JP4702117B2 - Pulse radar apparatus and distance measuring method - Google Patents

Description

  The present invention relates to a pulse radar apparatus using a band synthesis process for obtaining a high distance resolution by step chirp transmission and a distance measuring method for measuring a distance to a target.

  It is known that band synthesis processing is generally effective as a high-range resolution processing in a PRF radar apparatus that transmits a pulse signal to a target at a transmission pulse repetition frequency (PRF) (PRF). For example, see Patent Document 1).

Japanese Patent Laid-Open No. 11-231047 (page 5, FIG. 1) JP 2002-214330 A (page 6, FIG. 2)

The advantage of the LPRF radar is that the distance measurement performance is excellent by directly measuring the time delay of the reflected signal. However, there is a problem in that sufficient distance measurement performance cannot be obtained due to erroneous distance measurement of a reflected signal, that is, a so-called secondary echo from a time delay distance exceeding a pulse repetition period (hereinafter referred to as PRI (Pulse Repeat Interval)). was there.
FIG. 10 is an explanatory diagram showing signal waveforms of a conventional LPRF radar apparatus. As shown in FIG. 10, reflection from the surface of the ground or the sea that is not necessary for normal radar, so-called clutter is often received as a secondary echo with high power, and is reflected with a time delay in the PRI. The signal is superimposed on the so-called primary echo, and a primary echo detection error also occurs. For this reason, in the conventional LPRF radar, a staggered PRI that changes the PRI every transmission is applied to identify the secondary echo and eliminate the secondary echo component (see, for example, Patent Document 2). However, since the LPRF radar apparatus using the band synthesis method performs inverse frequency analysis, the PRI must be kept constant during the processing, and there is a problem that a secondary echo is output.

  The present invention has been made to solve such a problem, and uses a band synthesizing process that separates a primary echo and a secondary echo by inverse frequency analysis and outputs only a primary echo that is a reflected signal from a target. An object of the present invention is to provide a pulse radar device.

A pulse radar device according to the present invention includes a timing generator that outputs a transmission pulse modulation signal, a transmission frequency setting signal, a phase modulation signal, a phase demodulation signal, and phase modulation information;
An oscillating unit that outputs a transmission frequency signal and a local signal set to a frequency that is increased or decreased by a predetermined frequency for each pulse repetition period PRI by the transmission frequency setting signal;
A phase modulation unit that phase-modulates the transmission frequency signal with the phase modulation signal and outputs a phase modulation transmission signal; and
A transmitter for pulse-modulating the phase-modulated transmission signal with the transmission pulse-modulated signal and amplifying power and outputting a transmission signal;
The transmission signal is radiated to the space, and a reflected wave including a primary echo that is a true reflected signal reflected from the target and a secondary echo that is reflected from a target other than the target is received and output as a received signal. An antenna unit to
A reception unit that frequency-converts, power-amplifies, and phase-detects the received signal according to the local signal, and outputs an analog phase-modulated video signal;
An A / D converter that converts the analog phase modulation video signal into a digital signal and outputs the digital phase modulation video signal;
A speed detector that detects the moving speed of the target and outputs speed information;
A velocity compensation unit that calculates a Doppler frequency of the secondary echo using the velocity information, removes a Doppler frequency term of the secondary echo included in the digital phase modulation video signal, and outputs a velocity compensated phase modulation video signal When,
A phase demodulator that demodulates the speed compensated phase modulated video signal with the phase demodulated signal and outputs a phase demodulated video signal;
A band synthesizing unit that performs inverse frequency analysis on the phase demodulated video signal and calculates a range profile of the target decomposed by N cells sequentially numbered in the distance direction;
A primary echo selection unit that selects the primary echo using the range profile and the phase modulation information;
The phase-modulated signal alternates between a modulated signal that repeats modulation with a code of 0 degrees and a code of 180 degrees and a non-modulated signal that always modulates with a code of 0 degrees in the double pulse repetition period PRI Is a repeated signal,
The phase demodulated signal is a signal composed of the same code as the phase modulated signal,
The primary echo selector is
For the primary echo, the number of the cell that gives the maximum value of the range profile is the same when the phase modulation signal is a signal with modulation and when there is no modulation,
For the secondary echo, when the phase modulation signal is a modulated signal, the cell number giving the maximum value of the range profile is in the range of N / 2 or more and less than N, and the phase modulation signal is not modulated. In the case of a signal, the primary echo is selected based on the fact that the cell number that gives the maximum value of the range profile is in the range of zero or more and less than N / 2.

