JP4479268B2 - Aircraft detection device - Google Patents

Description

  The present invention relates to a flying object detection device for detecting a small flying object such as a helicopter or a small airplane that approaches a monitoring area such as a specific facility, a specific area, or a building from the sky.

  As is well known, heliports are installed on the roof of buildings for disaster countermeasures. On the building rooftops, radio devices such as satellite broadcasting antennas, radio communication antennas, and weather observation radars are often installed. When a helicopter (hereinafter referred to as helicopter) approaches the building roof, it may affect the operation of the wireless device. For example, when a helicopter passes through the communication area of a wireless device, a failure such as a radio wave failure or communication interruption occurs instantaneously in transmission data or reception data of the wireless device. In addition, when the antenna of the wireless device rotates, there is a possibility that a failure such as a helicopter approaching the wireless device comes into contact with the antenna. For this reason, when the approach of the helicopter is detected, it is necessary to take measures such as stopping the operation of the wireless device or issuing a warning in advance to the user of the wireless device.

  As a conventional flying object detection device, an acoustic sensor is used to detect the sound waves in the vertical and horizontal directions of the helicopter passing over the sky, and detects the position of the flying object from the detected sound wave direction. (For example, refer to Patent Document 1).

JP-A-6-214000 (page 5, FIG. 1)

  In addition, there is known a technique in which an optical sensor composed of a plurality of light emitting element groups and light receiving element groups is arranged in a direction perpendicular to the runway to detect a passing position of an airplane passing over the sky (for example, Patent Documents) 2).

Japanese Patent Laid-Open No. 9-230026 (page 8, FIG. 1)

  In the case of detecting a helicopter using an acoustic sensor, the conventional flying object detection device has a problem that the acoustic sensor erroneously detects a bird flying over the sky as a helicopter. For example, when the monitoring area is on the roof of a building, birds are constantly flying over the sky. For this reason, the frequency of erroneous detection of the flying object detection device has increased, and the radio device has been stopped carelessly or an unnecessary alarm has been generated. This lowered the reliability of the flying object detection device.

  In addition, when a flying object is detected using an optical sensor, there is a problem in that a flying object passing over the sky may not be detected due to the influence of a climate such as rain or fog.

  The present invention has been made to solve such a problem, and is a small flying object such as a helicopter or a small airplane that flies over without a detection failure due to the influence of the climate or a false detection accompanying the arrival of a bird. The purpose is to detect the approach of.

A flying object detection device according to the present invention is provided with a plurality of millimeter wave radars arranged around a monitoring region with a sensing direction facing upward, and detecting target distance information and received signal strength information, and each of the millimeter wave radars A timing control unit for controlling the operation timing, a signal processing unit for detecting the presence of a small flying object approaching the monitoring region from the sky based on the distance information acquired by the millimeter wave radar and the received signal strength information, and A control unit that is connected to a signal processing unit and controls the operation of a threatening device and emits warning information toward the small aircraft, and the signal processing unit includes a target object acquired by the millimeter wave radar. By comparing the value calculated according to the distance information and the received signal strength information with a predetermined threshold value, it is identified whether the target is a small aircraft or a bird, and the target is a small aircraft thing When specified, the trigger signal and the identification information of the millimeter wave radar that acquired the information of the small flying object are transmitted, and when the control unit receives the trigger signal and the identification information, the direction of the target object is based on the identification information If the direction of the target body is a predetermined direction that gives a warning around the monitoring area, the operation of the threatening device is controlled toward the target body to issue warning information.

  According to the present invention, the millimeter wave radar is directed toward the sky to detect the approach of a small air vehicle, so that there is no detection failure due to the influence of the climate or false detection accompanying the arrival of birds, and the approach to the sky above the monitoring area. It is possible to accurately detect the presence of a small flying vehicle.

