detector is used as the pulse width of the direct wave. This is to remove multipath.

[0010] In the next invention, furthermore, when it is determined by the overlapped multipath determiner that there is an overlapped multipath, an intra-pulse multipath remover for separating and removing the overlapped multipath by pulse-compressing the pulse. The pulse train detector uses the pulse data separated and removed by the intra-pulse multipath remover when the overlap multipath determiner determines that the overlap multipath exists. Is what you do.

Further, in the next invention, when the overlapped multipath is determined to be present by the overlapped multipath determiner, the pulse data from which the overlapped multipath is separated and removed by the intra-pulse multipath remover is compressed. Equipped with a pulse reconstructor that restores only the ratio and measures the pulse width,
The pulse train detector removes the overlapped multipath by using the pulse width measured by the pulse duplexer as the pulse width of the direct wave when the overlapped multipath is determined to be present by the overlapped multipath determiner. Things.

In the next invention, with respect to the pulse data determined to have a separated multipath by the separated multipath determiner, the arrival time is further compared with the amplitude value of the preceding pulse and the subsequent pulse, and A multi-path amplitude determiner for determining whether or not the determination of the multi-path determiner is correct; wherein the pulse train detector determines that there is a separated multi-path by the separated multi-path determiner; When the determination unit determines that the determination by the separated multipath determiner is correct, the separated multipath is removed from the pulse data to detect a pulse train consisting of only direct waves.

[0013] In the next invention, a multipath separation and detection device which receives a radio wave emitted from a radar, detects the radio wave as pulse data, and detects a pulse train from which multipath is removed from the pulse data, A separated multipath determiner that determines the presence or absence of a separated multipath that has arrived separately from the direct wave based on the arrival time difference of the pulse data, and pulse data that has been determined by the separated multipath determiner to have a separated multipath. A multipath amplitude determiner for determining whether or not the arrival multiplied by the separated multipath determiner is correct by comparing the amplitude values of the preceding pulse and the subsequent pulse; and the separated multipath determination.
And a pulse train detector for detecting a pulse train from which the separated multipath is removed from the pulse data based on the determination result of the multipath amplitude determiner and the determination result of the multipath amplitude determiner.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. Hereinafter, Embodiment 1 of the present invention will be described. FIG. 1 shows a configuration of a multipath separation / detection apparatus according to Embodiment 1 of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from the radio waves received by the receiving antenna 1,
Reference numeral 3 denotes a pulse data accumulator that accumulates the radio wave detected by the frequency filter 2 for a specified time for use in subsequent analysis processing, and 4 denotes a pulse signal by performing signal processing on the radio wave accumulated by the pulse data accumulator 3. A pulse data detector 7 for detecting as pulse data having a width and a pulse arrival time; and 7 performing so-called autocorrelation on the pulse data detected by the pulse data detector 4 to determine whether or not there is an overlapped multipath that has overlapped with a direct wave. 5 determines whether or not the pulse data detected by the pulse data detector 4 includes a separated multipath separated from the fundamental wave based on the arrival time (input time) difference. The separated multipath determiner 6 is configured to use only direct waves in consideration of the determination results of the separated multipath determiner 5 and the overlapping multipath determiner 7. A pulse train detector for detecting a pulse train that.

Next, the operation will be described. In the first embodiment, the operation until the pulse data is detected is the same as that of the prior art, that is, the radio wave received by the receiving antenna 1 is separated into only radio waves of a predetermined frequency by passing through the frequency filter 2. The separated radio waves are stored in the pulse data storage 3 for the time required for analysis. The stored radio waves are subjected to signal processing in the pulse data detector 4 and detected as pulse data having a pulse width and a pulse arrival time. When a reflected wave that arrives with an unspecified time delay from the direct wave is received, the reflected wave is detected as pulse data.

Next, in the first embodiment, the pulse data detected by the pulse data
The overlapping multipath determiner 5 performs an autocorrelation process.

FIGS. 2A and 2B show the first embodiment.
5 shows the result of the autocorrelation processing by the overlapping multipath determiner 7 of FIG. FIG. 2A schematically shows a received pulse waveform in a state where a plurality of pulses overlap, that is, does not overlap, and an autocorrelation result. Autocorrelation processing is performed on a pulse composed of only a direct wave. In this case, the number of autocorrelation peaks is one.

