JP3499620B2 - Radar equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar device, and relates to a clutter signal (ground, ground) included in a reflected wave of a transmitted radar wave.
The present invention relates to a radar device that removes unnecessary reflected waves from mountains, the sea surface, buildings, etc. to detect a target signal. More particularly, the present invention relates to a radar device that detects a target signal by removing a clutter signal generated by the movement of a moving body equipped with the radar device.

[0002]

2. Description of the Related Art Conventionally, there is a radar apparatus that receives a reflected wave of a transmitted radar wave and suppresses a clutter signal included in the reflected wave to detect a target signal. In a conventional radar device, the received reflected wave is input to a band-pass filter or the like to pass only the frequency component of the target signal included in the reflected wave, or the MTI process is performed to suppress other unnecessary frequency components. By doing so, the target signal is detected from the reflected wave.

FIG. 44 is a conceptual diagram of an example of detection of a target signal by a conventional radar device. In the figure, (A) is a diagram in which two aircraft are moving in the same direction from the right side to the left side in the figure over the surface of the ground where there are a plurality of mountains, and they are moving at a velocity vector V _R. A radar device mounted on the aircraft 100 uses a velocity vector V _T (| V _R |> | V _T |)
This is an example of measuring the aircraft 101 moving in.

Included in the reflected wave of the measurement result shown in FIG.
An example of the frequency components that are generated is shown in FIG. In the same figure (B)
The position of Doppler frequency 0 has 0 velocity component, that is, the aircraft
The reflected wave from just under 100 is shown. Also, the same figure
In the example of (A), the speed of the aircraft 101 | V_T| Is aircraft 1
00 speed | V_RSince it is slower than
The radar wave transmitted by the radar device is reflected by the aircraft 101.
Speed difference (| V_T|-| V
_RDue to the Doppler effect due to |
It becomes a low frequency. Therefore, the target aircraft 1
The wave reflected by 01 is the minus of the graph shown in FIG.
Appears on the side (TARGET position). It is also stationary on the ground
As for the reflected wave in the mountains where
Velocity vector V _RSince it is moving at the speed difference (0- |
V_RThe low frequency due to the Doppler effect due to |
Appears on the minus side (clutter position) in the same figure (B).
It

In the conventional radar device, the measurement result shown in FIG. 1B is input to a band pass filter or the like to pass only the frequency band (TARGET position) of the reflected wave at the aircraft 101 which is the measurement target, The target signal is detected by performing MTI processing.

[0006]

However, the above-mentioned conventional radar device has the following problems. Since the radar device mounted on a conventional moving body measures a measurement target while moving at the same speed as the moving body, the radar device and the measurement target are included in the reflected wave of the radar wave transmitted from the antenna of the radar device. In addition to the Doppler effect associated with the relative speed of the moving body, the Doppler effect associated with the relative speed of the radar device and the earth, mountains, buildings, etc. that are stationary on the ground surface is added. Therefore, the received reflected waves include reflected waves from stationary objects other than the measurement target, such as the earth, mountains, and buildings, as clutter signals.Therefore, the target signals must be detected by suppressing these clutter signals. There is a problem that it does not become.

Further, it is difficult to completely suppress and remove the clutter signal even if the received reflected wave is input to a bandpass filter or the like, or MTI processing is performed to suppress the clutter signal. Further, there is a problem that the detection accuracy of the target signal from the received reflected wave is affected by the performance of the filter used and the delay circuit of the MTI processor.

The present invention has been made in view of the above points, and an object of the present invention is to provide a radar device capable of removing a clutter signal generated by a moving body equipped with the radar device. . Further, after receiving the reflected wave of the transmitted radar wave, the received reflected wave is input to a bandpass filter or the like, or the target signal is detected without performing post-processing such as MTI processing to detect the target signal. It is an object of the present invention to provide a radar device capable of performing the above.

[0009]

FIG. 1 is a block diagram showing the principle of the present invention. Invention of claim 1, a radar device mounted three-dimensional spatial coordinate system (x, y, z) velocity vector V _R (u, 0,0) to the movable body that moves in, the space
On the x-axis of the coordinate system, the transmitting antenna and receiving antenna of the radar device are
And a predetermined vector for the velocity vector V _R and a predetermined clutch .
Based on the distance to the clutter source and the clutter source
With the transmission antenna when transmitting the reflected wave of the radar wave
Calculate the predetermined position so that you can receive at the same position, and
Characterized by having a position moving means for moving to a stationary position
It

According to the second aspect of the present invention, the three-dimensional spatial coordinate system (x, y, z) is converted into the velocity vector V _R (u, v, 0).
In a radar apparatus mounted on a movable body that moves, the air
The radar device is mounted on a two-dimensional plane consisting of the x-axis and the y-axis of the inter-coordinate system.
A separate transmitting antenna and receiving antenna are installed to
Based on the degree vector V _R and the distance to a given clutter source
The radar wave transmitted from the clutter source.
So that it can be received at the same position as the transmitting antenna when
It is characterized by having a position moving means for calculating a fixed position and moving to that position . The invention according to claim 3 is
Three-dimensional spatial coordinate system (x, y, z) velocity vector V _R
A radar device mounted on a moving body that moves in (u, v, w), which is composed of an x-axis, a y-axis, and a z-axis of the spatial coordinate system.
In the three-dimensional space, the transmitting antenna and the receiving antenna of the radar device
Are separately provided, and the velocity vector V _R and a predetermined clutter are provided.
Reflection from the clutter source based on distance to the source and
The same position as the transmitting antenna when transmitting a radar wave
Calculate the predetermined position so that you can receive at
It is characterized by having a position moving means for moving.

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020]

In the invention according to claim 1, a three-dimensional space is provided.
Let the coordinate system (x, y, z) be the velocity vector V _R (u, 0,
0) Transmission of radar device mounted on a moving body
Set the tenor and the receiving antenna separately on the x-axis of the spatial coordinate system.
Laser to the source of the clutter signal to be removed.
Transmission based on the distance traveled by the mobile in the round-trip time of the da wave
Determine the relative position of the antenna and the receiving antenna,
Move one antenna to the relative position to move the antenna
By setting the degree vector to 0,
The clutter signal generated by the source can be removed.
And are possible.

In the second aspect of the invention, the three-dimensional
Space coordinate system (x, y, z) velocity vector V _R (u,
v, 0) Transmission of radar device mounted on a moving body
Whether the antenna and the receiving antenna are the x and y axes of the spatial coordinate system
To be removed individually from the two-dimensional plane consisting of
The moving object within the round trip time of the radar wave to the source of the
Transmit antenna based on the distance moved in the x-axis and y-axis directions
The relative position between the antenna and the receiving antenna.
Antenna to the relative position to move the antenna
When the moving object is moved, the occurrence of
Ability to remove clutter signal generated by source
Becomes

In the third aspect of the invention, the three-dimensional
Space coordinate system (x, y, z) velocity vector V _R (u,
v, w) transmission of a radar device mounted on a moving body
The antenna and the receiving antenna are the x-axis, the y-axis of the spatial coordinate system,
And separate them in the three-dimensional space consisting of the z-axis and remove them.
Round-trip time of radar wave to the source of clutter signal
The distance that the moving body moves in the x-axis, y-axis, and z-axis directions
The relative position of the transmitting antenna and the receiving antenna is determined based on
And move either antenna to the relative position
By setting the velocity vector of the antenna to 0
Signal generated by the source as the
Can be removed.

[0023]

[0024]

[0025]

[0026]

[0027]

[0028]

[0029]

[0030]

[0031]

[0032]

Embodiments of the present invention will now be described in detail with reference to the drawings. The spatial coordinate system (x,
y, z) is the machine axis direction of the moving body as the x-axis, the horizontal direction of the moving body and the left-right direction of the moving body having an angle of 90 degrees with the x-axis are the y-axis, the x-axis, and the y-axis respectively 90 degrees. The vertical direction of the moving body having an angle of is defined as the z-axis, and the coordinate system is shown in each figure.

In each of the following embodiments, "the aircraft moves with the velocity vector V _R (u, v, w)" means
That is, it is assumed that the aircraft is moving at a velocity u in the axis (x-axis) direction, a velocity v in the y-axis direction (sideslip due to airflow etc.), and a velocity w (descent or levitation due to gravity or airflow etc.) in the z-axis direction. Show. For example, if the aircraft has a velocity vector V _R (u, 0,0)
The movement by means that it is moving in the positive direction of the x-axis at the velocity u and that there is no velocity component in the y-axis and z-axis directions. Also, the aircraft velocity vector -V _R (-u,
0,0) means moving in the positive direction of the x-axis at the speed -u, that is, moving in the negative direction of the x-axis at the speed u.
It indicates that there is no velocity component in the axial and z-axis directions. Further, the velocity vectors V _R and −V _R indicate that the magnitudes of velocity components in the x-axis, y-axis, and z-axis directions are all equal and their directions are all opposite.

The radio wave velocity c used in each of the following embodiments is c = 300,000,000 m / s. The first embodiment of the present invention will be described below. In the radar device of the first embodiment, the velocity of the antenna in the x-axis direction is set to 0 by moving the antenna of the radar device mounted on the aircraft that moves only in the velocity component in the x-axis direction in one dimension in the x-axis direction. Equalize and remove clutter signals.

FIG. 2 shows a conceptual diagram of the first embodiment of the present invention. The figure shows the velocity vector V (u, 0,0), that is, x
This is an example in which the radar device shown in FIG. 1 is attached to a medium-sized transport aircraft 100 (hereinafter, referred to as an aircraft) having a total length of about 30 m that moves at a speed u in the axial direction. The mechanism 20 is attached to the x-axis direction along the rail 30 having the length L _x , and the velocity vector −V
It is a radar device that moves by _R (-u, 0, 0).

The operation of the radar device will be described below with reference to the block diagram of the radar device. FIG. 3 is a block diagram of the first embodiment of the present invention. The radar device shown in the figure comprises an antenna 10, a waveguide 15, a velocity following servo mechanism 20, a transmitting / receiving unit 80, and an aircraft velocity sensor unit 90. The antenna 10 is an antenna for transmitting and receiving radar waves, and is fixed on the speed following type servo mechanism 20.

The waveguide 15 includes the transmitting / receiving section 80 and the antenna 1.
It is a transmission path for suppressing the attenuation of radar waves and efficiently transmitting with 0. Speed tracking servo mechanism 20, the upper and the antenna 10 is fixed to the velocity vector -V _R (-u along the rails 30 attached to the x-axis direction,
0,0) to move the velocity of the antenna 10 in the x-axis direction to 0.
Is equivalent to

The transmitter / receiver 80 transmits radar waves and receives reflected waves. The received reflected wave is output to the display unit or the like as the measurement result. The aircraft speed sensor unit 90 is a sensor included in the aircraft 100, detects the velocity u of the aircraft 100 in the x-axis direction, and outputs the velocity u to the velocity following servo mechanism 20. The configuration of the speed following type servo mechanism 20 will be described in detail below. The speed following type servo mechanism 20 includes a DC motor 2
1, a servo amplifier 22, a speed position comparator 23, a shaft encoder 24, and an antenna controller 25.

The DC motor 21 is a DC motor that moves along the rail 30 in the x-axis direction based on the current input from the servo amplifier 22. The servo amplification unit 22 uses the signal input from the speed position comparison unit 23 to generate a DC
Electric current is supplied to the motor 21 to drive it, and its speed is controlled. The velocity position comparison unit 23 is the antenna control unit 2
The speed signal of the aircraft 100 input from the No. 5 is compared with the speed signal of the DC motor 21 input from the shaft encoder unit 24, and the DC motor 2 is adjusted so that the speed difference becomes zero.
A signal for controlling 1 is created and output to the servo amplifier 22. Further, the speed following type servo mechanism 20 discriminates whether it is the start point or the end point of the rail 30, and when it is the end point, outputs a signal for moving to the start point to the servo amplifier 22 and outputs D
The C motor 21 is controlled.

The shaft encoder section 24 converts the number of rotations of the DC motor 21 into a speed signal to convert the speed position comparing section 23.
Output to. The antenna control unit 25 receives the velocity u in the x-axis direction of the aircraft 100, which is input from the aircraft velocity sensor unit 90.
Is converted into a speed signal and output to the speed position comparison unit 23.
Hereinafter, a specific example of the first embodiment will be described with reference to FIG. As a precondition, u of the velocity vector V _R (u, 0,0) of the aircraft 100 is u = 180 m / s The length L _x of the rail 30 in the x-axis direction is L _x = 20 m.

In this case, the speed following type servo mechanism 20 is set to x.
If the antenna 10 is moved in the minus direction of the axis at 180 m / s, the velocity of the antenna 10 in the x-axis direction becomes equivalent to 0, and the clutter signal can be completely removed. Further, since the length L _x of the rail 30 is 20 m, the speed following servo mechanism 20 moves from end to end of the rail 30 in about 0.11 seconds, but the above operation can be repeated to continuously remove the clutter signal. Good.

In this way, the antenna 10 of the radar device is
Velocity vector V _R of the aircraft 100 for mounting the radar system
FIG. 4 shows an example of detection of the target signal in the case of moving with the velocity vector −V _R in the opposite direction, that is, when the velocity vector of the antenna is equivalent to 0. FIG. 4 is a conceptual diagram of an example of detecting a target signal when the velocity vector of the antenna is equivalent to 0.

In the figure (A), the velocity vector V is directed leftward._R
Device mounted on aircraft 100 moving in space
Of the velocity vector as in the first embodiment.
-V _RTo make the velocity vector equivalent to 0,
Speed vector V moving in the same direction as 100_TAircraft
This is an example of measuring 101. Measurement result according to the same figure (A)
An example of frequency components included in is shown in FIG. Dopp
The clutter signal existing at the zero frequency is
Reflected by stationary objects such as mountains and buildings where the speed difference with the na is 0
This is due to the radar waves that have been generated. Also, the example of FIG.
Then, the ray transmitted by the antenna whose velocity vector is equivalent to 0
The wave is the velocity vector V_TAircraft approaching at 101
At the speed difference (| V_T| -0) Doppler effect
Will be received at a higher frequency than the
It is displayed on the plus side of the graph shown in Figure (B) (at the TARGET position).
Be done.

As described above, when the velocity vector of the antenna of the radar device is 0, the reflected wave from the stationary object is the same as the frequency at the time of transmission and is concentrated at the position of Doppler frequency 0, and the reflected wave from the moving object. Only the signal appears on the plus side or the minus side, so that the target signal can be easily detected. The second embodiment of the present invention will be described below.
The radar device according to the second embodiment has an antenna of the radar device mounted on a moving body having velocity components in the x-axis and y-axis directions.
By moving on a two-dimensional plane consisting of x-axis and y-axis,
Clutter signals are removed by making the velocity of the antenna in the x-axis and y-axis directions equal to zero.

FIG. 5 is a diagram for explaining the principle of the second embodiment of the present invention. The radar device shown in the figure has a velocity vector V _R (u, v, 0), that is, a moving body 100 moving at a velocity u in the x-axis direction and a velocity v in the y-axis direction, and a length in the y-axis direction. The rail 30 of L _Y is provided, the y-axis direction velocity following type servo mechanism 20 ₂ is mounted thereon, and the rail 30 of length L _x is passed over it in the x-axis direction. Further, an x-axis direction velocity following type servo mechanism 20 ₁ having the antenna 10 fixed thereon is mounted on the rail 30 in the x-axis direction. The x-axis, y-axis direction velocity tracking type velocity vector of the antenna 10 by moving simultaneously the servo mechanism _{20 -V R (-u, -v,} 0) moves in.

FIG. 6 is a conceptual diagram of the second embodiment of the present invention. This figure shows an example in which the radar device shown in FIG. 5 is attached to the upper part of a medium-sized transport aircraft 100 (hereinafter referred to as an aircraft) having a total length of about 30 m. The operation of the radar device will be described below with reference to the block diagram of the radar device. FIG. 7 is a block diagram of the second embodiment of the present invention. Radar apparatus shown in the figure, an antenna 10, a waveguide 15, x-axis direction velocity follow servo mechanism 20 _1, y-axis direction velocity follow servo mechanism 2
0 ₂ , a transmitter / receiver 80, and an aircraft speed sensor 90.

The antenna 10 is an antenna for transmitting and receiving radar waves, and is a velocity tracking type servo mechanism 2 in the x-axis direction.
It is fixed on 0 ₁ . The waveguide 15 includes a transmitting / receiving unit 80.
Between the antenna 10 and the antenna 10 is a transmission path for suppressing the attenuation of the radar wave and efficiently transmitting the radar wave. The x-axis direction velocity following servo mechanism 20 ₁ moves at a velocity −u in a direction to cancel the velocity u in the x-axis direction of the aircraft 100 and reduces the velocity in the x-axis direction to 0.
Is equivalent to

The y-axis direction velocity following type servo mechanism 20 ₂ is
The aircraft 100 is moved at a velocity −v in a direction to cancel the velocity v in the y-axis direction to make the velocity in the y-axis direction equal to zero. The transmission / reception unit 80 transmits a radar wave and receives a reflected wave. The received reflected wave is output to the display unit or the like as the measurement result. The aircraft speed sensor unit 90 is a sensor included in the aircraft 100 and converts the velocity u in the x-axis direction and the velocity v in the y-axis direction of the aircraft 100 into velocity signals and outputs them to the X-axis and Y-axis antenna control units 25.