The flying object detection apparatus according to the present invention is characterized in that the approaching direction of a small flying object is detected with the sensing direction of a millimeter wave radar operating in the millimeter wave band directed upward. Millimeter wave radar distinguishes between small objects such as helicopters and small airplanes by setting the threshold of the reception intensity level of the reflected wave appropriately, and objects with a low reception intensity level of the reflected wave such as birds. The flying object can be detected without erroneous detection. Of course, it is not affected by ambient noise. In addition, by using millimeter-wave radio waves, the detection performance is excellent in environmental resistance regardless of nighttime, fog, smoke, and the like. A small airplane means a manned airplane having a total length of several tens of meters or less and a total height of several meters or less.
Embodiments according to the present invention will be described below with reference to the drawings.

Embodiment 1 FIG.
FIG. 1 is a diagram showing the configuration of the flying object detection apparatus according to the first embodiment.
In the figure, the flying object detection device mainly includes a sensor device 8, a timing control unit 9, and a signal processing unit 10. The sensor device 8 includes N (a positive integer of 4 or more) sensor units 8-1 to 8-N. Each sensor unit (8-1 to N) is connected to the timing control unit 9 and the signal processing unit 10, respectively. Each sensor unit (8-1 to N) is arranged in a plurality toward the sky so that a predetermined area in the sky surrounding the periphery of the monitoring region can be monitored. The interval, the installation direction, and the number N of the sensor units are set to appropriate numbers based on the outer peripheral length of the monitoring area and the shape of the monitoring area. Each sensor unit (8-1 to N) is configured by a millimeter wave radar, detects the presence of an object (detection target) passing through a front sensing area, receives distance, speed, direction information and reception to the detection target. Obtain radar information including intensity level. The detection distance of each sensor unit is several tens to hundreds of tens of meters, and preferably the detection distance in the monitoring region is in the range of 50 to 100 m. The flying object detection device may constitute a system including the control unit 12.

  The signal processing unit 10 is connected to the control unit 12 that controls the wireless device 30. The wireless device 30 includes an antenna unit and an antenna control unit, and constitutes a satellite broadcasting antenna, a wireless communication antenna, a weather observation radar, and the like (not shown). The wireless device 30 outputs information such as radar observation data and communication information. The antenna control unit controls the phase of the antenna unit to change the directivity direction of the antenna beam to a desired direction. Alternatively, the antenna control unit may rotate the radio wave axis of the antenna unit to change the directivity direction of the antenna beam to a desired direction. The wireless device 30 and the control unit 12 are each connected to the management device 40. The management device 40 is connected to a public line (not shown). The management device 40 transmits the output information of the wireless device 30 to a user terminal using the wireless device 30 through a public line.

  The timing control unit 9 controls the operation timing of each sensor unit (8-1 to N). The signal processing unit 10 integrally processes radar information sent from each sensor unit (8-1 to N), and determines whether or not the detection target existing in the predetermined area is a small flying object. Then, the position and speed of the detection target are output. At this time, since the sensor device 8 does not detect sound waves, the detection performance is not affected by ambient noise. Further, since millimeter wave radio waves are used for the radar, it is possible to detect a small air vehicle having excellent environmental resistance regardless of nighttime, fog, smoke, or the like.

The signal processing unit 10, when the detection target is judged to be a small aircraft, it is determined to be approaching what damaging to the wireless device 30, a trigger signal 11 to the control unit 12 give. Upon receiving the trigger signal 11, the control unit 12 supplies an operation stop signal to the wireless device 30 or issues a warning signal to the management device 40. When the management device 40 receives the warning signal, it sends a notification that a service failure has occurred to the user terminal of the user through the public line. For example, when the radio device 30 is a weather observation radar device, a radio failure occurs when the transmission signal of the radio device 30 interferes with the helicopter. Therefore, when the sensor device 8 detects a helicopter, the management device 40 prompts the operator who immediately operates the weather observation radar to stop the transmission of the wireless device 30 and the rotation of the antenna. Make recommendations. For example, a warning message such as “Helicopter approach” is displayed on the screen of the operator's terminal. As a result, the operator performs measures such as stopping transmission of the wireless device 30 and stopping antenna operation by remote operation (not shown).