On the other hand, FIG. 2B schematically shows a received pulse waveform in a state where a plurality of pulses overlap and an autocorrelation result. Since the amplitude of the reflected wave is lower than that of the direct wave, the autocorrelation processing is performed on the pulse in a state where a plurality of pulses overlap each other, and the peak of the autocorrelation is shown in the figure. It becomes three as follows.

Therefore, after performing the autocorrelation process, the overlapped multipath determiner 7 counts the number of correlation peaks,
As shown in the autocorrelation result in FIG. 2A, when the number of correlation peaks is one, it is determined that the overlapped multipath that arrives overlapping with the direct wave is not included, while the autocorrelation in FIG. As shown in the correlation result, when there are a plurality of correlation peaks, it is determined that an overlapped multipath is included, and the determination result is added to pulse data and output.

Next, the separated multipath determiner 5 determines the presence / absence of a separated multipath that has arrived separately from the direct wave based on the arrival time difference based on the detected pulse data in the same manner as in the prior art. Append to data and output.
Then, based on the determination results of the overlapped multipath determiner 7 and the separated multipath determiner 5, the pulse train detector 6 removes the overlapped multipath and the separated multipath if they are included in the pulse data. Thus, a pulse train consisting of only direct waves that do not include overlapping multipaths and separated multipaths is detected.

Therefore, according to the first embodiment, not only the separated multipath determiner 5 but also the overlapping multipath determiner 7
Is provided, not only the presence or absence of the separated multipath due to the pulse data arrival time difference of the separated multipath determiner 5, but also
The overlapped multipath determiner 7 can also detect the presence or absence of the overlapped multipath due to the autocorrelation based on the amplitude value, and the separated multipath determiner 5 determines the presence or absence of the separated multipath only by the determination based on the arrival time difference of the pulse data. Compared to when
The analysis can be prevented by including the overlapped multipath in the pulse train, and more accurate analysis can be performed.

Embodiment 2 FIG. In the first embodiment, when the received radio wave is detected as pulse data, the presence or absence of the overlap between the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. Is characterized by further comprising a pulse width detector for detecting a pulse width of a pulse including a multipath.

FIG. 3 shows a configuration of a multipath separation / detection device according to a second embodiment of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 7 for performing autocorrelation on the pulse data detected by the pulse data detector 4 to determine the presence or absence of a duplicated multipath that has arrived overlapping with the direct wave; and 8, a duplicated multipath determination. Pulse width detection that, when the detector 7 determines that the pulse has a multipath, detects the pulse width in consideration of the multipath. Reference numeral 5 denotes a separation multipath determiner for detecting whether or not the pulse data detected by the pulse data detector 4 includes a separation multipath separated from the fundamental wave based on the arrival time (input time) difference. This is a pulse train detector that detects a pulse train consisting of only direct waves in consideration of the determination results of the separated multipath determiner 5 and the overlap multipath determiner 7.

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, when the pulse data is detected by the pulse data detector 4, the overlapped multipath determiner 7 then performs auto-correlation on the detected pulse data as in the first embodiment. When it is determined that there is an overlapped multipath that has arrived overlapping with the direct wave, the pulse width detector 8 determines, for the identified pulse, a pulse having only the direct wave. Try to detect the width. Specifically, the pulse width detector 8 detects the time from the arrival of the pulse to the first fall of the amplitude value as the pulse width of the direct wave. This is because the direct wave and the reflected wave which is a multipath have different amplitude values. As a result, pulse data having a normal frequency, pulse width, and pulse arrival time can be detected.

The detected pulse data is further subjected to a separation multipath determiner 5 to determine the presence or absence of a separated multipath due to the arrival time difference, the determination result is added and output, and the pulse data is output to the pulse train detector 6. Based on the pulse width of the direct wave added to the pulse data by the pulse width detector 8 and the determination result of the separation multipath determiner 5, if the overlap multipath and the separation multipath are included, They are removed, and are detected as a pulse train consisting of only direct waves that do not include overlapping multipaths and separated multipaths.

Therefore, according to the second embodiment, since the overlapped multipath determiner 7 and the pulse width detector 8 are provided, not only the determination based on the pulse data arrival time difference of the separated multipath determiner 5 but also the Further, the overlapped multipath determiner 7 performs the autocorrelation based on the amplitude value to detect the presence or absence of the overlapped multipath that overlaps the direct wave, and when the multipath exists, receives the first within the pulse. The detected pulse width of the direct wave can be detected, and the detection of the pulse width of the direct wave can prevent the overlapping multipath from being included in the pulse train for analysis, thereby performing more accurate analysis.