  According to the present invention, the pulse radar device can separate the primary echo and the secondary echo by inverse frequency analysis and can output only the original primary echo, thereby obtaining a high resolution for the target. be able to.

Embodiment 1 FIG.
FIG. 1 is a block diagram of an LPRF radar apparatus 100 according to Embodiment 1 of the present invention. The LPRF radar apparatus 100 includes a transmission pulse modulation signal 101, a transmission frequency setting signal 102, a phase modulation signal 103, a phase demodulation signal 104, a timing generation unit 1 that outputs phase modulation information 105, and a transmission frequency setting signal 102, and a pulse repetition period PRI. The oscillation unit 2 outputs a transmission frequency signal 107 and a local signal 106 set to a frequency that increases or decreases by a predetermined frequency every time, and the phase modulation signal 103 is obtained by phase-modulating the transmission frequency signal 107 with the phase modulation signal 103. The phase modulation unit 3 that outputs the signal, the phase modulation transmission signal 108 is pulse-modulated by the transmission pulse modulation signal 101 and the power is amplified and the transmission unit 4 that outputs the transmission signal 109 is radiated to the space. The primary echo component that is the reflected true reflected signal and the target An antenna unit 7 that receives a reflected wave including a secondary echo component that is a reflected signal reflected by something other than the antenna and outputs it as a received signal 110; a transmission / reception switching unit 6 that switches between the transmitted signal 109 and the received signal 110; The signal 110 is frequency-converted, amplified, and phase-detected by a local signal, and the receiving unit 5 outputs an analog phase-modulated video signal 120. The analog phase-modulated video signal 120 is converted into a digital signal and a digital phase-modulated video signal 111 is The A / D converter 8 for output, the speed detector 10 for detecting the moving speed of the target and outputting the speed information 112, the Doppler frequency of the secondary echo component is calculated using the speed information 112, and the digital phase modulation video signal 111 removes the Doppler frequency term of the secondary echo component contained in 111 and outputs a velocity compensated phase modulated video signal 113. The phase compensation unit 9 phase-demodulates the velocity-compensated phase-modulated video signal 113 with the phase-demodulated signal 104 and outputs the phase-demodulated video signal 114, and the phase-demodulated video signal 114 is subjected to inverse frequency analysis and sequentially in the distance direction. The band synthesis unit 12 that calculates the range profile 115 of the target decomposed by the numbered N cells, the memory circuit unit 14 that temporarily stores the range profile 115, the range profile 115, and the phase modulation information 105 are used as the primary. A primary echo selection unit 13 that selects an echo component is provided.

  Next, the operation of the LPRF radar apparatus 100 according to the present invention will be described with reference to FIGS.

  FIG. 2 is a flowchart for explaining the outline of the operation of the LPRF radar apparatus 100. In FIG. 2, first, the antenna unit transmits a transmission signal subjected to phase modulation with a predetermined code to a target that is a target for obtaining target information (distance information) (S101).

  Next, the phase demodulating unit converts the received signal including the primary echo and the secondary echo, which are reflected back from the target and other than the target, to the same code as a predetermined code obtained by performing phase modulation on the transmission signal. (S102). Here, the primary echo refers to a normal received signal reflected by the target and reflected with a time delay in the PRI, and the secondary echo refers to a received signal reflected from a target other than the ground clutter or the like. .

  The phase demodulation unit outputs a video signal whose phase is alternately shifted to 0/180 degrees for each PRI, although the phase applied to the transmission signal returns to the original for the primary echo of the received signal by phase demodulation. (S103).

  Next, the band synthesis unit performs synthesis band processing of the demodulated video signal (S104).

  The band synthesis unit does not move the primary echo detection cell obtained by the synthesis band processing regardless of the presence or absence of phase modulation, and the detection cell of the secondary echo obtained by the synthesis band processing also has phase modulation. Then, a processing result that the distance of half the total number of cells is moved is output (S105).