  FIG. 2 is a diagram illustrating a configuration of each sensor unit. The sensor unit (8-1 to N) includes the antenna 3, the transceiver 20, the control unit 6, and the detection unit 7. The antenna 3 includes a transmission antenna 1 and a reception antenna 2. The sensor units (8-1 to N) constitute, for example, an FM-CW millimeter wave radar. Each of the transmission antenna 1 and the reception antenna 2 includes an antenna array substrate on which a plurality of antenna elements (radiation conductors) are arranged, and a power feeding portion to the antenna elements, and has predetermined gain characteristics. A radio wave axis perpendicular to the antenna surface of the antenna 3 in the sensing direction is referred to as a sensor axis. FIG. 3 shows an example of the antenna characteristic pattern of the transmission antenna 3. The vertical and horizontal beam widths of the antenna are 27 ° (−3 dB value).

  The transceiver 20 feeds a transmission RF signal to the transmission antenna 1 via a transmission signal output terminal, and excites each antenna element to output a transmission radio wave 4. The antenna 3 outputs one transmission beam having a main lobe beam width of 27 °, for example. The output transmission radio wave 4 is reflected by the small flying object 300 as a detection target, and the reflected wave 5 is received by the receiving antenna 2 of the antenna 3. The reception antenna 2 forms a plurality of reception beams. Each reception beam has a predetermined beam width, and a plurality of beams are included so that no null is generated within a predetermined angle range. For example, when the number of reception channels is three, the beam width of the main lobe of each beam is set to tens of degrees, and three beams are formed within an angle range of 27 °. The transceiver 20 has the same number of reception channels as the number of beams of the reception antenna 2. The receiving antenna 2 converts the received reflected wave into an RF signal and inputs it to each receiving channel of the transceiver 20 for each beam.

The transceiver 20 has a built-in voltage-controlled oscillator, and receives a frequency control signal from the control unit 6. This voltage controlled oscillator oscillates a frequency modulation signal (FM signal) by the FM-CW method based on the frequency control signal. The transceiver 20 multiplies and amplifies the FM signal, and outputs it to the antenna 3 as a transmission signal via the transmission signal output terminal. The transceiver 20 amplifies the received RF signal with low noise, and frequency-mixes the amplified signal and the FM signal with a mixer. The mixer of the transceiver 20 outputs a video signal composed of a frequency sum signal including a beat frequency component and a frequency difference signal. The transceiver 20 outputs a video signal including a beat frequency component for each reception channel. Video signals output from each reception channel of the transceiver 20 are input to the control unit 6. The control unit 6 performs A / D conversion on each video signal input by the transceiver 20 and then outputs each digitized digital video signal to the detection unit 7. The control unit 6 controls the bias voltage of the active device in the transceiver 20.
In addition, illustration is abbreviate | omitted about each detailed structure of the antenna 3, the transmitter / receiver 20, and the control part 6. FIG.

  The detection unit 7 analyzes the frequency of the digital video signal output from the control unit 6 for each reception channel by fast Fourier transform processing. The detection unit 7 acquires distance information and speed information of the detection target based on the frequency analysis result. Next, the detection unit 7 extracts a signal having a frequency at which the signal intensity level in the beat signal reaches a peak as a target signal for each reception channel. The detection unit 7 multiplies the extracted digital video signal for each reception channel by a weighting function in the beam direction to form a multi-beam. The detection unit 7 performs peak detection of the reception level of the beat signal from the formed multi-beam. The direction in which the detection target exists is measured by an arithmetic process such as a maximum likelihood estimation method or MUSIC with respect to the peak-detected received signal. For example, Japanese Patent Laid-Open No. 2003-139849 discloses a method of performing angle measurement using a maximum likelihood estimation method so that an angle in a target direction can be efficiently obtained with less angle detection error after forming a multi-beam. Has been proposed. The detection unit 7 converts the direction of the angle measured based on the sensor axis reference into a reference coordinate system fixed to the sensor device 8 and outputs it as direction information. Moreover, the detection part 7 outputs the signal strength level in a beat signal as the received signal strength information. The detection unit 7 outputs distance information, speed information, direction information, and signal intensity information of the detection target as radar information.