Embodiment 3 In the first embodiment, when the received radio wave is detected as pulse data, the presence / absence of the overlap of the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. Is characterized by including an intra-pulse multipath remover for removing a multipath from a pulse including the multipath.

FIG. 4 shows a configuration of a multipath separation / detection apparatus according to Embodiment 3 of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 7 performs an autocorrelation on the pulse data detected by the pulse data detector 4 to determine the presence or absence of an overlapped multipath that has arrived overlapping with the direct wave, and 9 indicates an overlapped multipath determination. Intra-pulse multi-path remover for removing the multi-path of the pulse having the multi-path detected by the detector 7; A separation multipath determiner for detecting whether or not the pulse data detected by the output device 4 includes a separation multipath separated from the fundamental wave based on the arrival time (input time) difference, and 6 is a separation multipath determiner. 5 is a pulse train detector that detects a pulse train consisting of only direct waves in consideration of the determination result of No. 5.

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, the overlapped multipath determiner 7 performs autocorrelation on the pulse data detected by the pulse data detector 4 as in the case of the first embodiment, and arrives overlapping the direct wave. If it is determined that there is an overlapped multipath, and if it is determined that the pulse has a multipath, the intra-pulse multipath remover 9 removes the overlapped multipath from the identified pulse. In particular,
The intra-pulse multipath remover 9 separates a direct wave and a reflected wave by pulse compression, and removes a pulse having a later arrival time as a reflected wave.

The pulse data from which multipath has been removed by the autocorrelation processing based on the difference between the amplitude values is input to the separated multipath determiner 5, and the separated multipath determiner 5 makes a determination based on the arrival time difference. It is determined whether or not a separated multipath that has arrived separately from the direct wave is included, and based on the determination result, the pulse train detector 6 prevents the separated multipulse due to the reflected wave from being included in the pulse train of the direct wave. To detect a pulse train.

Therefore, according to the third embodiment, the overlapping multipath determiner 7 and the intra-pulse multipath remover 9
Is provided, the overlapped multipath determiner 7 performs the autocorrelation based on the amplitude value to detect the presence or absence of the overlapped multipath that overlaps with the direct wave. The multipath can be eliminated, and it is possible to prevent the analysis including the overlapped multipath included in the pulse train as in the first embodiment and the like, and it is possible to perform more accurate analysis.

Embodiment 4 In the first embodiment, when the received radio wave is detected as pulse data, the presence or absence of the overlap between the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. Is characterized by including an intra-pulse multipath remover for removing multipath from a pulse including multipath, and a pulse recoverer for recovering a compressed pulse.

FIG. 5 shows a configuration of a multipath separation / detection apparatus according to a fourth embodiment of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 7 performs an autocorrelation on the pulse data detected by the pulse data detector 4 to determine the presence or absence of an overlapped multipath that has arrived overlapping with the direct wave, and 9 indicates an overlapped multipath determination. Intra-pulse multipath remover 10 for removing the multipath of the pulse having the multipath detected by detector 7 For pulse-path eliminator 9 is compressed, pulse decompressor for restoring the original only compression ratio at the time of compression, 5 for pulse data pulse data detector 4 detects the arrival time (input time)
A separation multipath determiner for detecting whether or not to include a separated multipath separated from the fundamental wave based on the difference, 6 is directly determined in consideration of the determination results of the separation multipath determiner 5 and the overlap multipath determiner 7 This is a pulse train detector that detects a pulse train consisting of only waves.

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, the overlapped multipath determiner 7 performs autocorrelation on the pulse data detected by the pulse data detector 4 in the same manner as in the first embodiment, and arrives overlapping the direct wave. When it is determined that there is an overlapped multipath, if it is determined that the pulse has a multipath, the intra-pulse multipath remover 9 separates the identified pulse into a direct wave and a reflected wave by pulse compression. Of these, the pulse whose arrival time is later is removed as a reflected wave. Then, the pulse reconstructor 10 reconstructs the pulse by the ratio compressed by the intra-pulse multipath remover 9, measures the pulse width of the reconstructed pulse, adds it to the pulse data, and outputs it.

The pulse data is further subjected to a determination based on the arrival time difference in the separated multipath determiner 5 to determine whether there is a separated multipath separated from the direct wave, and the pulse train detector 6 performs pulse recovery. Based on the pulse width of the direct wave measured by the device 10 and the determination result of the separated multipath determiner 5, a pulse train consisting of only the direct wave from which the overlapping multipath or the separated multipath is removed is detected.