Below, the x-axis direction velocity following type servo mechanism 2
The configuration of 0 ₁ will be described in detail. The x-axis direction speed following type servo mechanism 20 ₁ includes an X-axis DC motor 21 and a servo amplifier 2.
2, speed position comparison unit 23, shaft encoder unit 24,
And an X-axis antenna controller 25. X axis DC
The motor 21 is a DC motor that moves along the rail 30 in the x-axis direction based on the current input from the servo amplifier 22.

The servo amplifier 22 includes a speed position comparator 23.
A current is supplied to the X-axis DC motor 21 to drive the X-axis DC motor 21 based on a signal input thereto, and its speed is controlled.
The velocity position comparison unit 23 receives the velocity signal of the aircraft 100 in the x-axis direction input from the aircraft velocity sensor unit 90 and the X-axis DC motor 21 input from the shaft encoder unit 24.
X-axis D so that the speed difference becomes 0.
A signal for controlling the C motor 21 is created and output to the servo amplifier 22. In addition, the x-axis direction velocity tracking type servo mechanism 20 ₁ discriminates whether it is the start point or the end point of the rail 30, and when it is the end point, outputs a signal for moving to the start point to the servo amplifier 22 to output the X-axis DC. The motor 21 is controlled.

The shaft encoder section 24 converts the rotational speed of the X-axis DC motor 21 into a speed signal and outputs it to the speed position comparing section 23. The X-axis antenna control unit 25 converts the velocity u of the aircraft 100 in the x-axis direction input from the aircraft velocity sensor unit 90 into a velocity signal and outputs the velocity signal to the velocity position comparison unit 23. Below, the y-axis direction velocity following type servo mechanism 20 ₂
The configuration of will be described in detail. The y-axis direction speed following type servo mechanism 20 ₂ includes a Y-axis DC motor 21, a servo amplifier 22,
The speed position comparison unit 23, the shaft encoder unit 24, and the Y-axis antenna control unit 25 are included.

The Y-axis DC motor 21 includes a servo amplifier 22.
It is a DC motor that moves along the rail 30 in the y-axis direction based on the current input from the. Servo amplifier 22
Controls the speed of the Y-axis DC motor 21 by supplying a current to the Y-axis DC motor 21 to drive the Y-axis DC motor 21 based on a signal input from the speed position comparison unit 23. The velocity position comparison unit 23 compares the velocity signal in the y-axis direction of the aircraft 100 input from the aircraft velocity sensor unit 90 with the velocity signal of the Y-axis DC motor 21 input from the shaft encoder unit 24, and determines the velocity difference. A signal for controlling the Y-axis DC motor 21 is generated so that the value becomes 0, and is output to the servo amplifier 22. Also, y
The axial speed following type servo mechanism 20 ₁ discriminates whether it is the start point or the end point of the rail 30, and when it is the end point, outputs a signal for moving to the start point to the servo amplifier 22 to output the Y-axis D.
The C motor 21 is controlled.

The shaft encoder section 24 converts the number of revolutions of the Y-axis DC motor 21 into a speed signal and outputs it to the speed position comparing section 23. The Y-axis antenna control unit 25 converts the velocity v in the y-axis direction of the aircraft 100 input from the aircraft velocity sensor unit 90 into a velocity signal and outputs it to the velocity position comparison unit 23.

A concrete example of the second embodiment will be described below with reference to FIG.
It will be described based on. As a precondition, u and v of the velocity vector V _R (u, v, 0) of the aircraft 100 are: u = 180 m / s v = 18 m / s The length L _x , L of the rail 30 in the x-axis and y-axis directions. _{Let y} be L _x = 20 m L _y = 2 m.

In this case, if the velocity tracking type servo mechanism 20 ₁ in the x-axis direction is moved in the negative direction of the x-axis at 180 m / s, the velocity of the antenna 10 in the x-axis direction becomes equal to 0,
The clutter signal due to the velocity component in the x-axis direction can be completely removed. The length L _x of the rail 30 in the x-axis direction is 2
Since it is 0 m, the x-axis direction velocity following type servo mechanism 20 ₁ moves from end to end of the rail 30 in about 0.11 seconds, but this operation may be repeated in order to continuously remove clutter signals.

The y-axis direction velocity following type servo mechanism 20 is also provided.
_{If 2} is moved in the negative direction of the y-axis at 18 m / s, the velocity of the antenna 10 in the y-axis direction becomes equivalent to 0, and the clutter signal due to the velocity component in the y-axis direction can be completely removed. Since the length L _y of the rail 30 in the y-axis direction is 2 m, the y-axis direction velocity following type servo mechanism 20 ₂ has about 0.11.
It moves from the end of the rail 30 to the end in seconds, but this operation may be repeated when the clutter signal is continuously removed.

As described above, by simultaneously moving the x-axis direction velocity following servo mechanism 20 ₁ and the y axis direction velocity following servo mechanism 20 ₂ , the clutter signal accompanying the movement of the aircraft 100 is completely eliminated. Is possible. less than,
A third embodiment of the present invention will be described. The radar apparatus according to the third embodiment has an antenna of the radar apparatus mounted on a moving body having velocity components in the x-axis, y-axis, and z-axis directions.
By moving in the three-dimensional space consisting of the z-axis, the velocity in the x-axis, y-axis, and z-axis directions of the antenna is made equal to 0, and the clutter signal is removed.

FIG. 8 is a diagram for explaining the principle of the third embodiment of the present invention. The radar apparatus shown in FIG. 1 has a moving body 1 moving at a velocity vector V _R (u, v, w), that is, a velocity u in the x-axis direction, a velocity v in the y-axis direction, and a velocity w in the z-axis direction.
00, four rails 30 each having a length L _{x in} the x-axis direction and a length L _{y in} the _y- axis direction and having a length L _{z in} the z-axis direction are provided, and each rail 30 follows the velocity in the z-axis direction. Type servo mechanism 20
₃ is attached. Further, four z-axis direction velocity following servomechanisms 20 ₃ are connected by rails 30 and an XY table movable in the z-axis direction is attached.
A y-axis direction velocity following type servo mechanism 20 ₂ is attached to each rail 30 in the axial direction. Further, the two y-axis direction velocity-following servomechanisms 20 ₂ are connected by rails 30, and the x-axis direction velocity-following servomechanism 20 ₁ having the antenna 10 fixed to the rails is attached to the x-axis, the y-axis, and the move simultaneously z-axis direction velocity follow servo mechanism 20 to move the antenna 10 at a velocity vector _{-V R (-u, -v, -w} ).

FIG. 9 shows a conceptual diagram of the third embodiment of the present invention. This figure shows an example in which the radar device shown in FIG. 8 is attached to the upper part of a medium-sized transport aircraft 100 (hereinafter referred to as an aircraft) having a total length of about 30 m. The operation of the radar device will be described below with reference to the block diagram of the radar device. FIG. 10 is a block diagram of the third embodiment of the present invention. Radar apparatus shown in the figure, an antenna 10, a waveguide 15, x-axis direction velocity follow servo mechanism 20 _1, y-axis direction velocity follow servo mechanism 20
₂ , z-axis direction velocity following type servo mechanism 20 ₃ , transmitting / receiving unit 8
0 and an aircraft speed sensor unit 90.

The antenna 10 transmits and receives radar waves.
X-axis velocity follow-up type servo mechanism 2
0₁It is fixed on. The waveguide 15 includes a transmitting / receiving unit 80.
Between the antenna and the antenna 10 to suppress the attenuation of radar waves
It is a transmission line for transmitting data. x-axis direction velocity follower
Robot mechanism 20₁And y-axis direction velocity following type servo mechanism 20
₂Is the same as the second embodiment described above.

The z-axis direction velocity following type servo mechanism 20 ₃ is
The aircraft 100 is moved at a velocity −w in a direction canceling the velocity w in the z-axis direction to make the velocity in the z-axis direction equal to zero. The transmission / reception unit 80 transmits a radar wave and receives a reflected wave. The received reflected wave is output to the display unit or the like as the measurement result. The aircraft speed sensor unit 90, which is included in the aircraft 100, detects the velocity u in the x-axis direction, the velocity v in the y-axis direction, and the velocity w in the z-axis direction of the aircraft 100, and each of them detects X.
Output to the axis, Y-axis, and Z-axis antenna control unit 25.

The z-axis direction velocity following type servo mechanism 2 will be described below.
The configuration of 0 ₃ will be described in detail. The z-axis speed following type servo mechanism 20 ₃ includes a Z-axis DC motor 21 and a servo amplifier 2.
2, speed position comparison unit 23, shaft encoder unit 24,
And a Z-axis antenna controller 25. Z axis DC
The motor 21 is a DC motor that moves along the rail 30 in the z-axis direction based on the current input from the servo amplifier 22.

The servo amplifier 22 includes a speed position comparator 23.
The Z-axis DC motor 21 is supplied with a current to be driven based on a signal input thereto, and its speed is controlled.
The velocity position comparison unit 23 compares the velocity signal of the aircraft 100 in the z-axis direction input from the antenna control unit 25 with the velocity signal of the Z-axis DC motor 21 input from the shaft encoder unit 24, and the velocity difference is calculated. A signal for controlling the Z-axis DC motor 21 is made to be 0, and the servo amplifier 2
Output to 2. In addition, the z-axis direction velocity follow-up type servo mechanism 2
Identify whether 0 ₃ is the start or end of the rail 30,
In the case of the end point, a signal for moving to the start point is output to the servo amplifier 22 to control the Z-axis DC motor 21.

The shaft encoder section 24 converts the number of revolutions of the Z-axis DC motor 21 into a speed signal and outputs it to the speed position comparing section 23. The Z-axis antenna control unit 25 converts the velocity w in the z-axis direction of the aircraft 100 input from the aircraft velocity sensor unit 90 into a velocity signal and outputs the velocity signal to the velocity position comparison unit 23. Hereinafter, a specific example of the third embodiment will be described with reference to FIG. As a precondition, u, v, w of the velocity vector V _R (u, v, w) of the aircraft 100 are: u = 180 m / s v = w = 18 m / s x-axis, y-axis, and z-axis direction rails 30 lengths L _x , L
_{Let y} and L _z be L _x = 20 m L _y = L _z = 2 m.

In this case, the x-axis direction velocity following type servo mechanism
20₁Move in the negative direction of the x-axis at 180 m / s
Then, the velocity of the antenna 10 in the x-axis direction becomes equivalent to 0,
Completely eliminates clutter signals due to velocity components in the x-axis direction
You can Also, the length L of the rail 30 in the x-axis direction
_xSince the length is 20 m, the speed tracking type servo mechanism in the x-axis direction 20 ₁
Moves from end to end of rail 30 in about 0.11 seconds,
Repeat this operation to remove the clutter signal continuously.
You just have to return.

Further, the y-axis direction speed following type servo mechanism 20
_{If 2} is moved in the negative direction of the y-axis at 18 m / s, the velocity of the antenna 10 in the y-axis direction becomes equivalent to 0, and the clutter signal due to the velocity component in the y-axis direction can be completely removed. Further, the length L _y of the rail 30 in the y-axis direction is 2
Since it is m, the y-axis direction speed following type servo mechanism 20 ₂ is about 0.
It moves from end to end of the rail 30 in 11 seconds, but when removing the clutter signal continuously, this operation may be repeated.

Similarly, the z-axis direction velocity following type servo mechanism 2
If 0 ₃ is moved in the negative direction of the z-axis at 18 m / s, the velocity of the antenna 10 in the z-axis direction becomes equal to 0, and the clutter signal due to the velocity component in the z-axis direction can be completely removed. Further, since the length L _z of the rail 30 in the z-axis direction is 2 m, the z-axis direction velocity-following servo mechanism 20 ₃ moves from end to end of the rail 30 in about 0.11 seconds, but continuously outputs clutter signals. When removing, this operation may be repeated.

As described above, by simultaneously moving the x-axis, y-axis, and z-axis direction velocity-following servomechanisms 20,
It is possible to completely eliminate the clutter signal that accompanies the movement of the aircraft 100. The fourth embodiment of the present invention will be described below. The radar apparatus according to the fourth embodiment, the antenna of the radar apparatus to be mounted on an aircraft to move only at a speed component in the x-axis direction, x-axis direction based on the distance R to the speed of the aircraft vector V _R and clutter source The clutter signal generated by the clutter source is made equal by setting the velocity vectors of the antennas that transmit radar waves and the antennas that receive the radar waves by switching them sequentially at a predetermined time interval. Remove. To measure the distance R to the clutter source, a pulse radar or the like having a distance measuring function is used as a radar device.

FIG. 11 is a diagram for explaining the principle of the fourth embodiment of the present invention. The radar device shown in FIG. 1A has a velocity vector V _R (u, 0,0), where u> 0, and a velocity in the x-axis direction is applied to a moving body 100 moving in the positive x-axis direction. The first to nth antennas 10 are provided at equal intervals in a section having a length L _{x so} as to cancel u. Then, the reflected wave of the radar wave transmitted from the kth antenna 10 by the clutter source 200 is transmitted to the k + 1th antenna 10
By receiving at the same point as the k-th antenna 10 at the time of transmitting the radar wave, the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. However, k = 1 to n-1.

Therefore, the number n of antennas 10 provided at equal intervals in the length L _x between the first and nth antennas in the x-axis direction and the time interval for switching the antennas 10 in the x-axis direction from the kth to the k + 1th antenna. It is necessary to determine ΔT. _{ΔT = L x / ((n} -1) · u) Also, if the radio wave speed c is C»V _R, radar waves transmitted in the k-th antenna 10 is reflected by clutter source 200 at a distance R , ΔT _R required to be received by the k + 1-th antenna 10 is ΔT _R = 2R / c. Here, in order to sequentially switch the n antennas 10 in the x-axis direction so as not to be affected by the Doppler effect, the number n of the antennas 10 is set to satisfy ΔT = ΔT _R , and n = c · L _x By determining / (2R · u) +1, the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero.

The radar apparatus shown in FIG. 11B is an example in which the moving body is moving in the negative direction in the x-axis direction when the velocity vector V _R (u, 0,0), but u <0. Body 1
In the section of length L _x of 00, n antennas 10 from the 1st to the nth are provided at equal intervals in a direction to cancel the velocity u in the x-axis direction. Then, the reflected wave of the radar wave transmitted by the k-th antenna 10 is received by the k + 1-th antenna 10 at the same point as the k-th antenna 10 at the time of transmitting the radar wave, so that the antenna 10 used for transmission and reception. It becomes possible to make the velocity vector of 0 equal to 0. However,
k = 1 to n-1.

Therefore, the number n of antennas 10 provided at equal intervals in the length L _x between the first and nth antennas in the x-axis direction and the time interval for switching the antennas 10 in the x-axis direction from the kth to the k + 1th. It is necessary to determine ΔT. ΔT = L _x / ((n-1) · | u |) If the radio wave velocity c is c >> | V _R |, the radar wave transmitted by the k-th antenna 10 is a clutter source at a distance R. The time ΔT _R required for the signal to be reflected at 200 and received by the (k + 1) th antenna 10 is ΔT _R = 2R / c. Here, in order to sequentially switch the n antennas 10 in the x-axis direction so as not to be affected by the Doppler effect, the number n of the antennas 10 is set to satisfy ΔT = ΔT _R , and n = c · L _x By determining / (2R · | u |) +1, the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero.

FIG. 12 shows a conceptual diagram of the fourth embodiment of the present invention. The figure shows a medium-sized transport aircraft 100 with a total length of about 30 m.
The length L _x in the x-axis direction is set above the aircraft (hereinafter referred to as the aircraft).
11, the N antennas 10 are provided at equal intervals in the section of FIG.
This is an example in which a radar device similar to the radar device shown in FIG. The operation of the radar device will be described below with reference to the block diagram of the radar device.

FIG. 13 is a block diagram of the fourth embodiment of the present invention. The radar device shown in FIG.
Waveguide 15, antenna selection controller 70, transceiver 80,
Clutter position analysis unit 85 and aircraft speed sensor unit 90
It is composed of The antenna 10 is an antenna for transmitting and receiving a radar wave, and is the first to N in the direction in which the velocity u is canceled in the section of the length L _X of the aircraft 100 in the x-axis direction.
N pieces are fixed at even intervals up to the second.