  Note that the multi-beam does not necessarily have to be used for the angle calculation. For example, the antenna unit 3 is provided with a gimbal mechanism, a rotation actuator, and an angle detector, and the radio wave axis of the antenna unit 3 is rotated in a desired direction to control the direction of the transmission / reception beam in the desired direction. May be. In this case, it is only necessary to configure a single reception channel of the transmitter / receiver 20 using a monopulse antenna, and angle measurement can be accurately performed by monopulse angle measurement.

Next, the detection operation of the small flying object of the flying object detection device will be described.
In the sensor device 8, the radio wave radiated from the transmission antenna 1 of each sensor unit is reflected by the helicopter 3 serving as a detection target, and the reflected wave is received by the reception antenna 2. The detection unit 7 of each sensor unit processes the received digital video signal to measure radar information such as distance to the detection target helicopter 3, speed, direction information, and signal strength information, and the signal processing unit 10. Output to.

  The signal processing unit 10 uses the radar information output from the detection unit 7 of the sensor device 8 to distinguish between an object with a small reflected wave such as a bird and a small flying object such as a helicopter. Determine that it exists. The sensor device 8 can simultaneously obtain the distance to the detection target and the reception intensity level of the detection target. For this reason, even if the reception level of the reflected signal from the bird and the reception level of the reflected signal from the helicopter are the same level, the two are distinguished by obtaining the distance to the detection target and using it for the determination. can do. The determination process between the bird and the small flying object uses the principle of the radar equation of the following equation (1).

  Here, Pr is the received power, Pt is the transmitted power, G is the antenna gain, λ is the wavelength, σ is the radar scattering cross section, and R is the distance to the detection target.

  The radar scattering cross section σ is a value specific to the detection target, and the helicopter has a larger value than that of a bird or the like. Pt, G, and λ are constant values in the same device. On the other hand, R varies depending on the distance to the detection target. As is clear from the above equation, the received power Pr is proportional to the radar scattering cross section σ and inversely proportional to the fourth power of the distance R to the detection target. As a result, the reception intensity level of a bird at a short distance and a helicopter at a long distance may be approximately the same.

For this reason, the signal processing unit 10 uses the distance R of the radar information output from each sensor unit (8-1 to N) and the signal intensity information Pb for each sensor unit (8-1 to N). A determination parameter S = k × Pb × R ⁴ approximately proportional to the radar scattering cross section σ is calculated. The signal processing unit 10 determines that a helicopter is present when the determination parameter S is greater than a predetermined threshold value, and that a small flying object that is approaching is present. When the determination parameter S is smaller than the predetermined threshold, it is determined that a bird (small object other than the small flying object) has been detected, and it is determined that there is no approaching small flying object. Here, k is a coefficient appropriately set by the constituent circuits of the signal processing unit 10. The threshold value is obtained by measuring helicopter and bird radar information in advance using the sensor device 8 and appropriately calculating the helicopter determination parameter S and the bird determination parameter S from the radar information, thereby separating both the helicopter and the bird. An appropriate value should be set. Since the cross-sectional area of the bird is 1 m ² or less and the cross-sectional area of the helicopter is about 10 to 30 m ² , there is a difference of 10 times or more. For this reason, setting the threshold is not so difficult. If the threshold is set appropriately, it is possible to identify a hang glider and a bird according to the same principle. The signal processing unit 10 outputs identification information (sensor ID) that identifies the sensor unit (any one of 8-1 to N) that has been determined that there is a small flying object that is approaching.

  FIG. 4 is a diagram comparing the difference in the radar cross-sectional area between the bird and the helicopter when the determination parameter S is the radar cross-sectional area α. As shown in the figure, since the cross-sectional area of the radar differs between the bird and the helicopter by about 20 dB, the signal processing unit 10 can sufficiently discriminate between the bird and the helicopter.