Therefore, according to the fourth embodiment, not only the determination based on the pulse data arrival time difference of the separated multipath determiner 5 but also the overlapping multipath determiner 7 performs autocorrelation based on the amplitude value. Thus, the presence / absence of an overlapped multipath that overlaps with the direct wave is detected, and when the overlapped multipath exists, the pulse multiplexer 10 extracts and directly extracts the direct wave from which the overlapped multipath is removed. By restoring the direct wave by the compression ratio, the pulse width of the direct wave can be measured, so that more accurate pulse train analysis can be performed.

Embodiment 5 In the first embodiment, when the received radio wave is detected as pulse data, the presence or absence of the overlap between the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. Is characterized in that a judgment based on a difference in amplitude value is added at the time of multipath judgment based on an arrival time difference.

FIG. 6 shows a configuration of a multipath separation / detection apparatus according to Embodiment 5 of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 5 is a separation multipath determiner for detecting whether or not the pulse data detected by the pulse data detector 4 includes a multipath based on an arrival time difference. A multi-pass amplitude determiner for performing a multi-pass determination based on a difference between amplitude values for a pulse determined to have a possibility of a pass; Scan an amplitude determiner 11 pulse train detector for detecting a pulse train of the direct wave in consideration of the presence or absence of multipath which is determined by.

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, when pulse data is detected by the pulse data detector 4, the separated multipath determiner 5 subsequently determines whether or not a separated multipath exists based on the arrival time difference. Then, for the pulse determined to have the separated multipath, the multipath amplitude determiner 11
Determines whether or not the determination of the separation multipath determiner 5 is correct by further determining the possibility of separation multipath based on the pulse amplitude.

More specifically, the multipath amplitude determiner 11
When the arrival time difference between pulses is within the specified time, the respective amplitude values are compared, and only when the arrival time of the later pulse is smaller than the other amplitude value, the separated multipath When it is determined that there is, the pulse train detector 6 is caused to remove the separated pulse train from the pulse train. In the exceptional case, even if it is determined by the separation multipath determiner 5 that there is a separation multipath, the separation multipath may be a received wave from a radar transmitting the same radio wave data. It should not be removed from the pulse train.
Using the pulse data thus obtained, the pulse train detector 6 detects the pulse train.

Therefore, according to the fifth embodiment, since the multipath amplitude judging device is provided at the subsequent stage of the separated multipath judging device 5, the multipath amplitude judging device depending on the arrival time can be used. By performing the determination based on the amplitude value as described above, it is possible to prevent a pulse other than the multipath from being erroneously removed, and to perform more accurate pulse train analysis.

Embodiment 6 FIG. In the first embodiment, when the received radio wave is detected as pulse data, the presence or absence of the overlap between the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. Is characterized in that, in addition to the above, a determination based on a difference in amplitude value is added at the time of multipath determination based on an arrival time difference.

FIG. 7 shows the configuration of a multipath separation / detection apparatus according to Embodiment 6 of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 7 performs an autocorrelation on the pulse data detected by the pulse data detector 4 to determine whether there is an overlapping multipath that has arrived overlapping with the direct wave. The separation multi-path for detecting whether the multi-path is included in the pulse data detected by the detector 7 based on the arrival time difference. Determiner, 11
Is a multipath amplitude determiner that performs a multipath determination based on a difference in amplitude value for a pulse determined to have a possibility of multipath by the separation multipath determiner 5, and 6 is a separation multipath determiner 5 and an overlapping multipath determiner. 7 is a pulse train detector that detects a pulse train consisting of only direct waves in consideration of the determination result of (7).

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, when the pulse data is detected by the pulse data detector 4, the overlapped multi-path determiner 7 subsequently outputs the pulse detected by the pulse data detector 4 in the same manner as in the first embodiment. By performing auto-correlation on the data, it is determined whether or not there is an overlapped multipath that has arrived overlapping with the direct wave. At this time, if it is determined that there is an overlapped multipath, the separated pulse is determined for the identified pulse. The determiner 5 determines whether or not there is a separated multipath that has arrived separately from the direct wave based on the arrival time difference. Then, for the pulse determined to have the separated multipath, the multipath amplitude determiner 11 further determines the possibility of the presence or absence of the separated multipath based on the pulse amplitude as in the case of the fifth embodiment. Using the pulse data thus obtained, the pulse train detector 6 detects the pulse train.