The waveguide 15 is a transmission line for suppressing the attenuation of the radar wave between the transmission / reception section 80 and each antenna 10 and efficiently transmitting the radar wave. The antenna selection control unit 70, based on the velocity u of the aircraft 100 in the x-axis direction input from the aircraft speed sensor unit 90 and the distance R to the clutter source 200 input from the clutter position analysis unit 85, the x-axis. The n antennas 10 are selected at equal intervals from the N antennas 10 installed in the direction. Further, the selected antenna 10 is sequentially switched from the k-th to the k + 1-th at a predetermined time interval in the opposite direction to the velocity u of the aircraft 100, and the velocity vector of the antenna 10 that transmits the radar wave and the velocity vector of the antenna 10 that receives the radar wave. Is controlled to 0.

The transmitting / receiving unit 80 transmits radar waves and receives reflected waves. The received reflected wave is output to the display unit or the like as the measurement result. The clutter position analysis unit 85 determines the distance R to the clutter source 200 based on the reflected wave of the radar wave from the clutter source 200 input from the transmission / reception unit 80.
Is measured and output to the antenna selection control unit 70.

The aircraft speed sensor section 90 is used for the aircraft 100.
And detects the velocity u of the aircraft 100 in the x-axis direction and outputs it to the antenna selection control unit 70. A specific example of the fourth embodiment will be described below with reference to FIG. As a prerequisite, the velocity vector V _R (u,
U = 300 m / s, the length L _x from the first to the N-th antenna 10 in the x-axis direction is L _x = 20 m, and the number N of antennas provided in the length L _x. N = 119 The distance R to the clutter source 200 is R = 170000 m.

In this case, the antenna 10 required in the x-axis direction
The number n of is n = c · L _x / (2R · | u |) + 1≈60 (pieces). Further, the time ΔT for switching the antenna 10 from the k-th to the k + 1-th becomes ΔT = L _x /((n−1)·|u|)≈0.0011 (seconds).

Therefore, of the 119 antennas 10 provided in the x-axis direction, 60 odd-numbered antennas 10 are used. These 60 antennas 10 are used for aircraft 1
00 from the first to 60 in the opposite direction to the x-axis
The position of the k-th antenna 10 that transmits a radar wave and the position of the k + 1-th antenna 10 that receives a radar wave are changed by switching the antenna 10 from the first antenna 10 in order every 0.0011 seconds from the first antenna 10. Can be at the same point and the velocity vector of the antenna 10 is 0
Is equivalent to As a result, the clutter source 2 at the distance R
It is possible to completely remove the clutter signal due to the reflected wave from 00.

It is to be noted that N antennas 10 (N ≧ n) are provided in advance in the x-axis direction, and n antennas 10 are selected at regular intervals from the N antennas 10 and used, so that the speed u and the distance are increased. It is possible to deal with the case where L _x and the distance R are changed. Also, the length L between the antennas in the x-axis direction
Table 1 shows the number n of the antennas 10 in the x-axis direction calculated from the speed u and the distance R from the clutter source 200 when _x is 20 m.

[0081]

[Table 1]

The fifth embodiment of the present invention will be described below. The radar apparatus according to the fifth embodiment, the antenna of the radar apparatus to be mounted on an aircraft moving at a speed having a speed component in x-axis and y-axis direction, on the distance R to the velocity vector V _R and clutter source of the aircraft Based on the x axis and the y axis, m × n pieces are provided at equal intervals on a plane having lengths L _x and L _y .
The clutter signal by the clutter source is removed by making the velocity vector of the antenna transmitting the radar wave and the velocity vector of the antenna receiving the radar wave equivalent to 0 by sequentially switching at a predetermined time interval. To measure the distance R to the clutter source, a pulse radar or the like having a distance measuring function is used as a radar device.

FIG. 14 is a diagram for explaining the principle of the fifth embodiment of the present invention. The radar device shown in FIG. 1A has a velocity vector V _R (u, v, 0), where u> 0 and v> 0.
In the section of the length L _x in the x-axis direction of the moving body 100 moving in the direction m in the direction of canceling the velocity u in the x-axis direction from (1, ν) to (m, ν), and in the y-axis direction. In a section having a length L _y , n rows of antennas 10 are provided at equal intervals for each axis from (μ, 1) to (μ, n) so as to cancel the velocity v in the y-axis direction. However, μ = 1 to m, ν = 1 to n.

Then, the reflected wave of the radar wave transmitted by the (μ, ν) antenna 10 is converted by the (μ + 1, ν + 1) antenna 10 into the (μ, ν) antenna 1 when the radar wave is transmitted.
By receiving at the same point as 0, the velocity vector of the antenna 10 used for transmission / reception can be made equal to 0. Therefore, the antenna 1 provided in the section of length L _x
Antennas 1 provided at equal intervals in a section of column m of 0 and length L _y
It is necessary to determine the column n of 0 and the time interval ΔT for switching from (μ, ν) to the antenna 10 of (μ + 1, ν + 1).

ΔT = L _x / ((m-1) · u) = L _y /
((N-1) · v ) Further, if the radio wave speed c is c»V _R, (μ, ν)
The time ΔT _R required for the radar wave transmitted from the antenna 10 to be reflected by the clutter source 200 at the distance R and to be received by the antenna 10 at (μ + 1, ν + 1) is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns m and n in the x-axis and y-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds.
Is determined as m = c · L _x / (2R · u) +1 n = c · L _y / (2R · v) +1, the velocity vector of the antenna 10 used for transmission / reception can be made equal to 0.

The radar device shown in FIG. 14B has a velocity vector V _R (u, v, 0), where the length L in the x-axis direction of the moving body 100 moving with u> 0 and v <0. (1, [nu) in the direction to cancel the velocity u in the x-axis direction _x section from (m, [nu) to m columns, also the direction of canceling the y-axis direction of the velocity v in the interval length L _y in the y-axis direction In addition, n rows of antennas 10 from (μ, 1) to (μ, n) are provided at equal intervals. However, μ = 1 to m, ν = 1 to n.

Then, the reflected wave of the radar wave transmitted by the (μ, ν) antenna 10 is converted by the (μ + 1, ν + 1) antenna 10 into the (μ, ν) antenna 1 when the radar wave is transmitted.
By receiving at the same point as 0, the velocity vector of the antenna 10 used for transmission / reception can be made equal to 0. Therefore, the antenna 1 provided in the section of length L _x
Antennas 1 provided at equal intervals in a section of column m of 0 and length L _y
It is necessary to determine the column n of 0 and the time interval ΔT for switching from (μ, ν) to the antenna 10 of (μ + 1, ν + 1).

ΔT = L _x / ((m-1) · u) = L _y /
((N-1) · | v |) The radio wave speed c is c» | V _R | if a, (mu,
The time ΔT _R required for the radar wave transmitted from the antenna 10 of ν) to be reflected by the clutter source 200 at the distance R and to be received by the antenna 10 of (μ + 1, ν + 1) is ΔT _R = 2R / c. . Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns m and n in the x-axis and y-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds.
Is determined as m = c · L _x / (2R · u) +1 n = c · L _y / (2R · | v |) +1, the velocity vector of the antenna 10 used for transmission and reception is equivalent to 0. it can.

The radar device shown in FIG. 15A has a velocity vector V _R (u, v, 0), where the length L of the moving body 100 moving at u <0 and v> 0 in the x-axis direction. (1, [nu) in the direction to cancel the velocity u in the x-axis direction _x section from (m, [nu) to m columns, also the direction of canceling the y-axis direction of the velocity v in the interval length L _y in the y-axis direction In addition, n rows of antennas 10 from (μ, 1) to (μ, n) are provided at equal intervals. However, μ = 1 to m, ν = 1 to n.

Then, the reflected wave of the radar wave transmitted by the (μ, ν) antenna 10 is transmitted to the (μ + 1, ν + 1) antenna 10 when the radar wave is transmitted (μ, ν).
By receiving at the same point as 0, the velocity vector of the antenna 10 used for transmission / reception can be made equal to 0. Therefore, the antenna 1 provided in the section of length L _x
It is necessary to determine the column m of 0, the column n of the antenna 10 provided in the section of length L _y , and the time interval ΔT for switching from (μ, ν) to the antenna 10 of (μ + 1, ν + 1).

ΔT = L _x / ((m-1) · | u |) = L
_{y / ((n-1)} · v) The radio wave speed c is c» | V _R | if a, (mu,
The time ΔT _R required for the radar wave transmitted from the antenna 10 of ν) to be reflected by the clutter source 200 at the distance R and to be received by the antenna 10 of (μ + 1, ν + 1) is ΔT _R = 2R / c. . Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns m and n in the x-axis and y-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds.
Is determined as m = c · L _x / (2R · | u |) +1 n = c · L _y / (2R · v) +1, the velocity vector of the antenna 10 used for transmission / reception is equivalent to 0. it can.

The radar apparatus shown in FIG. 15B has a velocity vector V _R (u, v, 0), where the length L of the moving body 100 moving with u <0 and v <0 in the x-axis direction. (1, [nu) in the direction to cancel the velocity u in the x-axis direction _x section from (m, [nu) to m columns, also the direction of canceling the y-axis direction of the velocity v in the interval length L _y in the y-axis direction In addition, n rows of antennas 10 from (μ, 1) to (μ, n) are provided at equal intervals. However, μ = 1 to m, ν = 1 to n.

Then, the reflected wave of the radar wave transmitted by the (μ, ν) antenna 10 is reflected by the (μ + 1, ν + 1) antenna 10 when the (μ, ν) antenna 1 transmits the radar wave.
By receiving at the same point as 0, the velocity vector of the antenna 10 used for transmission / reception can be made equal to 0. Therefore, the antenna 1 provided in the section of length L _x
It is necessary to determine the column m of 0, the column n of the antenna 10 provided in the section of length L _y , and the time interval ΔT for switching from (μ, ν) to the antenna 10 of (μ + 1, ν + 1).

ΔT = L _x / ((m-1) · | u |) = L
_{y / ((n-1)} · | v |) The radio wave speed c is c» | V _R | if a, (mu,
The time ΔT _R required for the radar wave transmitted from the antenna 10 of ν) to be reflected by the clutter source 200 at the distance R and to be received by the antenna 10 of (μ + 1, ν + 1) is ΔT _R = 2R / c. . Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns m and n in the x-axis and y-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds.
Is determined as m = c · L _x / (2R · | u |) +1 n = c · L _y / (2R · | v |) +1, the velocity vector of the antenna 10 used for transmission and reception is 0. Can be equivalent.

FIG. 16 is a conceptual diagram of the fifth embodiment of the present invention. The figure shows a medium-sized transport aircraft 100 with a total length of about 30 m.
The length L _x in the x-axis direction is set above the aircraft (hereinafter referred to as the aircraft).
M column sections, example in which the same radar apparatus and the radar apparatus shown antenna 10 of the N columns in a section length L _y in the y-axis direction in FIGS. 14 and 15 provided at equal intervals for each axis Is. The operation of the radar device will be described below with reference to the block diagram of the radar device.

FIG. 17 is a block diagram of the fifth embodiment of the present invention. The radar device shown in FIG.
Waveguide 15, antenna selection controller 70, transceiver 80,
Clutter position analysis unit 85 and aircraft speed sensor unit 90
It is composed of The antenna 10 is an antenna for transmitting and receiving radar waves, and extends from the 1st row to the Mth row in the direction of canceling the velocity u in the x-axis direction in the section of the length L _x in the x-axis direction of the aircraft 100, and in the aircraft 100. y-axis length L _y
From the first row to N in the direction of canceling the velocity v in the y-axis direction in the section
Up to the column, a total of M × N are fixed.

The waveguide 15 is a transmission line for suppressing the attenuation of the radar wave between the transmission / reception section 80 and each antenna 10 and transmitting it efficiently. The antenna selection control unit 70 sets the velocity u in the x-axis direction, the velocity v in the y-axis direction of the aircraft 100 input from the aircraft speed sensor unit 90, and the distance R to the clutter source 200 input from the clutter position analysis unit 85. Based on this, the m rows of antennas 10 are equally spaced from the M rows of antennas 10 installed in the x-axis direction, and the n rows of antennas 10 are equally spaced from the N rows of antennas 10 installed in the y axis direction. Further, the selected m × n antennas 10 are sequentially switched from (μ, ν) to (μ + 1, ν + 1) at predetermined time intervals, and the antenna 10 for transmitting the radar wave and the antenna 10 for receiving the radar wave are formed. The velocity vector is controlled to be 0.

The transmitting / receiving unit 80 transmits radar waves and receives reflected waves. The received reflected wave is output to the display unit or the like as the measurement result. The clutter position analysis unit 85 determines the distance R to the clutter source 200 based on the reflected wave of the radar wave from the clutter source 200 input from the transmission / reception unit 80.
Is measured and output to the antenna selection control unit 70.

The aircraft speed sensor unit 90 is used for the aircraft 100.
And has velocities u and y of the aircraft 100 in the x-axis direction.
The velocity v in the axial direction is detected and output to the antenna selection control unit 70. Hereinafter, a specific example of the fifth embodiment will be described with reference to FIG. As a precondition, u and v of the velocity vector V _R (u, v, 0) of the aircraft 100 are: u = 300 m / s v = 30 m / s The length from the first row to the M-th antenna 10 in the x-axis direction is L _x, the length L _y of the first column in the y-axis direction to the antenna 10 of the N-th _{column, L x = 20m L y =} 2m columns of antenna 10 provided between the length L _x and L _y M And N
M = N = 119 The distance R to the clutter source 200 is R = 170000 m.

In this case, the columns m and n of the antenna 10 required in the x-axis and y-axis directions are: m = c · L _x / (2R · u) + 1≈60 (pieces) n = c · L _y / ( 2R · v) + 1≈60 (pieces). Further, the times ΔT _x and ΔT _y for switching the antenna 10 in the x-axis and y-axis directions are ΔT _x = L _x /((m−1)·|u|)≈0.0011 (seconds) ΔT _y = L _y /((N-1)·|v|)≈0.0011 (seconds).

Therefore, out of the 119 rows of antennas 10 arranged in the x-axis and y-axis directions, each of the antennas 10 in the odd rows is 6
Column 0 is changed from (1, 1) to (60, 60) and total 36
00 antennas 10 will be used. These antennas 10 are moved from (μ, ν) to (μ
By switching to (+1, ν + 1), the position of the (μ, ν) antenna 10 that transmits the radar wave and the position of the (μ + 1, ν + 1) antenna 10 that receives the radar wave can be set to the same point. The velocity vector of is equivalent to 0. As a result, the clutter source 200 located at the distance R
It is possible to completely remove the clutter signal due to the reflected wave from.

The antennas 10 are provided in advance in M rows (M ≧ m) in the x-axis direction and N rows (N ≧ n) in the y-axis direction.
By selecting and using the m × n columns of antennas 10 at equal intervals from the × N columns of antennas 10, it is flexible even when the velocity u, velocity v, length L _x , length L _y , and distance R change. It is possible to deal with. Further, the number m in the x-axis direction of the antenna 10 length L _x is calculated from the distance R between the velocity u and the clutter source 200 of 20m in Table 2, the length L _y
Table 3 shows the number n of the antennas 10 in the y-axis direction calculated from the speed v and the distance R from the clutter source 200 when is 2 m.

[0103]

[Table 2]

[0104]

[Table 3]

The sixth embodiment of the present invention will be described below. The radar device according to the sixth embodiment has an x-axis, a y-axis, and a z-axis.
An antenna of a radar device mounted on an aircraft moving at a velocity having each velocity component in the axial direction is used as an x-axis, a y-axis based on a velocity vector V _{R of the} aircraft and a distance R to a clutter source.
An antenna and a radar wave which are provided at equal intervals in a space of lengths L _x , L _y , and L _z composed of an axis and az axis, and which are sequentially switched at a predetermined time interval to transmit a radar wave. The clutter signal due to the clutter source is removed by making the velocity vector of the antenna that receives the signal equivalent to 0. To measure the distance R to the clutter source, a pulse radar or the like having a distance measuring function is used as a radar device.

FIG. 18 is a diagram (1) for explaining the principle of the sixth embodiment of the present invention. The radar apparatus shown in the figure, the velocity vector _{V R (u, v, w} ), where u> 0 and v> 0
Further, from (1, ν, ξ) to (l, ν, ξ) in the direction of canceling the velocity u in the x-axis direction in the section of the length L _x in the x-axis direction of the moving body 100 moving with w> 0. l columns, m columns from (μ, 1, ξ) to (μ, m, ξ) in the direction of canceling the velocity v in the y axis direction in the section of the length L _{y in} the y axis direction, and the length in the z axis direction. In the section of length L _z , n rows of antennas 10 are provided at equal intervals for each axis from (μ, ν, 1) to (μ, ν, n) so as to cancel the velocity w in the z-axis direction. However, μ =
1 to 1, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted by the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · u) = L _y / ((m−1) · v) = L _Z / ((n−1) · w) If a c»V _R, (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. If l = c · L _x / (2R · u) +1 m = c · L _y / (2R · v) +1 n = c · L _z / (2R · w) +1, the antenna used for transmission / reception Ten velocity vectors can be equated to zero.