  Note that other determination formulas other than the determination parameter S may be used for the discrimination process between the bird and the helicopter. For example, a method of discriminating between birds and helicopters may be used by setting a fixed threshold for the reception level for each distance within the detection distance of the sensor device 8.

  Based on the radar information from each sensor unit (8-1 to N), the signal processing unit 10 specifies the direction in which the small flying object is detected from the direction information of the sensor unit 8 that has detected the small flying object. . The signal processing unit 10 detects the position where the detected small flying object exists based on the distance information and direction information from the sensor unit 8 that detected the small flying object and the position information of the sensor unit 8 measured in advance. Is calculated. In addition, the signal processing unit 10 specifies the speed of the detected small flying object based on the speed information from the sensor unit 8 that has detected the small flying object. The signal processing unit 10 determines that the small flying object is approaching when the detected distance to the small flying object is 100 m or less and changes in the direction in which the distance gradually decreases. When the signal processing unit 10 detects the presence of the small flying object and determines that the small flying object is approaching, the calculated direction of the small flying object, the speed of the small flying object, and the position of the small flying object The information is output to the control unit 12.

  Note that the signal processing unit 10 may identify the type of the small flying object based on the speed information of the small flying object and the position information of the small flying object. For example, if it is determined that the speed change of the small air vehicle is small or the position change is swinging back and forth or up and down, the small air vehicle can be identified as a helicopter during hovering. When the small flying object falls at a substantially constant speed in the vertical direction, it is determined that the small flying object is a parachute. Furthermore, when the small flying object moves linearly, it is determined that the small flying object is a hang glider. At this time, it is needless to say that more accurate identification is possible by estimating the radar scattering cross section.

  The timing control unit 9 controls the operation timing of the sensor units (8-1 to N) so that the sensor units (8-1 to N) are sequentially switched and operated in a time division manner. This prevents each sensor unit (8-1 to N) from causing radio wave interference with each other, thereby erroneously detecting the target and deteriorating detection accuracy. In particular, since leaked radio waves and side lobes are mixed in from adjacent sensor units, it is effective to operate each sensor unit (8-1 to N) in a time-sharing manner.

  FIG. 5 is a timing chart when the timing control unit 9 controls the operation timing of each sensor unit (8-1 to N) so that the sensor units (8-1 to N) do not interfere with each other. As shown in the figure, mutual interference can be prevented by changing the timing of operating each sensor temporally and sequentially performing the on / off operation. At this time, the operation-on times of the sensor units (8-1 to N) should not overlap each other.

  When the signal processing unit 10 detects a small aircraft, based on the detected direction of the small aircraft, only some of the sensor units arranged near the existing direction are selectively operated in a time-sharing manner. You may let them. Further, only one specific sensor unit that has been determined that there is an approaching small aircraft may be in an operation-on state for a predetermined time. This makes it possible to continue tracking without losing sight of the small aircraft that has detected its presence.

Next, an installation example of the sensor device 8 according to this embodiment will be described.
FIG. 6 is a diagram showing an arrangement example when the sensor device 8 is installed around the heliport on the high-rise building roof. The sensor device 8 is provided on a building roof 14 having a height of 200 m as shown in FIG. The building roof has a rectangular shape and has a length of 15 m and a width of 50 m. FIG. 6B is a top view of the building roof, and FIG. 6C is a view of the installation area of the sensor device 8 on the building roof as viewed from the side.