Therefore, according to the sixth embodiment, not only is the overlapped multipath determiner 7 provided before the separated multipath determiner 5, but also the multipath amplitude determiner 11 is provided after the separated multipath determiner 5. Is provided, so that it is possible to remove the overlapped multipath overlapping with the direct wave, and to determine the possibility of the separated multipath depending on the arrival time, by performing the above-described determination based on the amplitude value,
It is possible to prevent erroneous removal of pulses other than the separated multipath, and it is possible to perform more accurate pulse train analysis.

Embodiment 7 FIG. In the first embodiment, when the received radio wave is detected as pulse data, the presence or absence of the overlap between the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. In the above, a pulse width detector for detecting a pulse width of a pulse including a multipath is provided, a pulse width is detected, and a determination based on a difference in amplitude value is added when a multipath is determined based on an arrival time difference. Things.

FIG. 8 shows a configuration of a multipath separation / detection apparatus according to Embodiment 7 of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 7 for performing autocorrelation on the pulse data detected by the pulse data detector 4 to determine the presence or absence of a duplicated multipath that has arrived overlapping with the direct wave; and 8, a duplicated multipath determination. Pulse width detection that, when the detector 7 determines that the pulse has a multipath, detects the pulse width in consideration of the multipath. Reference numeral 5 denotes a separation multipath determiner for detecting whether the pulse data detected by the pulse data detector 4 includes a separation multipath separated from the fundamental wave based on the arrival time (input time) difference. A multipath amplitude determiner for performing a multipath determination based on a difference in amplitude value for a pulse determined to have a possibility of multipath by the separation multipath determiner 5, a separation multipath determiner 5 and an overlapping multipath determiner 7 Is a pulse train detector that detects a pulse train consisting of only direct waves in consideration of the determination result of the above.

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, when the pulse data is detected by the pulse data detector 4, the overlapped multi-path determiner 7 subsequently outputs the pulse detected by the pulse data detector 4 in the same manner as in the first embodiment. By performing auto-correlation on the data, it is determined whether or not there is an overlapped multipath that has arrived overlapping with the direct wave. At that time, if it is determined that there is multipath, a pulse width detector is used for the identified pulse. 8 detects the pulse width.

Specifically, the pulse width detector 8 detects, as a pulse width, the time from the arrival of the pulse to the first fall of the amplitude value. As a result, pulse data having a normal frequency, pulse width, and pulse arrival time can be detected. Based on the detected pulse data, the separated multipath determiner 5 determines the presence or absence of the separated multipath based on the arrival time difference, and if there is a possibility of the separated multipath, the multipath amplitude determiner 11 further determines the pulse. The possibility of separated multipath due to the amplitude of Using the pulse data thus obtained, the pulse train detector 6 detects a pulse train consisting of only direct waves.

Therefore, according to the seventh embodiment, the overlap multipath determiner 7 and the pulse width detector 8 are provided before the separation multipath determiner 5, and the multipath Since the amplitude determiner 11 is provided, it is possible to determine the presence of an overlapped multipath overlapping with the direct wave and measure the pulse width thereof, and further increase the amplitude of a signal for which there is a possibility of a separated multipath depending on the arrival time. By performing the determination based on the value, it is possible to prevent pulses other than the separated multipath from being erroneously removed, and it is possible to perform more accurate pulse train analysis.

Embodiment 8 FIG. In the first embodiment, when the received radio wave is detected as the pulse data, the presence or absence of the overlap between the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. Has an intra-pulse multi-path remover for removing multi-paths from pulses including multi-paths, and further performs a determination based on a difference in amplitude value when performing a multi-path determination based on an arrival time difference. .

FIG. 9 shows a configuration of a multipath separation / detection apparatus according to Embodiment 8 of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 7 performs an autocorrelation on the pulse data detected by the pulse data detector 4 to determine the presence or absence of an overlapped multipath that has arrived overlapping with the direct wave, and 9 indicates an overlapped multipath determination. Intra-pulse multi-path remover for removing the multi-path of the pulse having the multi-path detected by the detector 7; A separation multipath determiner for detecting whether or not the pulse data detected by the output device 4 includes a separation multipath separated from the fundamental wave based on a difference in arrival time (input time). Reference numeral 11 denotes a separation multipath determiner. 5 is a multipath amplitude determiner that performs multipath determination based on a difference in amplitude value for a pulse determined to have a possibility of multipath, and 6 is a direct multipath amplitude determiner 11 in consideration of the presence or absence of a multipath. This is a pulse train detector that detects a pulse train of waves.