FIG. 19 is a diagram (2) explaining the principle of the sixth embodiment of the present invention. The radar device shown in FIG. 1A has a velocity vector V _R (u, v, w), where the length of the moving body 100 moving in the x-axis direction is u> 0, v> 0 and w <0. In the section of L _x , there are l columns from (1, ν, ξ) to (l, ν, ξ) in a direction to cancel the velocity u in the x-axis direction, and y
In a section of length L _{y in} the axial direction, m rows from (μ, 1, ξ) to (μ, m, ξ) in a direction of canceling the velocity v in the y-axis direction, and a section of length L _{z in} the z-axis direction Further, n rows of antennas 10 from (μ, ν, 1) to (μ, ν, n) are provided at equal intervals for each axis in a direction to cancel the velocity w in the z-axis direction. However, μ
= 1 to 1, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted from the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · u) = L _y / ((m−1) · v) = L _Z / ((n−1) · | w |) If c is c >> V _R , then (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. l = c · L _x / (2R · u) +1 m = c · L _y / (2R · v) +1 n = c · L _z / (2R · | w |) +1 is used for transmission / reception The velocity vector of the antenna 10 can be made equal to zero.

Further, the radar device shown in FIG.
Degree vector V_R(U, v, w), where u> 0 and v <0
And the length of the moving body 100 moving with w> 0 in the x-axis direction
L _xIn the direction of canceling the velocity u in the x-axis direction
1 column from (1, ν, ξ) to (l, ν, ξ), and y-axis
Direction length L_yFor canceling the velocity v in the y-axis direction in the section
Every m rows from (μ, 1, ξ) to (μ, m, ξ)
z-axis length L_zCancel the velocity w in the z-axis direction in the section
Direction from (μ, ν, 1) to (μ, ν, n)
The antennas 10 are provided at equal intervals on each axis. However, μ =
1 to 1, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted from the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · u) = L _y / ((m−1) · | v |) = L _Z / ((n−1) · w) If c is c >> V _R , then (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. l = c · L _x / (2R · u) +1 m = c · L _y / (2R · | v |) +1 n = c · L _z / (2R · w) +1 is used for transmission / reception. The velocity vector of the antenna 10 can be made equal to zero.

FIG. 20 is a diagram (3) for explaining the principle of the sixth embodiment of the present invention. The radar device shown in FIG. 1A has a velocity vector V _R (u, v, w), where the length of the moving body 100 moving in the x-axis direction is u> 0 and v <0 and w <0. In the section of L _x , there are l columns from (1, ν, ξ) to (l, ν, ξ) in a direction to cancel the velocity u in the x-axis direction, and y
In a section of length L _{y in} the axial direction, m rows from (μ, 1, ξ) to (μ, m, ξ) in a direction of canceling the velocity v in the y-axis direction, and a section of length L _{z in} the z-axis direction Further, n rows of antennas 10 from (μ, ν, 1) to (μ, ν, n) are provided at equal intervals for each axis in a direction to cancel the velocity w in the z-axis direction. However, μ
= 1 to 1, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted by the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · u) = L _y / ((m−1) · | v |) = L _Z / ((n−1) · | w |) If the velocity c of is c >> V _R , then (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. l = c · L _x / (2R · u) +1 m = c · L _y / (2R · | v |) +1 n = c · L _z / (2R · | w |) +1 The velocity vector of the antenna 10 used can be equal to zero.

Further, the radar device shown in FIG.
Degree vector V_R(U, v, w), where u <0 and v> 0
And the length of the moving body 100 moving with w> 0 in the x-axis direction
L _xIn the direction of canceling the velocity u in the x-axis direction
1 column from (1, ν, ξ) to (l, ν, ξ), and y-axis
Direction length L_yFor canceling the velocity v in the y-axis direction in the section
Every m rows from (μ, 1, ξ) to (μ, m, ξ)
z-axis length L_zCancel the velocity w in the z-axis direction in the section
Direction from (μ, ν, 1) to (μ, ν, n)
The antennas 10 are provided at equal intervals on each axis. However, μ =
1 to 1, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted by the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · | u |) = L _y / ((m−1) · v) = L _Z / ((n−1) · w) If c is c >> V _R , then (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. If it is determined that l = c · L _x / (2R · | u |) +1 m = c · L _y / (2R · v) +1 n = c · L _z / (2R · w) +1, it will be used for transmission and reception. The velocity vector of the antenna 10 can be made equal to zero.

FIG. 21 is a diagram (4) explaining the principle of the sixth embodiment of the present invention. The radar device shown in FIG. 1A has a velocity vector V _R (u, v, w), where the length of the moving body 100 moving in the x-axis direction is u <0 and v> 0 and w <0. The velocity in the x-axis direction is canceled in the section of L _{x in} the direction of (1, ν, ξ) to (l, ν, ξ) in 1 column, and the velocity in the y-axis direction is in the section of length L _y in the y-axis direction. In the direction of canceling v, there are m columns from (μ, 1, ξ) to (μ, m, ξ), and in the direction of canceling the velocity w in the z-axis direction in the section of length L _z in the z-axis direction (μ, ν, From 1) to (μ, ν, n), n rows of antennas 10 are provided at equal intervals for each axis. However, μ = 1 to
l, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted by the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · | u |) = L _y / ((m−1) · v) = L _Z / ((n−1) · | w |) If the velocity c of is c >> V _R , then (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. If it is determined that l = c · L _x / (2R · | u |) +1 m = c · L _y / (2R · v) +1 n = c · L _z / (2R · | w |) +1 The velocity vector of the antenna 10 used can be equal to zero.

Further, the radar device shown in FIG.
Degree vector V_R(U, v, w), where u <0 and v <0
And the length of the moving body 100 moving with w> 0 in the x-axis direction
L _xIn the direction of canceling the velocity u in the x-axis direction
1 column from (1, ν, ξ) to (l, ν, ξ), and y-axis
Direction length L_yFor canceling the velocity v in the y-axis direction in the section
Every m rows from (μ, 1, ξ) to (μ, m, ξ)
z-axis length L_zCancel the velocity w in the z-axis direction in the section
Direction from (μ, ν, 1) to (μ, ν, n)
The antennas 10 are provided at equal intervals on each axis. However, μ =
1 to 1, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted by the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · | u |) = L _y / ((m−1) · | v |) = L _Z / ((n−1) · w) If the velocity c of is c >> V _R , then (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. l = c · L _x / (2R · | u |) +1 m = c · L _y / (2R · | v |) +1 n = c · L _z / (2R · w) +1 The velocity vector of the antenna 10 used can be equal to zero.

FIG. 21 is a diagram (5) explaining the principle of the sixth embodiment of the present invention. The radar device shown in the figure has a velocity vector V _R (u, v, w), where u <0 and v <0.
Further, from (1, ν, ξ) to (l, ν, ξ) in the direction of canceling the velocity u in the x-axis direction in the section of the length L _x in the x-axis direction of the moving body 100 moving with w <0. l columns, m columns from (μ, 1, ξ) to (μ, m, ξ) in the direction of canceling the velocity v in the y axis direction in the section of the length L _{y in} the y axis direction, and the length in the z axis direction. In the section of length L _z , n rows of antennas 10 are provided at equal intervals for each axis from (μ, ν, 1) to (μ, ν, n) so as to cancel the velocity w in the z-axis direction. However, μ =
1 to 1, ν = 1 to m, ξ = 1 to n.

Then, the reflected wave of the radar wave transmitted by the antenna 10 of (μ, ν, ξ) is (μ + 1, ν + 1, ξ +
The antenna 10 of 1) is (μ, ν,
By receiving at the same point as the antenna 10 of ξ), the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. Therefore, the row 1 of the antennas 10 provided in the section of length L _x , the row m of the antennas 10 provided in the section of length L _y , and the antenna 1 provided in the section of length L _z
From column n of 0 and (μ, ν, ξ) to (μ + 1, ν + 1,
It is necessary to determine the time interval ΔT for switching to the antenna 10 of ξ + 1).

ΔT = L _x / ((l−1) · | u |) = L _y / ((m−1) · | v |) = L _Z / ((n−1) · | w |) , if the radio wave speed c is c»V _R, (μ, ν,
The radar wave transmitted from the antenna 10 of (ξ) is reflected by the clutter source 200 located at the distance R (μ + 1, ν + 1, ξ +
Time ΔT required to be received by the antenna 10 of 1)
_R is ΔT _R = 2R / c. Here, in order to switch the antenna 10 so as not to be affected by the Doppler effect, the columns l, m, and n in the x-axis, y-axis, and z-axis directions of the antenna 10 are set so that ΔT = ΔT _R holds. l = c · L _x / (2R · | u |) +1 m = c · L _y / (2R · | v |) +1 n = c · L _z / (2R · | w |) +1 The velocity vector of the antenna 10 used for transmission / reception can be made equal to zero.

FIG. 23 is a conceptual diagram of the sixth embodiment of the present invention. The figure shows a medium-sized transport aircraft 100 with a total length of about 30 m.
The length L _x in the x-axis direction is set above the aircraft (hereinafter referred to as the aircraft).
18 where L columns are provided in the section, M columns are provided in the section having a length L _{y in} the y-axis direction, and N rows are provided in the section having a length L _{z in} the z-axis direction at equal intervals for each axis. This is an example in which a radar device similar to the radar device shown in No. 22 is attached. The operation of the radar device will be described below with reference to the block diagram of the radar device.

FIG. 24 is a block diagram of the sixth embodiment of the present invention. The radar device shown in FIG.
Waveguide 15, antenna selection controller 70, transceiver 80,
Clutter position analysis unit 85 and aircraft speed sensor unit 90
It is composed of The antenna 10 is an antenna that transmits and receives radar waves, and has a length L _{x of the} aircraft 100 in the x-axis direction.
From the first row to L to cancel the velocity u in the x-axis direction in the section
Up to the line, y is in the section of the length L _{y in} the y-axis direction of the aircraft 100.
From row 1 to row M in the direction of canceling the axial velocity v, and from row 1 to row N in the direction of canceling the velocity w in the z-axis in the section of the length L _z of the aircraft 100 in the z-axis direction, a total of L × M × N
The pieces are fixed.

The waveguide 15 is a transmission line for suppressing the attenuation of the radar wave between the transmission / reception section 80 and each antenna 10 and efficiently transmitting the radar wave. The antenna selection control unit 70 receives a velocity u in the x-axis direction, a velocity v in the y-axis direction, a velocity w in the z-axis direction of the aircraft 100, which is input from the aircraft velocity sensor unit 90.
Clutter source 20 input from clutter position analysis unit 85
Based on the distance R to 0, the l-row antennas 10 are arranged at equal intervals from the L-row antennas 10 installed in the x-axis direction, and the m-row antennas are arranged at equal intervals from the M-row antennas 10 installed in the y-axis direction. 10 are selected, and the n rows of antennas 10 are equally spaced from the N rows of antennas 10 installed in the z-axis direction. The selected l × m × n antennas 10 are sequentially (μ, ν, ξ) to (μ + 1, ν + 1, ξ +) at predetermined time intervals.
By switching to 1), the velocity vectors of the antenna 10 that transmits the radar wave and the antenna 10 that receives the radar wave are set to 0.
Control to

The transmitter / receiver 80 transmits radar waves and receives reflected waves. The received reflected wave is output to the display unit or the like as the measurement result. The clutter position analysis unit 85 determines the distance R to the clutter source 200 based on the reflected wave of the radar wave from the clutter source 200 input from the transmission / reception unit 80.
Is measured and output to the antenna selection control unit 70.

The aircraft speed sensor section 90 includes the aircraft 100.
Has a velocity u, y axis in the x-axis direction of the aircraft 100.
Direction velocity v and z-axis direction velocity w are detected to
Output to the selection controller 70. Below, the sixth implementation
A specific example of the example will be described with reference to FIG. As a prerequisite
The speed vector V of the aircraft 100_R(U, v, w)
u, v, and w are u = 300 m / s v = w = 30 m / s Length L between the antennas on the first and Lth rows in the x-axis direction_x, Y
The length L between the antennas on the first and Mth rows in the axial direction_y,as well as
The length L between the antennas in the 1st row and the Nth row in the z-axis direction _zTo L_x= 20m L_y= L_z= 2m Length L_x, L_y, And L_zOf the antenna 10 installed between
Columns L, M, and N L = M = N = 119 The distance R to the clutter source 200 is R = 170000m And

In this case, the columns l, m, and n of the antenna 10 required in the x-axis, y-axis, and z-axis directions are as follows: l = c · L _x / (2R · u) + 1≈60 (pieces) m = c · L _y / (2R · v) + 1≈60 (pieces) n = c · L _z / (2R · w) + 1≈60 (pieces) Further, the times ΔT _x , ΔT _y , and ΔT _z for switching each column of the antenna 10 in the x-axis, y-axis, and z-axis directions.
Is ΔT _x = L _x /((l−1)·u)≈0.0011 (seconds) ΔT _y = L _y /((m−1)·v)≈0.0011 (seconds) ΔT _z = L _z / ((n−1) · w) ≈0.0011 (seconds).

Therefore, among the 119 columns of antennas 10 provided in the x-axis, y-axis, and z-axis directions, the odd-numbered antennas 10, each 60 columns, are (1, 1, 1) to (60, 60,
60), a total of 216000 antennas 10 will be used. 0.0011 of these antennas
Every second (μ, ν, ξ) to (μ + 1, ν + 1, ξ + 1)
The radar wave is transmitted by switching to (μ, ν,
ξ) antenna 10 and receives the radar wave (μ + 1, ν
The position of the antenna 10 of (+1, ξ + 1) can be set to the same point, and the velocity vector of the antenna 10 becomes equivalent to 0. This makes it possible to completely remove the clutter signal due to the reflected wave from the clutter source 200 at the distance R.

It should be noted that the antennas 10 are preliminarily arranged in the x-axis direction in L rows (L ≧ l), in the y-axis direction in M rows (M ≧ m), and in the z-axis direction in N rows.
By providing the columns (N ≧ n) and selecting the antennas 10 of 1 × m × n columns at equal intervals from the antennas 10 of L × M × N columns, the speed u, the speed v, the speed w, and the length L _x , length L _y ,
It is possible to flexibly cope with the case where the length L _z and the distance R are changed. Also, the length L between the antennas in the x-axis direction
Table 4 shows the number l of the antennas 10 in the x-axis direction calculated from the speed u and the distance R from the clutter source 200 when _x is 20 m, and the length L _y between the antennas in the y-axis direction is 2 m. Table 5 shows the number m of the antennas 10 in the y-axis direction calculated from the velocity v of the antenna and the distance R from the clutter source 200. The velocity w and the clutter when the length L _z between the antennas in the z-axis direction is 2 m. Table 6 shows the number n of the antennas 10 in the z-axis direction calculated from the distance R from the source 200.

[0138]

[Table 4]

[0139]

[Table 5]

[0140]

[Table 6]

The seventh embodiment of the present invention will be described below. The radar apparatus of the seventh embodiment is an apparatus in which two transmitting antennas and one receiving antenna are separately provided in the x-axis direction in a radar apparatus mounted on an aircraft that moves only by a velocity component in the x-axis direction. Is. And the velocity vector V of the aircraft
Based on the distance R to _R and clutter source, by moving to determine the position of the receiving antenna so that it does not contain clutter signal according to the clutter source radar wave transmitted by the transmitting antenna, the velocity vector of the antenna Is made equal to 0 to remove the clutter signal by the clutter source. To measure the distance R to the clutter source, a pulse radar or the like having a distance measuring function is used as a radar device.

FIG. 25 shows the principle of the seventh embodiment of the present invention.
It is a figure explaining. The radar device shown in FIG.
Toru V_R(U, 0, 0), that is, move at velocity u in the x-axis direction
The length L before and after the moving body 100 is moving in the x-axis direction._xInterval of
With transmitting antenna 11₁, 11 ₂Attach. And
In the coordinate system fixed to the mobile unit 100, the transmission
Tena 11₁Is the origin x = 0, and the transmitting antenna 11₂of
Position x = L_xAnd the transmitting antenna 11₁And send ante
Na 11₂Between length L_xThe rail 30 of
Position-following type servo mechanism 40 with fixed
Place it on the rail 30 and move the position-following servo mechanism 40
To move.

Thus, the position of the transmitting antenna 11 at the time of transmission and the position of the receiving antenna 12 for receiving the reflected wave of the radar wave transmitted by the transmitting antenna 11 are made to be the same, whereby the velocity vectors of the transmitting antenna 11 and the receiving antenna 12 are set. Can be made equal to 0. Therefore, it is necessary to obtain the time ΔT _R required for the radar wave transmitted by the transmitting antenna 11 to be reflected by the clutter source 200 at the distance R and received by the receiving antenna 12. If the speed c of the radio wave is c >> V _R , then ΔT _R is ΔT _R = 2R / c.