In the figure, the sensor device 8 is composed of 18 sensor units (8-1 to 18). Each sensor unit is arranged in four corners on the building roof in the order from the upper left to the left in the figure, sensor units 15c, 15b, 15a, sensor units 15q, 15p, 15o, sensor units 15l, 15k, 15j, and sensor unit 15h. , 15g, 15f are respectively arranged. Between the sensors arranged at the four corners, a sensor unit 15r is arranged between the sensor unit 15a and the sensor unit 15q, and sensor units 15m and 15n are arranged between the sensor unit 15o and the sensor unit 15l. The sensor unit 15i is disposed between the sensor unit 15j and the sensor unit 15h, and the sensor units 15d and 15e are disposed between the sensor unit 15f and the sensor unit 15c. The heliport 16 is disposed adjacent to the sensor unit 15i. The wireless device 30 is disposed apart from the heliport 16 between the heliport 16 and the sensor unit 15r, and is installed in a region on the left half side of the rooftop 14 shown in FIG. The sensor unit 15b, the sensor unit 15p, the sensor unit 15n, the sensor unit 15k, the sensor unit 15g, and the sensor unit 15d sense the upward direction with the sensor axis facing vertically upward. In the other sensor unit, the sensor axis is directed obliquely upward by 15 ° obliquely upward from the horizontal direction and directed in the lateral direction. The vertical and horizontal beam width of each sensor unit is 27 ° as described with reference to FIG.
For convenience of explanation, the reference numerals of the sensor units are shown as 15a, 15b,..., But correspond to the sensor units 8-1, 8-2,.

FIG. 7A is a top view showing the detection range of each sensor unit, and FIG. 7B is a side view showing the detection range of each sensor unit. Assuming that the detection distance of each sensor unit is 50 m, as shown in the figure, it can be seen that the detection range 100 substantially covers the periphery of the building roof and the entire area above the building. In the figure, there is a gap in the sensing area of about 5 m to 10 m between the detection ranges 100 of each sensor unit, but considering that the size of the helicopter is about 15 m in total length and about 4 m in total height, it is sufficient. Helicopter approach can be detected. Therefore, it is possible to sufficiently monitor the inside of the monitoring area without installing so many sensors. As the distance from the sensor portion increases, the distance between the adjacent sensor portions becomes closer, and at a distance of about 100 m, the gap between the sensing areas is almost reduced.

Needless to say, when detecting a small small flying object such as a parachute or a hang glider, the number of sensors may be increased so that the detection range of the sensor unit is not interrupted.
In addition, although an example in which the sensor device 8 is arranged around the monitoring area has been described with reference to FIG. 7, depending on the size of the monitoring area, the sensor apparatus 8 can be appropriately arranged inside the monitoring area, and the sky can be continuously monitored. Needless to say, it may be done.

Further, the control unit 12 gives different control commands to the wireless device 30 based on the direction of the small aircraft, the speed of the small aircraft, and the position information of the small aircraft output from the signal processing unit 10. May be.
For example, in the example shown in FIG. 6, when the helicopter 310 approaches from the sensing direction of the sensor units 15f, 15g, 15h, 15m, 15j, 15k, 15l, There is no approach to the area on the left side of the rooftop 14 where the device 30 is installed. Therefore, when there is a helicopter in the area on the right side of the rooftop 14, the operation stop signal is not output to the wireless device 30 and the warning signal is not output to the management device 40.

  On the other hand, when the helicopter 311 approaches from the sensing direction of the sensor units 15r, 15c, 15o, 15b, 15p, 15a, and 15q, the helicopter 311 determines that there is a possibility that the radio device 30 may be damaged. An operation stop signal is output to the wireless device 30 to stop the output of the transmission radio wave of the wireless device 30 or to stop the operation. At the same time, a warning signal is output to the management device 40. If it is determined that the helicopter 311 is approaching the rooftop 14 rapidly based on the position information and speed information of the small aircraft output from the signal processing unit 10, It is also possible to take measures such as suddenly stopping.

  As described above, according to this embodiment, there is no detection failure due to the influence of the climate, and there is no false detection accompanying the arrival of a bird, and the presence of a small aircraft approaching the sky in the monitoring area is accurately detected. be able to.

  This also suppresses false detection with birds and false detection depending on the weather, thereby improving the reliability of the system of the flying object detection device.

  Needless to say, the above-described flying object detection device may constitute a system including the wireless device 30. Needless to say, the wireless device 30 may be used for other purposes than controlling the operation of the wireless device 30.