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, when the pulse data is detected by the pulse data detector 4, the overlapped multi-path determiner 7 subsequently outputs the pulse detected by the pulse data detector 4 in the same manner as in the first embodiment. By performing auto-correlation on the data, it is determined whether or not there is an overlapped multipath that has arrived overlapping with the direct wave. At this time, if it is determined that there is a multipath, the multipath within the pulse is determined for the identified pulse. A remover 9 removes the overlapping multipath. Specifically, the intra-pulse multipath remover 9
Then, the direct wave and the reflected wave are separated by pulse compression,
Of the two, the pulse with the later arrival time is removed as a reflected wave.

The subsequent pulse data is input to the separated multipath determiner 5, and the separated multipath determiner 5 determines the presence or absence of the separated multipath based on the arrival time difference, and then determines the possibility of the separated multipath. If there is any, the multipath amplitude determiner 11 further determines the possibility of separation multipath based on the pulse amplitude, and determines whether the determination of the separation multipath determiner 5 is correct. Using these pulse data, the pulse train detector 6 determines that the separated multi-path is included by the separated multi-pulse determiner 5 and the multi-pass amplitude determiner 11, and the overlapped multi-path is determined. The separated multipath is removed from the removed pulse data to detect a pulse train consisting of only direct waves.

Therefore, according to the eighth embodiment, the overlapped multipath determiner 7 and the intra-pulse multipath remover 9 are provided before the separated multipath determiner 5, and the separated multipath determiner 5 is provided after the separated multipath determiner 5. Multipath amplitude determiner 11
Is provided, it is possible to determine the presence of an overlapped multipath that overlaps with the direct wave, to remove the overlapped multipath for the pulse determined to include the overlapped multipath, and to determine the distance multipath depending on the arrival time. By making a determination based on the amplitude value for those that have a possibility, it is possible to prevent pulses other than the separated multipath from being erroneously removed, and to perform more accurate pulse train analysis.

Embodiment 9 FIG. In the first embodiment, when the received radio wave is detected as pulse data, the presence or absence of the overlap between the direct wave and the reflected wave in the pulse is determined to improve the pulse train analysis performance. A multi-path remover for removing multi-paths from a pulse including multi-paths, and a pulse reconstructor for restoring a compressed pulse are provided. It is characterized in that it is added.

FIG. 10 shows a configuration of a multipath separation / detection apparatus according to Embodiment 9 of the present invention. In the figure, 1 is a receiving antenna for receiving radar radio waves, 2 is a frequency filter for detecting only radio waves of a predetermined frequency from radio waves received by the receiving antenna 1, and 3 is a subsequent analysis of radio waves detected by the frequency filter 2. A pulse data accumulator that accumulates for a designated time for use in processing, and a pulse data accumulator for detecting a pulse data having a pulse width and a pulse arrival time by performing signal processing on radio waves accumulated by the pulse data accumulator. A detector 7 performs an autocorrelation on the pulse data detected by the pulse data detector 4 to determine the presence or absence of an overlapped multipath that has arrived overlapping with the direct wave, and 9 indicates an overlapped multipath determination. Intra-pulse multipath remover 10 for removing the multipath of the pulse having the multipath detected by detector 7 For pulse-path eliminator 9 is compressed by the compression ratio of the time compressed pulse decompressor for restoring the original, 5 is a pulse data detector 4
Is a multi-path determinator that detects whether or not the detected pulse data includes a multi-path separated from the fundamental wave based on the arrival time (input time) difference. A multipath amplitude determiner that performs a multipath determination based on a difference between amplitude values for a pulse determined to have a possibility of a path. This is a pulse train detector that detects a pulse train consisting of only waves.

Next, the operation will be described. The processing up to the pulse data detector 4 is the same as that in the first embodiment or the conventional technique, and the subsequent processing will be described.

That is, when the pulse data is detected by the pulse data detector 4, the overlapped multi-path determiner 7 subsequently outputs the pulse detected by the pulse data detector 4 in the same manner as in the first embodiment. By performing auto-correlation on the data, it is determined whether or not there is an overlapped multipath that has arrived overlapping with the direct wave. At this time, if it is determined that there is an overlapped multipath, the identified pulse A path remover 9 separates a direct wave and a reflected wave by pulse compression, and removes a pulse having a later arrival time as a reflected wave, thereby eliminating an overlapped multipath. Is restored by the ratio compressed by the intra-pulse multipath remover 9, and the pulse width of the restored pulse is measured and added to the pulse data.