During this ΔT _R , the moving body 100 moves to x
The distance D _X moved in the axial direction is D _x = u · ΔT _R = 2R · u / c, and in order to prevent the reflected wave from the clutter source 200 at the distance R from being affected by the Doppler effect, using the transmitting antenna 11, is moved to the coordinates of the radar wave transmitted after [Delta] T _R within the coordinate system fixed to the receiving antenna 12 in the following of the moving body 100 in may be receiving a reflected wave after the radar wave transmitted [Delta] T _R .

(When u ≧ 0) Transmit Antenna 11 Used: Coordinates of Transmit Antenna 11 ₂ Receive Antenna 12: x = L _x −D _x = L _x −2R · u / c (when u <0) Use Transmitting antenna 11: coordinates of transmitting antenna 11 ₁ receiving antenna 12: x = −D _x = −2R · u / c FIG. 26 is a conceptual diagram of the seventh embodiment of the present invention. This figure shows an example in which the radar device shown in FIG. 25 is attached to the upper part of a small aircraft 100 (hereinafter referred to as an aircraft) having a total length of about 10 m. The operation of the radar device will be described below with reference to a block diagram of the radar device.

FIG. 27 is a block diagram of the seventh embodiment of the present invention. The radar device shown in FIG.
1, receiving antenna 12, waveguide 15, position following type servo mechanism 40, antenna switching unit 75, receiving unit 81, transmitting unit 8
2, a clutter position analysis unit 85, and an aircraft speed sensor unit 90. The transmitting antennas 11 are antennas for transmitting radar waves, and one antenna is fixed at each of the front and rear of the aircraft 100 in the x-axis direction.

The receiving antenna 12 is an antenna for receiving the radar wave transmitted by the transmitting antenna 11, is fixed on the position following type servo mechanism 40, and can move its position. The waveguide 15 includes a receiving unit 81 and a receiving antenna 12, an antenna switching unit 75 and a transmitting antenna 11,
It is a transmission path for suppressing the attenuation of the radar wave between the transmission unit 82 and the antenna switching unit 75 and efficiently transmitting the radar wave.

The position-following servomechanism 40 has a receiving antenna 12 fixed to the upper portion thereof, and provides a velocity vector V _R (u, 0,0) of the aircraft 100 and a distance R to the clutter source 200 to be removed. Based on the clutter source 2
The predetermined position on the rail 30 is calculated so that the reflected wave from 00 can be received at the same position as the transmitting antenna 11 when the radar wave is transmitted, and the position is moved to that position. As a result, the velocities of the transmitting antenna 11 and the receiving antenna 12 in the x-axis direction are made equal to zero.

The antenna switching unit 75 switches the transmission antenna 11 in accordance with whether the velocity in the x-axis direction in the space coordinate system (x, y, z) of the aircraft 100 is positive or negative. When u <0, it switches to the transmitting antenna 11 ₁ , and when u ≧ 0, it switches to the transmitting antenna 11 ₂ . The receiving unit 81 receives the reflected wave of the radar wave and outputs it to the display unit or the like. The transmitting unit 82 outputs the radar wave for measuring the measurement target to the transmitting antenna 11 switched by the antenna switching unit 75.

The clutter position analysis unit 85 measures the distance R to the clutter source 200 based on the reflected wave of the radar wave from the clutter source 200 input from the reception unit 81, and outputs it to the position tracking servo mechanism 40. . The aircraft speed sensor unit 90 is included in the aircraft 100 and detects the velocity u of the aircraft 100 in the x-axis direction to detect the position-following servo mechanism 40.
And output to the antenna switching unit 75.

The structure of the position-following servo mechanism 40 will be described in detail below. The position tracking type servo mechanism 40 is a DC
It is composed of a motor 41, a servo amplifier 42, a position comparator 43, a shaft encoder 44, and an antenna controller 45. The DC motor 41 is a DC motor that moves to a predetermined position along the rail 30 based on the current input from the servo amplifier 42.

The servo amplifying section 42 supplies a current to the DC motor 41 to drive it based on the signal input from the position comparing section 43 and controls its position. The position comparison unit 43 calculates D based on the position coordinates of the reception antenna 12 input from the antenna control unit 45 and the position coordinates of the DC motor 41 input from the shaft encoder unit 44.
A signal for moving the C motor 41 to a predetermined position is generated and output to the servo amplifier 42.

The shaft encoder section 44 converts the rotation speed of the DC motor 41 into position coordinates and outputs the position coordinates to the position comparison section 43. The antenna control unit 45 uses the aircraft speed sensor unit 9
The velocity u of the aircraft 100 in the x-axis direction input from 0,
Clutter source 20 input from clutter position analysis unit 85
Based on the distance R up to 0, the position coordinate (distance from the transmitting antenna 11) of the receiving antenna 12 to be moved is calculated and output to the position comparing unit 43.

A specific example of the seventh embodiment will be described below with reference to FIG.
6 will be described. As a prerequisite, the aircraft 100
U of the velocity vector V _R (u, 0,0) of U = 150 m / s, the length L _x of the rail 30 in the x-axis direction, L _x = 1 m, the distance R to the clutter source 200, R = 170000 m And

[0155] In this case, the speed u in the x-axis direction of the aircraft 100 so positive (u ≧ 0), and transmits a radar wave from the transmission antenna 11 _2. Further, the time ΔT _R until the radar wave transmitted from the transmitting antenna 11 ₂ is reflected by the clutter source 200 located at the distance R and is received by the receiving antenna 12 is ΔT _R = 2R / c = 2 · 170000/300000000 ≈ 0.0011 (seconds), and the distance D _x by which the aircraft 100 moves in the x-axis direction during the ΔT _R time is: D _x = u · ΔT _R = 150 · 0.0011 = 0.17 (m) Become.

[0156] Thus, the destination coordinates of the receiving antenna 12 becomes _{x = L x -D x = 1-0.17} = 0.83. That is, the receiving antenna 12 is the transmitting antenna 11
₂ moves to the position of coordinate x = 0.83 within 0.0011 (seconds) after transmitting the radar wave, and the transmitting antenna 1
If the reflected wave of the radar wave transmitted by 1 ₂ is received, the distance R
It is possible to completely eliminate the clutter signal due to the clutter source 200 at.

Also, in the coordinate system fixed to the moving body 100 of the receiving antenna 12 calculated from the speed u and the distance R to the clutter source 200 when the length L _x of the rail 30 in the x-axis direction is 1 m. Table 7 shows the x coordinate, that is, the distance from the origin (x = 0).

[0158]

[Table 7]

The eighth embodiment of the present invention will be described below. The radar device of the eighth embodiment is a radar device mounted on an aircraft that moves with velocity components in the x-axis and y-axis directions.
This is a device in which four transmitting antennas are individually provided at four corners of a quadrangle on a plane constituted by an axis and a y-axis, and one receiving antenna is provided inside the quadrangle. Then, based on the velocity vector V _{R of the} aircraft and the distance R to the clutter source,
By determining the position of the receiving antenna inside the rectangle so that the radar wave transmitted by the transmitting antenna does not include the clutter signal from the clutter source, and moving the antenna, the velocity vector of the antenna is made equal to 0 and the clutter concerned. Remove the clutter signal from the source. To measure the distance R to the clutter source, a pulse radar or the like having a distance measuring function is used as a radar device.

FIG. 28 shows the principle of the eighth embodiment of the present invention.
It is a figure explaining. The radar device shown in FIG.
Toru V_R(U, v, 0), that is, velocity u and y axis in x direction
In the x-axis direction of the moving body 100 moving at a velocity v in the direction
Length L_x, Y-axis length L _yPlane four composed of and
Transmitting antenna 11 in the corner₁From transmitting antenna 11_FourUp to 4
The individual transmitting antennas 11 are attached. And the moving body 1
As a coordinate system fixed at 00, the transmitting antenna 11₁Place of
Is the origin (x, y) = (0, 0), and the transmitting antenna 11₂
Position of coordinates (L_x, 0), transmitting antenna 11₃Position of
The coordinates (0, L _y), Transmitting antenna 11_FourCoordinates of
(L_x, L_y). In addition, the transmission antenna 11₁1
1₃And the transmitting antenna 11₂, 11_FourIn between, the length L_yof
Two rails 30 are provided, and the rails 30 are
Servo mechanism 40 for position tracking in the y-axis direction₂Put on.
In addition, the y-axis direction position following type servo mechanism 40₂On top of the
Length L in the x-axis direction_xPass one rail 30 of
X-axis position tracking type server with receiving antenna 12 fixed to
BO mechanism 40₁On the x-axis and y-axis position tracking type
By combining the operation of the servo mechanism 40, the receiving antenna 12
Move it into place.

As a result, the position of the transmitting antenna 11 at the time of transmission and the position of the receiving antenna 12 for receiving the reflected wave of the radar wave transmitted by the transmitting antenna 11 can be made to be the same, and the transmitting antenna 11 and the receiving antenna 12 can be positioned at the same position. It is possible to make the velocity in the x-axis and y-axis directions equal to zero. Therefore, it is necessary to obtain the time ΔT _R required for the radar wave transmitted by the transmitting antenna 11 to be reflected by the clutter source 200 at the distance R and received by the receiving antenna 12.
If the velocity c of the radio wave is c >> | V _R |, ΔT _R is ΔT _R = 2R / c.

During this ΔT _R , the moving body 100 moves to x
The distances D _x and D _y moving in the axial and y-axis directions are D _x = u · ΔT _R = 2R · u / c D _y = v · ΔT _R = 2R · v / c, and the clutter at the distance R In order to prevent the reflected wave from the source 200 from being affected by the Doppler effect, the following transmitting antenna 11 is used, and the receiving antenna 12 is fixed within the following moving body 100 within ΔT _R after transmitting the radar wave. It is sufficient to move to the coordinate point and receive the reflected wave after ΔT _R after transmitting the radar wave.

(When u ≧ 0 and v ≧ 0) Transmission Antenna 11 to be Used: Coordinates of Transmission Antenna 11 ₄ Reception Antenna 12: x = L _x −D _x = L _x −2R · u / cy = L _y −D _y = L _y −2R · v / c (when u ≧ 0 and v <0) Used transmitting antenna 11: transmitting antenna 11 ₂ coordinates of receiving antenna 12: x = L _x −D _x = L _x − 2R · u / c y = −D _y = −2R · v / c (when u <0 and v ≧ 0) Transmitting antenna 11 used: Transmitting antenna 11 ₃ Coordinates of receiving antenna 12: x = −D _x = -2R · u / c _y = (for u <0 and _{v <0) L y -D y} = L y -2R · v / c transmit using antenna 11: coordinates of the transmitting antenna 11 _first receiving antenna 12: x _{= -D x = -2R · u /} c y = -D y = -2R · v / c Figure 29, the eighth of the present invention Shows a conceptual diagram of 施例. The figure shows an example in which the radar device shown in FIG. 28 is attached to the upper part of a small aircraft 100 (hereinafter referred to as an aircraft) having a total length of about 10 m. The operation of the radar device will be described below with reference to the block diagram of the radar device.

FIG. 30 is a block diagram of the eighth embodiment of the present invention. The radar device shown in FIG.
1, receiving antenna 12, waveguide 15, x-axis direction position tracking type servo mechanism 40 ₁ , y axis direction position tracking type servo mechanism 4
0 ₂ , antenna switching unit 75, receiving unit 81, transmitting unit 82,
Clutter position analysis unit 85 and aircraft speed sensor unit 90
It is composed of

The transmitting antennas 11 are antennas for transmitting radar waves, and one antenna is provided at each of the four corners of a quadrangle constituted by the length L _{x in the x-} axis direction and the length L _y in the y-axis direction of the aircraft 100. A total of four are fixed each. The receiving antenna 12 is an antenna for receiving the radar wave transmitted by the transmitting antenna 11, and is fixed on the x-axis direction position tracking type servo mechanism 40 ₁ and can move its position.

The waveguide 15 suppresses the attenuation of the radar wave between the receiving section 81 and the receiving antenna 12, the antenna switching section 75 and the transmitting antenna 11, and the transmitting section 82 and the antenna switching section 75 for efficient transmission. Is a transmission line of. The position tracking type servo mechanism 40 ₁ in the x-axis direction is provided with a receiving antenna 12 at the top.
Is fixed, and a transmitting antenna for transmitting a radar wave from a reflected wave from the clutter source 200 based on the velocity u of the aircraft 100 in the x-axis direction and the distance R to the clutter source 200 to be removed. In order to receive at the same position as 11, the x-coordinate in the coordinate system fixed to the moving body 100 of the moving destination is calculated and the coordinate is moved to that coordinate. As a result, the velocities of the transmitting antenna 11 and the receiving antenna 12 in the x-axis direction are made equal to zero.

The position tracking type servo mechanism 40 ₂ in the y-axis direction is
Based on the velocity v of the aircraft 100 in the y-axis direction and the distance R to the clutter source 200 to be removed, the reflected wave from the clutter source 200 is received at the same position as the transmitting antenna 11 when transmitting the radar wave. As much as possible, the y coordinate in the coordinate system fixed to the moving destination 100 is calculated, and the coordinate is moved to that coordinate. As a result, the velocities of the transmitting antenna 11 and the receiving antenna 12 in the y-axis direction are made equal to zero.

The antenna switching unit 75 controls the velocity u, y in the x-axis direction in the space coordinate system (x, y, z) of the aircraft 100.
The transmission antenna 11 is switched depending on whether the velocity v in the axial direction is positive or negative. When u <0 and v <0, the transmitting antenna 11
₁ , if u ≧ 0 and v <0, then transmit antenna 11 ₂ ,
If u <0 and v ≧ 0, the transmitting antenna 11 ₃ , u ≧
When 0 and v ≧ 0, the transmission antenna 11 ₄ is selected.

The receiving section 81 receives the reflected wave of the radar wave and outputs it to the display section or the like. The transmitting unit 82 outputs the radar wave for measuring the measurement target to the transmitting antenna 11 switched by the antenna switching unit 75. Clutter position analysis unit 8
Reference numeral 5 measures the distance R to the clutter source 200 based on the reflected wave of the radar wave from the clutter source 200 input from the receiving unit 81, and the x-axis direction position tracking type servo mechanism 40 ₁
And to the y-axis direction position tracking type servo mechanism 40 ₂ .

The aircraft speed sensor unit 90 is used in the aircraft 100.
Has a velocity u, y axis in the x-axis direction of the aircraft 100.
Direction v-type servo mechanism that detects the direction velocity v
40 ₁, Y-axis direction tracking type servo mechanism 40₂, And a
Output to the antenna switching unit 75. Below is the position addition in the x-axis direction.
Related servo mechanism 40₁The configuration of will be described in detail. x-axis
Orientation tracking servo mechanism 40₁Is the X-axis DC motor 4
1, servo amplifier 42, position comparator 43, shaft encoder
It includes a coder unit 44 and an X-axis antenna control unit 45.
Be done.

The X-axis DC motor 41 includes a servo amplifier 42.
It is a DC motor that moves to a predetermined position along the rail 30 in the x-axis direction based on the current input from the. The servo amplification section 42 supplies a current to the X-axis DC motor 41 to drive it based on the signal input from the position comparison section 43 and controls its position. The position comparison unit 43 displays X
The receiving antenna 12 input from the axial antenna control unit 45
Of the X-axis DC motor 41 input from the shaft encoder unit 44, and the X-axis D
A signal for moving the C motor 41 to a predetermined position is generated and output to the servo amplifier 42.

The shaft encoder section 44 converts the number of rotations of the X-axis DC motor 41 into position coordinates, and the position comparison section 43.
Output to. The X-axis antenna control unit 45 receives based on the velocity u in the x-axis direction of the aircraft 100 input from the aircraft speed sensor unit 90 and the distance R to the clutter source 200 input from the clutter position analysis unit 85. Antenna 1
X coordinate to move 2 (distance from transmitting antenna 11)
Is calculated and output to the position comparison unit 43.

Hereinafter, the y-axis direction position following type servo mechanism 4 will be described.
The configuration of 0 ₂ will be described in detail. The y-axis direction position following type servo mechanism 40 ₂ includes a Y-axis DC motor 41 and a servo amplifier 4.
2, a position comparison unit 43, a shaft encoder unit 44, and a Y-axis antenna control unit 45. The Y-axis DC motor 41 is a DC motor that moves to a predetermined position along the rail 30 in the y-axis direction based on the current input from the servo amplifier 42.

The servo amplifier 42 supplies a current to the Y-axis DC motor 41 to drive it based on the signal input from the position comparator 43 and controls its position. The position comparison unit 43, based on the position coordinates of the reception antenna 12 input from the Y-axis antenna control unit 45 and the position coordinates of the Y-axis DC motor 41 input from the shaft encoder unit 44, the Y-axis DC motor 41. To produce a signal for moving to a predetermined position and output it to the servo amplifier 42.