Embodiment 2. FIG.
FIG. 8 is a diagram showing a configuration of the flying object detection apparatus according to the second embodiment. The same reference numerals in FIG. 1 as those in FIG. 1 are the same as those in the first embodiment and perform the same operations. In this embodiment, a threatening device 50 is connected to the control unit 12 instead of the wireless device 30. The threatening device 50 here has a function of directly threatening or giving a warning to a suspicious small vehicle that enters the surveillance area from above, such as a searchlight or a laser light emitting device. There is a loud speaker.

This embodiment operates as follows.
When a suspicious small vehicle 300 such as a helicopter or a parachute approaches the sky above the monitoring area of the facility to be monitored, the sensor device 8 senses the suspicious small vehicle approaching from above, and sends it to the signal processing unit 10. Send radar information. Based on the radar information, the signal processing unit 10 detects the presence of the small aircraft 300 and outputs the direction in which the small aircraft 300 is present and the speed of the small aircraft 300. The signal processing unit 10 detects the presence of the small aircraft 300 and simultaneously sends a trigger signal 11 to the control unit 12. When the control unit 12 receives the trigger signal 11, it controls the operation of the threatening device 50. For example, the searchlight that constitutes the threatening device 50 is turned on toward the sky. Alternatively, radar information is sent from the signal processing unit 10 to the threatening device 50, and laser light is emitted toward the direction of the small aircraft 300 specified by the radar information. Alternatively, a siren is sounded by operating a speaker or a warning light, or flashing light is emitted.

  In this embodiment, in particular, a sensor device 8 is installed around or inside a public facility such as a water supply facility (dam) or a power facility (power plant) installed in a depopulated area, and is used for security monitoring over the facility. It is preferable. Thereby, security can be further strengthened in preparation for intrusion from the sky. Moreover, since security monitoring over the facility can be automated, it goes without saying that the work of placing workers on the monitoring tower and monitoring the sky can be reduced or unmanned.

It is a figure which shows the structure of the flying body detection apparatus by Embodiment 1 which concerns on this invention. 2 is a diagram illustrating a configuration of a sensor unit according to Embodiment 1. FIG. It is a figure which shows an example of the antenna characteristic pattern of a transmission antenna. It is the figure which compared the difference in the radar cross section of a bird and a helicopter. It is a timing chart which shows the operation timing of a sensor part. It is a figure which shows the example of arrangement | positioning in the case of installing a sensor apparatus in the heliport on the high rise building roof by Embodiment 1. FIG. It is a figure which shows the detection range of the sensor part by Embodiment 1. FIG. It is a figure which shows the structure of the flying body detection apparatus by Embodiment 2 which concerns on this invention.

Explanation of symbols

  8 sensor device, 9 timing control unit, 10 signal processing unit, 12 control unit, 30 radio device, 50 threatening device, 300 small air vehicle.

Claims (3)

A plurality of millimeter wave radars that are arranged around the monitoring area with the sensing direction facing the sky and detect target distance information and received signal strength information,
A timing control unit for controlling the operation timing of each millimeter wave radar;
A signal processing unit for detecting the presence of a small aircraft approaching the monitoring area from the sky based on the distance information acquired by the millimeter wave radar and the information of the received signal strength;
A controller that is connected to the signal processor and controls the operation of a threatening device to emit warning information toward the small aircraft;
The signal processing unit compares the value calculated according to the distance information of the target obtained by the millimeter wave radar and the received signal strength information with a predetermined threshold value to determine whether the target is a small flying object. Identifying whether it is a bird, and specifying that the target is a small aircraft, sends a trigger signal and identification information of the millimeter wave radar that acquired the information of the small aircraft,
When the control unit receives the trigger signal and the identification information, the control unit specifies the presence direction of the target body based on the identification information, and the target body presence direction is a predetermined direction that gives a warning around the monitoring area A flying object detection device characterized by controlling the operation of the threatening device toward the target body to emit warning information. The timing control unit, when receiving the identification information, selectively operates only some of the millimeter wave radars arranged in the vicinity of the direction in which the small aircraft specified based on the identification information exists. The flying object detection device according to claim 1.   3. The flying object detection apparatus according to claim 2, wherein the timing control unit operates the millimeter wave radar by sequentially switching in a time division manner.

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