Then, the separated multipath determiner 5 determines whether or not there is a separated multipath based on the arrival time difference based on the pulse data from which the overlapped multipath has been removed and the like. In addition, the multipath amplitude determiner 11 further determines the possibility of separated multipath based on the amplitude of the pulse, and determines whether the determination of the separated multipath determiner 5 is correct. And
By using this pulse data, the separated multipath determiner 5
a and if the multipath amplitude determiner 11 determines that a separated multipath is included, the separated multipath is removed from the pulse data from which the overlapping multipath is removed, and a pulse train consisting of only direct waves To be detected.

Therefore, according to the ninth embodiment, an overlapping multipath determinator 7 is provided before the separated multipath determinator 5.
Since the intra-pulse multipath remover 9 and the pulse reconstructor 10 are provided, and the multipath amplitude determiner 11 is provided at the subsequent stage of the separated multipath determiner 5, it is determined by the autocorrelation process that the multipath amplitude is included. The pulse width of the direct wave can be measured by removing the overlapping multipath from the extracted pulse and restoring the extracted direct wave by the compression ratio. In addition, for those that have a possibility of separated multipath due to the arrival time, by making a determination based on the amplitude value, it is possible to prevent erroneous removal of pulses other than separated multipath, and to perform more accurate pulse train analysis. It can be carried out.

[0069]

As described above, according to the present invention, for each pulse of pulse data, autocorrelation processing is performed based on the amplitude value of the pulse data to determine the presence or absence of an overlapped multipath that arrives overlapping with the direct wave. Based on the arrival time difference of the pulse data, the presence / absence of a separated multipath arriving separately from the direct wave was determined, and the overlapping multipath and the separated multipath were removed from the detected pulse data based on the determination result. Since the pulse train is detected, not only the separated multipath but also the overlapping multipath can be removed.
It is possible to remove multipath more reliably,
When the present device is used for a radio wave detection device or the like, the received radio wave analysis ability can be improved.

Further, in the next invention, when it is determined that there is a multipath overlapping with the direct wave, the pulse width of the pulse that arrives first in the pulse is detected, and the pulse width is changed to the direct wave. Since the overlapping multipath is removed as the pulse width of the pulse train, more accurate pulse train analysis can be performed by using the pulse width for detecting the pulse train.

Further, in the following invention, when it is determined that there is an overlapped multipath, the overlapped multipath is separated and removed by pulse-compressing the pulse, so that a more accurate pulse train analysis is performed. be able to.

Further, in the following invention, when it is determined that there is an overlapped multipath, the pulse data from which the overlapped multipath is separated and removed by the intra-pulse multipath remover is restored by the compression ratio to obtain the pulse width. Is measured, and the measured pulse width is used as the pulse width of the direct wave to eliminate the above-mentioned overlapping multipath, so that a more accurate pulse train analysis can be performed.

Further, in the next invention, further, for the pulse data for which it is determined that there is a separated multipath due to the arrival time difference of the separated multipath determiner, the multipath amplitude determiner further determines that the arrival time is earlier than the preceding pulse. It is determined whether or not the determination of the separated multipath determiner is correct by comparing the amplitude value with the pulse of the pulse, so that the separated multipath is removed from the pulse data. The pulse width can be measured by removing overlapping multipaths from the pulse and restoring the extracted direct wave by the compression ratio. In addition, by making a determination based on the amplitude value for a signal that has a possibility of multipathing due to the arrival time, it is possible to remove erroneously received radio waves from a plurality of radars having the same radio wave data as a separated multipath. The pulse train analysis can be performed more accurately. As a result, when the present device is used for a radio wave detection device or the like, the received radio wave analysis capability of the radio wave detection device can be further improved.

Further, in the next invention, for the pulse data for which it has been determined that there is a separated multipath due to the arrival time difference of the separated multipath determiner, the multipath amplitude determiner further determines that the arrival time is equal to the earlier pulse and the later pulse. It is determined whether or not the judgment of the separation multipath determiner is correct by comparing the amplitude values of the multipath and the separation multipath from the pulse data. It is possible to prevent a received radio wave from being erroneously removed as a separated multipath, and to perform more accurate pulse train analysis. As a result, when the present device is used for a radio wave detection device or the like, the received radio wave analysis capability of the radio wave detection device can be further improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a multipath separation / detection device according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram illustrating an autocorrelation process performed by an overlapped multipath determiner according to the first embodiment.

FIG. 3 is a configuration diagram of a multipath separation / detection device according to a second embodiment of the present invention.