The shaft encoder section 44 converts the number of rotations of the Y-axis DC motor 41 into position coordinates, and the position comparison section 43.
Output to. The Y-axis antenna control unit 45 receives based on the velocity v in the y-axis direction of the aircraft 100 input from the aircraft speed sensor unit 90 and the distance R to the clutter source 200 input from the clutter position analysis unit 85. Antenna 1
2 y coordinate to move (distance from transmitting antenna 11)
Is calculated and output to the position comparison unit 43.

A specific example of the eighth embodiment will be described below with reference to FIG.
It will be described based on 9. As a prerequisite, the aircraft 100
U, v of the velocity vector V _R (u, v, 0) of U = 150 m / s v = 15 m / s The lengths L _x and L _y of the rail 30 in the x-axis and y-axis directions are L _x = 1 m L _y = 0.1 m The distance R to the clutter source 200 is R = 170000 m.

In this case, the velocity u in the x-axis direction of the aircraft 100 is positive (u ≧ 0), and the velocity v in the y-axis direction is also positive (v ≧ 0).
Therefore, the radar wave is transmitted from the transmission antenna 11 ₄ . The time [Delta] T _R from the transmission antennas 11 ₄ until received by the receiving antenna 12 is reflected by clutter source 200 at a distance R radar wave transmitted _{is, ΔT R = 2R / c =} 2 · 170000/300000000 ≒ 0.0011 (seconds), and the distances D _x and D _y by which the aircraft 100 moves in the x-axis and y-axis directions during this ΔT _R are: D _x = u · ΔT _R = 150 · 0.0011 = 0 .17 (m) D _y = v · ΔT _R = 15 · 0.0011 = 0.017 (m).

Therefore, the position to which the receiving antenna 12 is moved is x = L _x -D _x = 1-0.17 = 0.83 y = L _y -D _y = 0.1-0.017 = 0 It becomes 0.083. That is, the receiving antenna 12 is the transmitting antenna 11
₄ is 0.0011 (sec) within the coordinates (x, y) after transmitting the radar wave = (0.83,0.0083) reflections of the transmitted radar wave moves the transmission antenna 11 ₄ position to the The reception of the waves makes it possible to completely eliminate the clutter signal due to the clutter source 200 at the distance R.

Also, in the coordinate system fixed to the moving body 100 of the receiving antenna 12 calculated from the speed u and the distance R to the clutter source 200 when the length L _x of the rail 30 in the x-axis direction is 1 m. The x-coordinate is shown in Table 8 and the rail 30 in the y-axis direction
The velocity v and the clutter source 20 when the length L _y is 0.1 m
Table 9 shows the y-coordinate in the coordinate system fixed to the moving body 100 of the receiving antenna 12 calculated from the distance R to 0.

[0180]

[Table 8]

[0181]

[Table 9]

The ninth embodiment of the present invention will be described below. The radar system according to the ninth embodiment has an x-axis, a y-axis, and a z-axis.
A radar device mounted on an aircraft that moves with a velocity component in the axial direction has eight transmitting antennas at the vertices of a rectangular parallelepiped in a space composed of x-axis, y-axis, and z-axis, and one receiving antenna inside the rectangular parallelepiped This device is provided with an antenna separately. And
Based on the velocity vector V _{R of the} aircraft and the distance R to the clutter source, the position of the receiving antenna is determined inside the rectangular parallelepiped so that the radar wave transmitted by the transmitting antenna does not include the clutter signal from the clutter source. By moving the antenna, the velocity vector of the antenna is made equal to 0 and the clutter signal by the clutter source is removed. To measure the distance R to the clutter source, a pulse radar or the like having a distance measuring function is used as a radar device.

FIG. 31 is a diagram for explaining the principle of the ninth embodiment of the present invention. The radar device shown in the figure is a velocity vector V _R (u, v, w), that is, a velocity of the moving body 100 in the x-axis direction, a velocity v in the y-axis direction, and a velocity w in the z-axis direction. Length L _{x in} the x-axis direction, Length L _y in the y-axis direction, z
Eight transmission antennas 11 from the transmission antenna 11 ₁ to the transmission antenna 11 ₈ are attached to the positions of the eight vertices of the space defined by the axial length Lz. Then, the moving body 100
As a coordinate system fixed to, the position of the transmitting antenna 11 ₁ is the origin (x, y, z) = (0, 0, 0), and the transmitting antenna 1 is
The position of 1 ₂ is the coordinate (L _x , 0, 0), and the transmitting antenna 11
The position of ₃ is the coordinate (0, L _y , 0), and the transmitting antenna 11 ₄
The coordinates (0,0, L _z), the coordinates position of the transmitting antenna _{11 5 (L x, L y} , 0), the coordinates of the position of the transmitting antenna _{11 6 (0, L y,} L z), transmitted The position of the antenna 11 ₇ is _defined as coordinates (L _x , 0, L _z ) and the position of the transmitting antenna 11 ₈ is _defined as coordinates (L _x , L _y , L _z ). Further, the transmitting antennas 11 ₁ and 11 ₄ , the transmitting antennas 11 ₂ and 11 ₇ ,
Transmit antennas 11 ₃ and 11 ₆ , Transmit antennas 11 ₅ and 1
The rails 30 each having a length L _z are provided between the rails ₁₈ , and the z-axis position tracking type servo mechanism 40 ₃ is attached to each rail. In addition, four z-axis position tracking type servo mechanisms 40 ₃
Is provided with an XY table composed of a rail 30 having a length L _{x in} the x-axis direction and L _{y in} the y-axis direction, and the XY table is configured to be movable up and down in the z-axis direction. Further, on the XY table, one rail 30 having a length L _{x in} the _x- axis direction is attached with _two y-axis direction position following type servo mechanisms 40 ₂ for moving in the y-axis direction, and further, the x-axis thereof is attached. The x-direction position tracking type servo mechanism 40 ₁ having the receiving antenna 12 fixed thereto is attached to the rail 30 in the direction, and the receiving antenna 12 is set at a predetermined position by a combination of operations of the position tracking type servo mechanism 40 in the x-axis, y-axis and z-axis directions. It is configured to move to.

As a result, the reflected wave of the radar wave transmitted by the transmitting antenna 11 can be received by the receiving antenna 12 at the same position as the position of the transmitting antenna 11 at the time of transmitting the radar wave. 12 x
The velocities in the axial, y-axis, and z-axis directions can be made equal to zero. Therefore, it is necessary to obtain the time ΔT _R required for the radar wave transmitted by the transmitting antenna 11 to be reflected by the clutter source 200 at the distance R and received by the receiving antenna 12. If the velocity c of the radio wave is c >> | V _R |, ΔT _R is ΔT _R = 2R / c.

Also, during this ΔT _R , the moving body 100 moves to x
The distances D _x , D _y , and D _z that move in the axis, y-axis, and z-axis directions are: D _x = u · ΔT _R = 2R · u / c D _y = v · ΔT _R = 2R · v / c D _z = w · ΔT _R = 2R · w / c, and in order to prevent the reflected wave from the clutter source 200 at the distance R from being affected by the Doppler effect, the following transmitting antenna 11 is used, and radar wave transmission is performed. the receiving antenna 12 within the rear [Delta] T _R is moved to the coordinate in the following coordinate system fixed to the moving body 100 may be receiving a reflected wave after the radar wave transmitted [Delta] T _R.

(When u ≧ 0 and v ≧ 0 and w ≧ 0) Transmitting antenna 11 used: Coordinates of transmitting antenna 11 _{8 and} receiving antenna 12: x = L _x −D _x = L _x −2R · u / c y = L _y −D _y = L _y −2R · v / c z = L _z −D _z = L _z −2R · w / c (when u ≧ 0 and v ≧ 0 and w <0) Transmission used antenna 11: coordinates of the transmitting antenna 11 ₅ receiving antenna _{12: x = L x -D x} = L x -2R · u / c y = L y -D y = L y -2R · v / c z = -D z = −2R · w / c (when u ≧ 0 and v <0 and w ≧ 0) Transmitting antenna 11 used: Transmitting antenna 11 ₇ Coordinates of receiving antenna 12: x = L _x −D _x = L _x −2R · u / c _y = (for u ≧ 0 and v <0 and w <0) -D y = -2R · v / c z = L z -D y = L z -2R · w / c using Transmitting antenna 11 for: coordinates of the transmitting antenna 11 ₂ receive antenna _{12: x = L x -D x} = L x -2R · u / c y = -D y = -2R · v / c z = -D z = - 2R · w / c (when u <0 and v ≧ 0 and w ≧ 0) Transmitting antenna 11 used: Coordinates of transmitting antenna 11 ₆ receiving antenna 12: x = −D _x = −2R · u / cy = L _y −D _y = L _y −2R · v / c z = L _z −D _z = L _z −2R · w / c (when u <0 and v ≧ 0 and w <0) The transmitting antenna 11 to be used : coordinates of the transmitting antenna 11 ₃ receiving antenna _{12: x = -D x = -2R} · u / c y = L y -D y = L y -2R · v / c z = -D z = -2R · w / (for u <0 and v <0 and w ≧ 0) c transmit using antenna 11: coordinates of the transmitting antenna 11 ₄ receive antennas 12: x = -D _x -2R · u / c _y = (For u <0 and v <0 and w <0) -D y = -2R · v / c z = L z -D z = L z -2R · w / c using Transmission antenna 11: Coordinates of transmission antenna 11 ₁ reception antenna 12: x = −D _x = −2R · u / c y = −D _y = −2R · v / c z = −D _z = −2R · w / c FIG. 32 shows a conceptual diagram of the ninth embodiment of the present invention. This figure shows an example in which the radar device shown in FIG. 31 is attached to the upper part of a small aircraft 100 (hereinafter referred to as an aircraft) having a total length of about 10 m. The operation of the radar device will be described below with reference to the block diagram of the radar device.

FIG. 33 is a block diagram of the ninth embodiment of the present invention. The radar device shown in FIG.
1, receiving antenna 12, waveguide 15, x-axis direction position tracking type servo mechanism 40 ₁ , y axis direction position tracking type servo mechanism 4
0 ₂ , a z-axis direction position following type servo mechanism 40 ₃ , an antenna switching unit 75, a receiving unit 81, a transmitting unit 82, a clutter position analyzing unit 85, and an aircraft speed sensor unit 90.

The transmission antenna 11 is an antenna for transmitting a radar wave, and has a length L _{x in} the x-axis direction, a length L _y in the y-axis direction, and a length L _z in the z-axis direction of the aircraft 100. A total of eight are fixed to the eight vertices of the formed rectangular parallelepiped. The receiving antenna 12 is an antenna for receiving the radar wave transmitted by the transmitting antenna 11, and is fixed on the x-axis direction position tracking type servo mechanism 40 ₁ and can move its position.

The waveguide 15 suppresses attenuation of radar waves between the receiving section 81 and the receiving antenna 12, the antenna switching section 75 and the transmitting antenna 11, and the transmitting section 82 and the antenna switching section 75, and transmits them efficiently. Is a transmission line of. The x-axis direction position-following servo mechanism 40 ₁ and the y-axis direction position-following servo mechanism 40 ₂ are the same as in the eighth embodiment.

The position tracking type servo mechanism 40 ₃ in the z-axis direction is
Based on the velocity w of the aircraft 100 in the z-axis direction and the distance R to the clutter source 200 to be removed, the reflected wave from the clutter source 200 can be received at the same position as the transmitting antenna 11 during radar wave transmission. So, moving body 1
The z coordinate in the coordinate system fixed to 00 is calculated, and the coordinate is moved to that coordinate. As a result, the velocities of the transmitting antenna 11 and the receiving antenna 12 in the z-axis direction are made equal to zero.

The antenna switching unit 75 controls the velocity u, y in the x-axis direction in the space coordinate system (x, y, z) of the aircraft 100.
The transmission antenna 11 is switched depending on whether the velocity v in the axial direction and the velocity w in the z-axis direction are positive or negative. When u <0 and v <0 and w <0, the transmitting antenna 11 ₁ , u ≧ 0 and v <
0 and w <0, the transmitting antenna 11 ₂ ; u <0, v ≧ 0 and w <0, the transmitting antenna 11 ₃ , u
When <0 and v <0 and w ≧ 0, the transmitting antenna 11
₄ , when u ≧ 0 and v ≧ 0 and w <0, the transmitting antenna 11 ₅ , and when u <0 and v ≧ 0 and w ≧ 0, the transmitting antenna 11 ₆ , u ≧ 0 and v <0 and When w ≧ 0, the transmission antenna 11 _{7 is selected} , and when u ≧ 0 and v ≧ 0 and w ≧ 0, the transmission antenna 11 ₈ is selected.

The receiving section 81 receives the reflected wave of the radar wave and outputs it to the display section or the like. The transmitting unit 82 outputs the radar wave for measuring the measurement target to the transmitting antenna 11 switched by the antenna switching unit 75. Clutter position analysis unit 8
Reference numeral 5 measures the distance R to the clutter source 200 based on the reflected wave of the radar wave from the clutter source 200 input from the reception unit 81, and the position tracking type servo mechanism 4 in the x-axis direction.
0 ₁ , the y-axis direction position following type servo mechanism 40 ₂ and the z axis direction position following type servo mechanism 40 ₃ .

The aircraft speed sensor section 90 is used for the aircraft 100.
X-axis direction tracking type servo mechanism 40 ₁ and y-axis direction tracking type by detecting velocity u in the x-axis direction, velocity v in the y-axis direction, and velocity w in the z-axis direction of aircraft 100. The signal is output to the servo mechanism 40 ₂ , the z-axis position tracking type servo mechanism 40 ₃ , and the antenna switching unit 75. The configuration of the z-axis position tracking type servo mechanism 40 ₃ will be described in detail below. z
The axial position tracking type servo mechanism 40 ₃ includes a Z-axis DC motor 41, a servo amplification section 42, a position comparison section 43, a shaft encoder section 44, and a Z-axis antenna control section 45.

The Z-axis DC motor 41 includes a servo amplifier 42.
It is a DC motor that moves to a predetermined position along the rail 30 in the z-axis direction based on the current input from the. The servo amplifier 42 supplies a current to the Z-axis DC motor 41 to drive the Z-axis DC motor 41 based on the signal input from the position comparator 43, and controls the position thereof. The position comparison unit 43 uses Z
The receiving antenna 12 input from the axial antenna control unit 45
Based on the position coordinates of the Z-axis DC motor 41 input from the shaft encoder unit 44.
A signal for moving the C motor 41 to a predetermined position is generated and output to the servo amplifier 42.

The shaft encoder section 44 converts the number of revolutions of the Z-axis DC motor 41 into position coordinates, and the position comparison section 43.
Output to. The Z-axis antenna control unit 45 receives based on the velocity w in the z-axis direction of the aircraft 100 input from the aircraft velocity sensor unit 90 and the distance R to the clutter source 200 input from the clutter position analysis unit 85. Antenna 1
Z coordinate to move (distance from transmitting antenna 11)
Is calculated and output to the position comparison unit 43.

A concrete example of the ninth embodiment will be described below with reference to FIG.
It will be described based on 1. As a prerequisite, the aircraft 100
U, v, and w of the velocity vector V _R (u, v, w) of
U = 150 m / s v = w = 15 m / s The length L _x , L of the rail 30 in the x-axis, y-axis, and z-axis directions.
_{Let y} and L _Z be L _x = 1 m L _y = L _Z = 0.1 m Let the distance R to the clutter source 200 be R = 170000 m.

In this case, the velocity of the aircraft 100 in the x-axis direction
u is positive (u ≧ 0), velocity v in the y-axis direction is also positive (v ≧ 0),
Since the velocity w in the z-axis direction is also positive (w ≧ 0), the transmitting antenna
11 ₈To transmit radar waves. In addition, the transmitting antenna 1
1₈The clutter source 2 where the radar wave transmitted from
Time until it is reflected by 00 and received by the receiving antenna 12
Interval ΔT_RIs         ΔT_R= 2R / c = 2.1700 / 300000000               ≈ 0.0011 (seconds) And this ΔT_ROf the aircraft 100 at the time of x-axis, y
Axis and distance to move in the z-axis direction D_x, D_y, And D_z
Is         D_x= U · ΔT_R= 150 / 0.0011 = 0.17 (m)         D_y= V · ΔT_R= 15.0.0011 = 0.017 (m)         D_z= W · ΔT_R= 15.0.0011 = 0.017 (m) Becomes

Therefore, the position to which the receiving antenna 12 is moved is x = L _x −D _x = 1−0.17 = 0.83 y = L _y −D _y = 0.10−0.017 = 0 0.083 z = L _z −D _z = 0.1−0.017 = 0.083. That is, the receiving antenna 12 is the transmitting antenna 11
Coordinates (x, y, z) = (0.83, 0.083, 0.08) within 0.0011 (seconds) after ₈ transmits the radar wave.
3) Move position to the, upon receiving a reflected wave of the transmitted radar wave of the transmission antenna 11 _8, it is possible to remove the clutter signals resulting from the clutter source 200 at a distance R.

Further, in the coordinate system fixed to the moving body 100 of the receiving antenna 12 calculated from the speed u and the distance R to the clutter source 200 when the length L _x of the rail 30 in the x-axis direction is 1 m. The x-coordinate is shown in Table 10, and the rail 3 in the y-axis direction
Velocity v and clutter source 2 when the length L _{y of} 0 is 0.1 m
Table 11 shows the y-coordinates of the receiving antenna 12 in the coordinate system fixed to the moving body 100, which is calculated from the distance R up to 00.
The z coordinate in the coordinate system fixed to the moving body 100 of the receiving antenna 12 is calculated from the velocity w and the distance R to the clutter source 200 when the length L _z of the rail 30 in the z axis direction is 0.1 m. It shows in Table 12.

[0200]

[Table 10]

[0201]

[Table 11]

[0202]

[Table 12]

The tenth embodiment of the present invention will be described below. The radar device of the tenth embodiment is provided with n antennas of the radar device mounted on an aircraft that moves only in the velocity component in the x-axis direction at equal intervals in the x-axis direction, and the antennas in the x-axis direction are arranged at predetermined time intervals. The clutter signal is removed by making the velocity vectors of the antenna that transmits the radar wave and the antenna that receives the radar wave equal to 0 by sequentially switching with. However, in the tenth embodiment, as in the fourth embodiment, an antenna provided in a section of length L _{x in} the x-axis direction based on the velocity vector V _R of the moving body 100 and the distance R to the clutter source 200. It is not necessary to determine the number of ten. Therefore, a radar device such as a pulse radar capable of measuring the distance R to the clutter source 200 may be used.

FIG. 34 is a diagram for explaining the principle of the tenth embodiment of the present invention. The radar device shown in the figure has a velocity vector V _R (u, 0,0), where the velocity u in the x-axis direction is in the section of the length L _{x in} the x-axis direction of the moving body 100 moving with u ≠ 0. The first to n-th antennas 10 are provided in order at equal intervals in the direction of canceling. Then, the reflected wave of the radar wave transmitted by the k-th antenna 10 is received at the same point as the k-th antenna 10 when the k + 1-th antenna 10 transmits the radar wave. Can be made equal to 0. However, k = 1 to n-1.

For that purpose, the k-th ante in the x-axis direction
Time to switch from antenna 10 to k + 1th antenna 10
ΔT_xIs ΔT_x= L_x/ ((N-1) · | u |) Becomes In addition, with the velocity u of the moving body 100 in the x-axis direction.
The clutter's Doppler frequency is f _dIs it a radar wave transmission
Is the time from when the reflected wave of the radar wave is received to t
The wavelength of the radar wave is λ, and the function to find the integer part of the argument is in
The distance traveled by the moving body 100 between t and time t is D_M,
The distance traveled by the antenna 10 during the time t is D_RTo
When, f_d= ((D_M-D_R) / D_M) ・ 2u / λ = ((U · t−u · int (t / ΔT_x) ・ ΔT_x) /
(U ・ t)) ・ 2u / λ Becomes

In this way, the antenna 10 is set on the x-axis of the moving body.
ΔT in the direction to cancel the velocity u in the direction _xSwitching at intervals
To obtain the velocity vector of the antenna 10 by ΔT_x
It can be made equal to 0 for each case. FIG. 35 shows the present invention.
The conceptual diagram of a 10th Example is shown. The figure shows an aircraft 100
34 is an example in which the radar device shown in FIG.
It The block diagram of the radar device is shown below.
The operation will be described.

FIG. 36 is a block diagram of the tenth embodiment of the present invention. The radar device shown in FIG.
0, waveguide 15, antenna selection controller 70, transmitter / receiver 8
0 and an aircraft speed sensor unit 90. The antenna 10 is an antenna for transmitting and receiving radar waves, and is 1 in a direction to cancel the velocity of the aircraft 100 in the x-axis direction.
From the nth to the nth, n pieces are fixed at equal intervals in the section of length L _X.

The waveguide 15 includes the transmitting / receiving section 80 and the antenna 1.
It is a transmission line for suppressing the attenuation of the radar wave with 0 and transmitting it efficiently. The antenna selection control unit 70 sequentially switches the antenna 10 from the k-th to the k + 1-th at a predetermined time interval so as to cancel the velocity u of the aircraft 100 in the x-axis direction, and receives the radar wave and the radar wave. The control is performed so that the velocity vector with the antenna 10 is set to 0.

The transmitter / receiver 80 transmits radar waves and receives reflected waves. The received reflected wave is output to the display unit or the like as the measurement result. The aircraft speed sensor unit 90 is included in the aircraft 100, detects the velocity u of the aircraft 100 in the x-axis direction, and outputs it to the antenna selection control unit 70. Hereinafter, a specific example of the tenth embodiment will be described with reference to FIG. As a precondition, u of the velocity vector V _R (u, 0,0) of the aircraft 100 is u = 15 m / s, the length L _x from the first to the n-th antenna 10 in the x-axis direction is L _x = 9 m The number n of the antennas 10 provided in the length L _x is n = 10.

In this case, the time ΔT _x for switching the antenna 10 is ΔT _x = L _x /((n−1)·|u|)≈0.067 (seconds). Therefore, ten antennas 1 arranged in the x-axis direction
0 from the head of the aircraft 100 in the x-axis direction to 1 from the beginning
The tenth antenna 10 to the tenth antenna 10 are sequentially arranged from the first antenna 10 to the tenth antenna 10.
By switching the antenna 10 every 067 seconds, the position of the k-th antenna 10 that transmits the radar wave and the position of the k + 1-th antenna 10 that receives the radar wave can be set to the same point for each ΔT _x . The velocity vector is Δ
Equivalent to 0 for each T _x .

In FIG. 37, the time (t) from the transmission of the radar wave to the reception of the reflected wave when the radar wave is transmitted by the first antenna 10 in the specific example of the tenth embodiment.
7 is a graph showing changes in the Doppler frequency (f _d ) of the reflected wave with respect to FIG. When the first antenna 10 transmits a radar wave at the moment of time (t = 0), the time (t = ΔT _x =
Up to 0.067), the first antenna 10 receives the reflected wave. Also, the second antenna 10 is for 0.067 seconds from time (t = 0.067) to time (t = 2ΔT _x = 0.134), and the third to tenth antennas are thereafter every 0.067 seconds. 10 is the first antenna 1 in order
The reflected wave of the radar wave transmitted by 0 is received.

According to the figure, from the transmission of the radar wave to ΔT _x
Since the velocity vector of the antenna 10 that transmits every (= 0.067 seconds) and the antenna 10 that receives the radar wave becomes equal to 0 (the antenna 10 seems to be stationary when seen from the ground), Doppler frequency f _{d of the} reflected wave
It turns out that is almost zero. Also, it can be seen that the Doppler frequency f _d gradually approaches 0 as time (t) elapses.

The eleventh embodiment of the present invention will be described below. In the radar device of the eleventh embodiment, the antennas 10 of the radar device mounted on an aircraft that moves with velocity components in the x-axis and y-axis directions are arranged at equal intervals in the x-axis direction in m rows and at equal intervals in the y-axis direction. The antenna 10 is provided by providing n columns, a total of m × n, and sequentially switching the columns of the antenna 10 in the x-axis and y-axis directions at predetermined time intervals for each axis and using the antenna 10 located at the intersection of each axis. And the clutter signal is removed by making the velocity vector of Eq. In the eleventh embodiment, as in the fifth embodiment, the length L _{x in} the x-axis direction and the y-axis direction in the x-axis direction are calculated based on the velocity vector V _R of the moving body 100 and the distance R to the clutter source 200. Antenna 1 provided in each section of length L _y
It is not necessary to determine the number of zeros. Therefore, a radar device such as a pulse radar capable of measuring the distance R to the clutter source 200 may be used.

FIG. 38 is a diagram for explaining the principle of the eleventh embodiment of the present invention. The radar device shown in the figure has a velocity vector V _R (u, v, 0), where _{x is in} the section of length L _{x in} the x-axis direction of the moving body 100 moving with u ≠ 0, v ≠ 0.
From the first column to the m-th column in the direction of canceling the axial velocity u, and in the y-axis length L _y section, the y-axis velocity v
Antennas 10 from the 1st row to the nth row in the direction to cancel
Are provided at equal intervals for each axis.

Then, the switching time ΔT of the antenna 10 in the x-axis direction is set so as to cancel the velocity u in the x-axis direction of the moving body.
_It is located at the intersection of each axis from the μ column to the μ + 1 column for each _x, and switches the antenna 10 in the y axis direction in the direction of canceling the velocity v in the y axis direction from the ν column to the ν + 1 column at each switching time ΔT _y. By using the antenna 10, the velocity vector of the antenna 10 used for transmission and reception can be made equal to zero. However, μ = 1 to m−1, ν = 1 to n
-1.

For that purpose, the switching time Δ in the x-axis direction is set.
T _x is ΔT _x = L _x / ((m−1) · | u |), and the switching time ΔT _y in the _y -axis direction is ΔT _y = L _y / ((n−1) · | v |) Becomes

Further, the velocity u of the moving body 100 in the x-axis direction is
The clutter Doppler frequency is f _dxIs the transmission of radar waves
The time from receiving the signal to receiving the reflected wave of the radar wave
t, the wavelength of the radar wave is λ, and the function for obtaining the integer part of the argument is
The moving body 100 moves in the x-axis direction between int and time t.
The distance D_Mx, The antenna 10 moves in the x-axis direction during time t
D to move_RxThen, f_dx= ((D_Mx-D_Rx) / D_Mx) ・ 2u / λ = ((U · t−u · int (t / ΔT_x) ・ ΔT_x) /
(U ・ t)) ・ 2u / λ Becomes

In addition, the velocity v of the moving body 100 in the y-axis direction is
The clutter Doppler frequency is f _dyDuring time t
The moving distance of the moving body 100 in the y-axis direction is D_My, Time t
The distance that the antenna 10 moves in the y-axis direction between_RyWhen
Then, f_dy= ((D_My-D_Ry) / D_My) ・ 2v / λ = ((V ・ t−v ・ int (t / ΔT_y) ・ ΔT_y) /
(V ・ t)) ・ 2v / λ Becomes

As described above, the Doppler frequency f _d of the clutter associated with the velocity vector V _R (u, v, 0) of the moving body 100 is f _d = (f _dx ² + f _dy ² ) ^1/2 . Therefore, x of the m-row × n-row two-dimensional antenna 10 is set so that D _Mx is equal to D _Rx and D _My is equal to D _Ry.
By sequentially switching each row in the axis and y-axis directions at ΔT _x and ΔT _y intervals, the velocity vector of the antenna 10 located at the intersection of each axis can be made equal to zero.

FIG. 39 is a conceptual diagram of the eleventh embodiment of the present invention. The figure shows an example in which the radar device shown in FIG. 38 is attached to the upper part of the aircraft 100. The operation of the radar device will be described below with reference to the block diagram of the radar device. Figure 4
0 is a block diagram of an eleventh embodiment of the present invention. The radar apparatus shown in the figure includes m × n antennas 10, a waveguide 15, an antenna selection control unit 70, a transmission / reception unit 80, and an aircraft speed sensor unit 90.

The antenna 10 is an antenna for transmitting and receiving radar waves, and has a length L of the aircraft 100 in the x-axis direction.
_{In the X} section, the m rows are equally spaced from the first row to the mth row in the direction of canceling the velocity u in the x axis direction, and the velocity v in the y axis direction in the section of the length L _{y in} the y axis direction of the aircraft 100. The n columns are fixed at equal intervals from the first column to the nth column in the direction of canceling.

The waveguide 15 includes the transmitter / receiver 80 and the antenna 1.
To suppress the attenuation of radar wave between 0 and transmit efficiently
It is a transmission line. The antenna selection control unit 70 is an aircraft
In the x-axis direction in the direction of canceling the velocity u of 100 in the x-axis direction
Switching time ΔT of the row of antennas 10_x, And aircraft 1
00 in the y-axis direction that cancels the velocity v in the y-axis direction.
Column switching time of antenna 10 ΔT _yAnd calculate x
The rows of the antennas 10 in the axial and y-axis directions are respectively ΔT_x, Δ
T_yThe speed vector of the antenna 10 is switched by switching each time.
Control to 0.

The transmission / reception unit 80 transmits radar waves and receives reflected waves. The received reflected wave is output to the display unit or the like as the measurement result. The aircraft speed sensor unit 90 is included in the aircraft 100, detects the velocity u in the x-axis direction and the velocity v in the y-axis direction of the aircraft 100, and outputs it to the antenna selection control unit 70.

A specific example of the eleventh embodiment will be described below with reference to FIG. As a prerequisite, the aircraft 100
Of the velocity vector V _R (u, v, 0) of u is 15 m / s, v is 1.5 m / s, and the length L _x from the first column to the m-th antenna 10 in the x-axis direction is , And the antennas 10 from the first row to the n-th row in the y-axis direction.
The length L _{y up} to L _x = 9 m L _y = 0.9 m The columns m, n of the antenna 10 provided in the section of the length L _x , L _y
Let m = n = 10.

In this case, the time ΔT _x for switching the antenna 10 in the x-axis direction is ΔT _x = L _x /((m−1)·|u|)≈0.067 (seconds) The antenna 10 is moved in the y-axis direction. The switching time ΔT _y is ΔT _y = L _y /((n−1)·|v|)≈0.067 (seconds).

Therefore, the ten rows of antennas 10 provided in the x-axis direction are arranged from the first row to the tenth row in order from the head in the traveling direction of the aircraft 100 in the x-axis direction, and the ten rows of antennas 10 provided in the y-axis direction. As the antennas 10 in the first to tenth columns in order from the head in the traveling direction of the aircraft 100 in the y-axis direction,
In the x-axis direction, the antenna is switched from the μ-th column to the μ + 1-th column at ΔT _x (= 0.067 seconds) intervals, and in the y-axis direction at ΔT _y (= 0.067 seconds) intervals from the ν-th column ν + 1. Switch to the antenna 10 in the row. Accordingly, the position of the antenna 10 that transmits the radar wave and the position of the antenna 10 that receives the radar wave can be set at the same point, and the velocity vector of the antenna 10 becomes equivalent to zero.

The twelfth embodiment of the present invention will be described below. In the radar device of the twelfth embodiment, the antennas 10 of the radar device mounted on an aircraft that moves with velocity components in the x-axis, y-axis, and z-axis directions are arranged at even intervals in the x-axis direction in 1 row and in the y-axis direction. M rows at even intervals, n rows at even intervals in the z-axis direction, total l ×
m × n antennas 1 arranged in the x-axis, y-axis, and z-axis directions
The column of 0s is sequentially switched for each axis at a predetermined time interval, and the antenna 10 located at the intersection of each axis is used to make the velocity vector of the antenna 10 equal to 0 and remove the clutter signal. In the twelfth embodiment, the length L _x in the x-axis direction is calculated based on the velocity vector V _R of the moving body 100 and the distance R to the clutter source 200, as in the sixth embodiment.
The length of the y-axis direction L _y, it is not necessary to determine the number of antennas 10 provided on each section of the z-axis direction length L _z. Therefore, a radar device such as a pulse radar capable of measuring the distance R to the clutter source 200 may be used.

FIG. 41 is a diagram for explaining the principle of the twelfth embodiment of the present invention. The radar device shown in the figure has a velocity vector V _R (u, v, w), where u ≠ 0, v ≠ 0, w ≠
In the section of the length L _x in the x-axis direction of the moving body 100 moving at 0, the velocity u in the x-axis direction is cancelled in the direction from the first column to l.
Up to the first column, and in the direction of the length L _y in the y-axis direction from the first column to the m-th column in the direction of canceling the velocity v in the y-axis direction, further z
The antennas 10 from the first row to the n-th row are provided at equal intervals for each axis in a direction of canceling the velocity w in the z-axis direction in a section having a length L _{z in} the axial direction.

Then, the switching time ΔT of the antenna 10 in the x-axis direction is set so as to cancel the velocity u in the x-axis direction of the moving body.
The velocity v in the y-axis direction from the μ-th column to the μ + 1-th column for each _x
The antenna 10 in the y-axis direction is switched in the direction of canceling each of the switching directions ΔT _y , and the antenna 10 in the z-axis direction is switched in the direction of canceling the velocity w in the z-axis direction at each switching time ΔT _z . Switch from the ξth column to the ξ + 1th column,
By using the antenna 10 at the intersection, the velocity vector of the antenna 10 used for transmission / reception can be made equal to zero. However, μ = 1 to l−1, ν = 1 to
m-1, ξ = 1 to n-1.

For that purpose, the switching time Δ in the x-axis direction is set.
T _x is ΔT _x = L _x / ((l−1) · | u |), and the switching time ΔT _y in the _y -axis direction is ΔT _y = L _y / ((m−1) · | v |) Therefore, the switching time ΔT _z in the z-axis direction is ΔT _z = L _z / ((n−1) · | w |).