FIG. 4 is a configuration diagram of a multipath separation / detection device according to a third embodiment of the present invention.

FIG. 5 is a configuration diagram of a multipath separation / detection device according to a fourth embodiment of the present invention.

FIG. 6 is a configuration diagram of Embodiment 5 of a multipath separation / detection device according to the present invention.

FIG. 7 is a configuration diagram of a multipath separation / detection device according to a sixth embodiment of the present invention.

FIG. 8 is a configuration diagram of a multipath separation / detection device according to a seventh embodiment of the present invention.

FIG. 9 is a configuration diagram of Embodiment 8 of a multipath separation / detection device according to the present invention.

FIG. 10 is a configuration diagram of a ninth embodiment of a multipath separation / detection device according to the present invention.

FIG. 11 is a configuration diagram of a conventional multipath separation / detection device.

[Explanation of symbols]

Reference Signs List 1 receiving antenna, 2 frequency filter, 3 pulse data accumulator, 4 pulse data detector, 5 separated multipath detector, 6 pulse train detector, 7 overlapping multipath detector, 8 pulse width detector, 9 intra-pulse multipath Remover, 10-pulse restorer, 11 Multi-pass amplitude determiner.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95

Claims (6)

(57) [Claims] 1. A multipath separation / detection device which receives a radio wave emitted from a radar, detects the pulse as pulse data, and detects a pulse train from which multipath has been removed from the pulse data. An auto-correlation process based on the amplitude value of each pulse of data to perform an auto-correlation process to determine whether there is an overlap multi-path that overlaps with the direct wave, and a direct wave based on an arrival time difference of the pulse data. and determining spaced multipath determiner whether the spaced multipath arriving spaced apart from the determination result and the spacing between the overlapping multipath determination unit
A pulse train detector for detecting a pulse train from which the overlapped multipath and the separated multipath have been removed from the detected pulse data based on the determination result of the multipath determiner; apparatus. 2. When the overlapped multipath determiner determines that there is a multipath overlapping the direct wave,
A pulse width detector that detects a pulse width of a pulse that first arrives within the pulse, wherein the pulse train detector determines the presence of an overlapped multipath by an overlapped multipath determiner; 2. The multipath separation / detection device according to claim 1, wherein the pulse width detected by the detector is used as a pulse width of a direct wave to remove the overlapping multipath. 3. An intra-pulse multipath remover that separates and removes the overlapped multipath by pulse-compressing the pulse when the overlapped multipath is determined to be present by the overlapped multipath determiner; The detector, when it is determined by the overlapped multipath determiner that the overlapped multipath exists, uses the pulse data separated and removed by the overlapped multipath by the intra-pulse multipath remover. The multipath separation detection device according to claim 1, wherein 4. When the overlapped multipath is determined to be present by the overlapped multipath determiner, the pulse data from which the overlapped multipath is separated and removed by the intra-pulse multipath remover is restored by the compression ratio. A pulse decompressor for measuring a pulse width, wherein the pulse train detector directly outputs the pulse width measured by the pulse duplexer when the overlapped multipath determiner determines that the overlapped multipath exists. 4. The multipath separation detecting apparatus according to claim 3, wherein the overlapping multipath is removed as a pulse width of the wave. 5. The pulse data of which the arrival multiplicity is judged to be present by the separation multipath judging device, and the arrival time is compared with the amplitude value of the preceding pulse and the amplitude value of the subsequent pulse. The pulse train detector further includes a multipath amplitude determiner that determines whether the determination is correct. The pulse train detector determines that there is a separated multipath by the separated multipath determiner, and the multipath amplitude determiner determines that the separated multipath exists. The pulse train consisting of only direct waves is detected by removing the separated multipath from the pulse data when the determination of the multipath determiner is determined to be correct. A multipath separation / detection device according to any one of the above. 6. A multipath separation detection device which receives a radio wave emitted from a radar, detects the radio wave as pulse data, and detects a pulse train from which multipath is removed from the pulse data. A separated multipath determiner for determining the presence or absence of a separated multipath arriving at a distance from the direct wave based on the difference; and a pulse data determined to have a separated multipath by the separated multipath determiner. A multipath amplitude determiner that compares the amplitude value of the previous pulse and the subsequent pulse to determine whether the determination of the separated multipath determiner is correct, and a determination result of the separated multipath determiner and the above A pulse train for detecting a pulse train from which the separated multipath has been removed from the pulse data based on the determination result of the multipath amplitude determiner A multipath separation / detection device, comprising: a detector;