Further, the velocity u of the moving body 100 in the x-axis direction is
The clutter Doppler frequency is f _dxIs the transmission of radar waves
The time from receiving the signal to receiving the reflected wave of the radar wave
t, the wavelength of the radar wave is λ, and the function for obtaining the integer part of the argument is
The moving body 100 moves in the x-axis direction between int and time t.
The distance D_Mx, The antenna 10 moves in the x-axis direction during time t
D to move_RxThen, f_dx= ((D_Mx-D_Rx) / D_Mx) ・ 2u / λ = ((U · t−u · int (t / ΔT_x) ・ ΔT_x) /
(U ・ t)) ・ 2u / λ Becomes

In addition, the velocity v of the moving body 100 in the y-axis direction is
The clutter Doppler frequency is f _dyDuring time t
The moving distance of the moving body 100 in the y-axis direction is D_My, Time t
The distance that the antenna 10 moves in the y-axis direction between_RyWhen
Then, f_dy= ((D_My-D_Ry) / D_My) ・ 2v / λ = ((V ・ t−v ・ int (t / ΔT_y) ・ ΔT_y) /
(V ・ t)) ・ 2v / λ Becomes

Further, the velocity w of the moving body 100 in the z-axis direction is
The clutter Doppler frequency is f _dzDuring time t
The distance traveled by the moving body 100 in the z-axis direction is D_Mz, Time t
The distance that the antenna 10 moves in the z-axis direction between_RzWhen
Then, f_dz= ((D_Mz-D_Rz) / D_Mz) ・ 2w / λ = ((W · t−w · int (t / ΔT_z) ・ ΔT_z) /
(W ・ t)) ・ 2w / λ Becomes

From the above, the Doppler frequency f _d of the clutter associated with the velocity vector V _R (u, v, w) of the moving body 100 becomes f _d = (f _dx ² + f _dy ² + f _dz ² ) ^1/2 . Therefore, D _Mx and D _Rx , D _My and D _Ry , D _Mz and D _Rz
So as to be equal to each other, sequentially switching each row in the x-axis, y-axis, and z-axis directions of the three-dimensional antenna 10 of 1 row × m row × n row at ΔT _x , ΔT _y , and ΔT _z intervals. Thus, the velocity vector of the antenna 10 located at the intersection of the axes can be made equal to zero.

FIG. 42 is a conceptual diagram of the twelfth embodiment of the present invention. The figure shows an example in which the radar device shown in FIG. 41 is attached to the upper part of the aircraft 100. The operation of the radar device will be described below with reference to the block diagram of the radar device. Figure 4
3 is a block diagram of a twelfth embodiment of the present invention. The radar device shown in the figure has 1 × m × n antennas 10,
Waveguide 15, antenna selection controller 70, transceiver 80,
And an aircraft speed sensor unit 90.

The antenna 10 is an antenna for transmitting and receiving radar waves, and has a length L of the aircraft 100 in the x-axis direction.
_In the section of _X , the 1st row to the 1st row are arranged at even intervals in the direction of canceling the velocity u in the x-axis direction, and in the section of the length L _y of the aircraft 100 in the y-axis direction, the velocity v in the y-axis direction. The m-th row is evenly spaced from the first row to the m-th row in the direction of canceling, and the velocity w in the z-axis direction is _{added to} the section of the length L _{z in} the z-axis direction of the aircraft 100.
In the direction of canceling the n columns at even intervals from the 1st column to the nth column,
A total of 1 × m × n are fixed.

The waveguide 15 includes the transmitter / receiver 80 and the antenna 1.
It is a transmission line for suppressing the attenuation of the radar wave with 0 and transmitting it efficiently. The antenna selection control unit 70 controls the switching time ΔT _x of the row of the antennas 10 in the x-axis direction in the direction of canceling the velocity u in the x-axis direction of the aircraft 100, the aircraft 100.
The switching time ΔT _y of the row of antennas 10 in the y-axis direction that cancels the velocity v in the y-axis direction and the switching time of the row of antennas 10 in the z-axis direction that cancels the velocity w of the aircraft 100 in the z-axis direction. Calculate ΔT _z , x-axis, y
The rows of the antennas 10 in the axial and z-axis directions are respectively Δ
The antenna 10 is sequentially switched for each of T _x , ΔT _y , and ΔT _z.
The velocity vector of is controlled so as to be zero.

The transmission / reception unit 80 transmits radar waves and receives reflected waves. The received reflected wave is output to the display unit or the like as the measurement result. The aircraft speed sensor unit 90 is included in the aircraft 100, detects the velocity u in the x-axis direction, the velocity v in the y-axis direction, and the velocity w in the z-axis direction of the aircraft 100, and outputs them to the antenna selection control unit 70. .

A concrete example of the twelfth embodiment will be described below with reference to FIG. As a prerequisite, the aircraft 100
Of the velocity vector V _R (u, v, w) of u, v, u = 15 m / s, v = w = 1.5 m / s, the length from the first column to the l-th antenna 10 in the x-axis direction. _Let L _{x be} the length L _x , the length L _y from the first row to the m-th row antenna 10 in the _y- axis direction, and the length L _z from the first row to the n-th row antenna 10 in the z-axis direction be L _x = 9 m L _y = L _z = 0.9 m Antenna 10 provided in the section of length L _x , L _y , and L _z
The columns l, m, and n of are set as l = m = n = 10.

In this case, the time ΔT _x for switching the antenna 10 in the x-axis direction is ΔT _x = L _x /((l-1)·|u|)≈0.067 (seconds) The antenna 10 is moved in the y-axis direction. The switching time ΔT _y is ΔT _y = L _y /((m−1)·|v|)≈0.067 (seconds) The switching time ΔT _z of the antenna 10 in the z-axis direction is ΔT _z = L _z / ( (N-1) · | w |) ≈0.067 (seconds).

Therefore, the ten rows of antennas 10 arranged in the x-axis direction are arranged in the first to tenth rows in order from the head in the traveling direction of the aircraft 100 in the x-axis direction, and the ten rows of antennas 10 arranged in the y-axis direction are arranged in the aircraft 100. The first to tenth rows of the antenna 100 are arranged in order from the head in the traveling direction in the y-axis direction, and the ten rows of the antennas 10 provided in the z-axis direction are arranged in the first to tenth rows in order from the head in the traveling direction of the aircraft 100 in the z-axis direction. As the antenna 10 of the above, from the μ-th row to the μ-axis at ΔT _x (= 0.067 seconds) intervals in the x-axis direction.
Switch to the antenna 10 in the + 1st column, ΔT in the y-axis direction
Switching from the νth column to the ν + 1th column antenna 10 at _y (= 0.067 seconds) intervals, and ΔT _z (= 0.0
67 seconds) at intervals, the antenna 10 is switched from the ξ-th column to the ξ + 1-th column antenna 10. As a result, the position of the antenna 10 that transmits the radar wave and the position of the antenna 10 that receives the radar wave can be set at the same point, and the velocity vector of the antenna 10 is 0.
Is equivalent to

The present invention is not limited to the above embodiments, and various modifications and applications are possible within the scope of the claims.

[0243]

As described above, according to the invention described in claim 1, the three-dimensional spatial coordinate system (x, y, z) is used as the velocity vector.
Torr V _R (u, 0,0) Les to be mounted on a moving body that moves in
Set the transmit antenna and the receive antenna of the radar device to the spatial coordinate system.
Clutter signal to be removed individually by setting on x-axis of
Of a moving object during the round-trip time of a radar wave to the source of
Relative position of transmitting and receiving antennas based on distance
Position, and move either antenna to the relative position.
By moving it to set the velocity vector of the antenna to 0,
The clutter generated by the source due to the movement of the moving body
It is possible to remove the data signal.

Further, according to the invention of claim 2,The third
The original spatial coordinate system (x, y, z) is converted into the velocity vector V
_R A radar device mounted on a moving body that moves at (u, v, 0)
Position the transmitting and receiving antennas in the spatial coordinate system x
Set it separately on the two-dimensional plane consisting of the axis and the y-axis and remove it.
Round-trip time of radar wave to the source of clutter signal
Based on the distance the moving body moves in the x-axis and y-axis directions.
The relative position between the receiving antenna and the receiving antenna is determined.
Move one of the antennas to the relative position to move the antenna
By setting the velocity vector to 0,
Remove the clutter signal generated by the source
It becomes possible.

Further, according to the invention of claim 3,The third
The original spatial coordinate system (x, y, z) is converted into the velocity vector V
_R Radar equipment mounted on a moving body that moves at (u, v, w)
Position the transmitting and receiving antennas in the spatial coordinate system x
Individually provided in a three-dimensional space consisting of axes, y-axis, and z-axis,
Radar wave up to the source of the clutter signal to be removed
The moving body moves in the x-axis, y-axis, and z-axis directions during the round trip time
Phase of the transmitting and receiving antennas based on the distance
Decide the pair position and set either antenna to the relative position.
To move the antenna velocity vector to 0
The amount of dust generated by the source
It is possible to remove the ratter signal.

[0246]

[0247]

[0248]

[0249]

[0250]

[0251]

[0252]

[0253]

[0254]

[0255]

According to the invention described in claims 1, 2, and 3 , the transmitting antenna and the receiving antenna are independently provided,
In order to obtain the relative position of the transmitting antenna and the receiving antenna based on the movement of the moving body and move one of the antennas to the relative position to set the velocity vector of the antenna to 0,
It is possible to downsize the device. In addition, claim 2,
According to the inventions described in 5, 8, and 11, the clutter signal is set to 0 by setting the velocity vector of the antenna to 0 even when the moving body is skidding (moving in the y-axis direction) due to external factors such as gravity and air flow. Can be removed.

According to the third aspect of the invention, when the moving body slides (moves in the y-axis direction) or descends / lifts (moves in the z-axis direction) due to external factors such as gravity and air flow. Even if it is, the clutter signal can be removed by setting the velocity vector of the antenna to zero.

[Brief description of drawings]

FIG. 1 is a principle configuration diagram of the present invention.

FIG. 2 is a conceptual diagram of a first embodiment of the present invention.

FIG. 3 is a block diagram of a first embodiment of the present invention.

FIG. 4 is a conceptual diagram of a detection example of a target signal when the velocity vector of the antenna is set equal to 0.

FIG. 5 is a diagram for explaining the principle of the second embodiment of the present invention.

FIG. 6 is a conceptual diagram of a second embodiment of the present invention.

FIG. 7 is a block diagram of a second embodiment of the present invention.

FIG. 8 is a diagram for explaining the principle of the third embodiment of the present invention.

FIG. 9 is a conceptual diagram of a third embodiment of the present invention.

FIG. 10 is a block diagram of a third embodiment of the present invention.

FIG. 11 is a diagram illustrating the principle of the fourth embodiment of the present invention.

FIG. 12 is a conceptual diagram of a fourth embodiment of the present invention.

FIG. 13 is a block diagram of a fourth embodiment of the present invention.

FIG. 14 is a diagram (1) explaining the principle of the fifth embodiment of the present invention.

FIG. 15 is a diagram (2) explaining the principle of the fifth embodiment of the present invention.

FIG. 16 is a conceptual diagram of the fifth embodiment of the present invention.

FIG. 17 is a block diagram of a fifth embodiment of the present invention.

FIG. 18 is a diagram (1) explaining the principle of the sixth embodiment of the present invention.

FIG. 19 is a diagram (2) explaining the principle of the sixth embodiment of the present invention.

FIG. 20 is a diagram (3) explaining the principle of the sixth embodiment of the present invention.

FIG. 21 is a diagram (4) explaining the principle of the sixth embodiment of the present invention.

FIG. 22 is a diagram (5) explaining the principle of the sixth embodiment of the present invention.

FIG. 23 is a conceptual diagram of a sixth embodiment of the present invention.

FIG. 24 is a block diagram of a sixth embodiment of the present invention.

FIG. 25 is a diagram for explaining the principle of the seventh embodiment of the present invention.

FIG. 26 is a conceptual diagram of the seventh embodiment of the present invention.

FIG. 27 is a block diagram of a seventh embodiment of the present invention.

FIG. 28 is a diagram for explaining the principle of the eighth embodiment of the present invention.

FIG. 29 is a conceptual diagram of an eighth embodiment of the present invention.

FIG. 30 is a block diagram of an eighth embodiment of the present invention.

FIG. 31 is a diagram illustrating the principle of the ninth embodiment of the present invention.

FIG. 32 is a conceptual diagram of the ninth embodiment of the present invention.

FIG. 33 is a block diagram of a ninth embodiment of the present invention.

FIG. 34 is a diagram illustrating the principle of the tenth embodiment of the present invention.

FIG. 35 is a conceptual diagram of a tenth embodiment of the present invention.

FIG. 36 is a block diagram of a tenth embodiment of the present invention.

FIG. 37 is a diagram showing the relationship between the reflected wave reception time and the Doppler frequency of the radar device according to the tenth embodiment of the present invention.

FIG. 38 is a diagram for explaining the principle of the eleventh embodiment of the present invention.

FIG. 39 is a conceptual diagram of the eleventh embodiment of the present invention.

FIG. 40 is a block diagram of an eleventh embodiment of the present invention.

FIG. 41 is a diagram for explaining the principle of the twelfth embodiment of the present invention.

FIG. 42 is a conceptual diagram of the twelfth embodiment of the present invention.

FIG. 43 is a block diagram of a twelfth embodiment of the present invention.

FIG. 44 is a conceptual diagram of an example of detecting a target signal by a conventional radar device.

[Explanation of symbols]

Reference Signs List 10 antenna 11 transmission antenna 12 reception antenna 15 waveguide 20 speed following type servo mechanism 20 ₁ x-axis direction speed following type servo mechanism 20 ₂ y axis direction following type servo mechanism 20 ₃ z axis direction following type servo mechanism 21 DC Motor, X-axis DC motor, Y-axis DC motor,
Z-axis DC motor 22 Servo amplification unit 23 Speed position comparison unit 24 Shaft encoder unit 25 Antenna control unit, X-axis antenna control unit, Y-axis antenna control unit, Z-axis antenna control unit 30 Rail 40 Position-following servo mechanism 40 ₁ x Axial position following type servo mechanism 40 ₂ y axis direction following type servo mechanism 40 ₃ z axis direction following type servo mechanism 41 DC motor, X axis DC motor, Y axis DC motor,
Z-axis DC motor 42 Servo amplification section 43 Position comparison section 44 Shaft encoder section 45 Antenna control section, X-axis antenna control section, Y-axis antenna control section, Z-axis antenna control section 70 Antenna selection control section 75 Antenna switching section 80 Transmitter / receiver section 81 receiver 82 transmitter 85 clutter position analysis unit 90 aircraft speed sensor unit 100 mobile body, aircraft, small aircraft, medium-sized transport aircraft 101 aircraft 200 clutter source

─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Keito Kondo 1015 Kamiodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa Fujitsu Limited (56) References JP-A-3-125983 (JP, A) JP-A-6- 204725 (JP, A) JP 61-217784 (JP, A) JP 6-138219 (JP, A) JP 4-294611 (JP, A) JP 3-285192 (JP, A) JP 62-112403 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95 H01Q 1/12-1 / 26

Claims (3)

(57) [Claims] 1. A three-dimensional spatial coordinate system (x, y, z) velocity vector V _R (u, 0,0) The radar apparatus mounted on a mobile body moving in, x of the spatial coordinate system On the axis with the transmitting antenna of the radar device
Provided a receiving antenna separately, the velocity vector V _R and Tokoro
Based on the distance to a given clutter source and the clutter
When the reflected wave from the source is transmitted as a radar wave,
Calculate the predetermined position so that you can receive at the same position as Tena,
A radar device having position moving means for moving to that position . 2. A three-dimensional spatial coordinate system (x, y, z) a radar device mounted on a moving body that moves at the speed vector _{V R (u, v, 0} ), x of the spatial coordinate system The ray is placed on a two-dimensional plane consisting of the axis and the y-axis.
The transmission antenna and the reception antenna of the DA device are provided separately,
The velocity vector V _R and the distance to a given clutter source
Based on the reflected wave from the clutter source,
To be able to receive at the same position as the transmitting antenna when receiving
A radar device having a position moving means for calculating a predetermined position and moving to that position . 3. A three-dimensional spatial coordinate system (x, y, z) velocity vector _{V R (u, v, w} ) a radar device mounted on a moving body that moves, x of the spatial coordinate system In a three-dimensional space consisting of axes, y-axis and z-axis
Separately the transmitting antenna and the receiving antenna of the radar device
The speed vector V _R and the distance to a predetermined clutter source are provided.
The reflected wave from the clutter source is
It can be received at the same position as the transmitting antenna when transmitting the wave.
A radar apparatus comprising: a position moving means that calculates a predetermined position and moves to that position .