  The primary echo selection unit of the LPRF radar apparatus 100 selects and outputs only the primary echo based on the result obtained in S105 (S106).

  In this way, the LPRF radar apparatus 100 separates the primary echo and the secondary echo by inverse frequency analysis, and outputs only the primary echo that is the original signal.

Next, details of the operation of the LPRF radar apparatus 100 will be described with reference to FIGS.
First, the timing generation unit 1 sets the frequency of the transmission pulse modulation signal 101 and the transmission frequency for each of the transmission unit 4, the transmission unit 2, the phase modulation unit 3, the phase demodulation unit 11, and the primary echo selection unit 13. Transmission frequency setting signal 102, phase modulation signal 103 that repeatedly performs phase modulation of 0/180 degrees with a period of 2PRI, phase demodulation signal 104 that performs phase demodulation with the same code as phase modulation signal 103, and phase that records the phase modulation value Modulation information 105 is output.

  The oscillating unit 2 that has received the transmission frequency setting signal 102 uses the transmission frequency setting signal 102 to select a local frequency out of the transmission frequency signal 107 and the local signal 106 set to the frequency f that is increased or decreased by the step frequency for each PRI. The signal 106 is output to the reception unit 5, and the transmission frequency signal 107 is output to the phase modulation unit 3.

  The phase modulation unit 3 performs phase modulation at 0 degrees / 180 degrees for each inverse frequency analysis (IFFT) processing frame based on the phase modulation signal Φ103, or performs phase modulation at 0 degrees / 180 degrees. Phase modulation is performed at 0 degrees. The inverse frequency analysis processing frame will be described later. Then, the phase modulation unit 3 outputs the phase modulated transmission signal 108 after the phase modulation to the transmission unit 4.

  Here, when phase modulation is performed on the transmission frequency signal 107, the phase modulation unit 3 performs phase modulation of 0 degree / 180 degrees with a period of 2PRI. In the following description of the first embodiment, performing phase modulation of 0 degree / 180 degrees on the transmission frequency signal 107 in the period of 2 PRI in the phase modulation unit 3 is described as “with modulation”.

  On the other hand, when the phase modulation unit 3 outputs the transmission frequency signal 107 as it is, the phase modulation of 0 degree / 0 degree is performed (hereinafter, the phase modulation unit 3 performs phase modulation of 0 degree / 0 degree). Is described as “no modulation”).

  In the pulse radar, the transmission frequency is set to increase by a constant step frequency ΔF for each PRI.

  The transmission unit 4 performs pulse modulation on the phase modulation transmission signal 108 based on the transmission pulse modulation signal Pmod101. Then, after power amplification, the transmission signal 109 is sent to the transmission / reception switching unit 6.

  Here, the setting of the pulse width of the transmission signal 109 will be described. In general, in the pulse radar, the A / D conversion sampling period Ts is set to be equal to or less than the pulse width of the transmission signal (hereinafter referred to as transmission pulse width Tpw) so that the A / D conversion can be continuously performed. On the other hand, in a radar using band synthesis, in order to avoid ambiguity due to the ambiguity time Tu corresponding to the time width when the band synthesis width is subjected to inverse frequency analysis, the A / D conversion sampling period Ts and the transmission pulse are used. The width Tpw is set to be equal to or less than the ambiguity time Tu. In the following description, it is assumed that the A / D conversion sampling period Ts and the transmission pulse width Tpw are equal to ½ of the ambiguity time Tu, that is, expressed by Expression (1).

  As a result, the transmission pulse modulation signal Pmod101 is also output so that the transmission pulse width Tpw is ½ of the ambiguity time Tu.

The transmission signal 109 sent to the transmission / reception switching unit 6 is radiated to the space through the antenna unit 7. The transmission signal 109 radiated to the space is reflected by a ground clutter such as a target or the sea surface, and the reflected signal is received by the antenna unit 7 as a reception signal 110. The received signal 110 passes through the transmission / reception switching unit 6, the receiving unit 5, and the A / D conversion unit 8, and is sent to the speed compensation unit 9 as a digital phase modulation video signal 111 represented by equations (2) to (5).
Here, the digital phase modulation video signal Vbd111 is expressed by the following equations (2) to (5).

  Vbd1 and Vbd2 are the primary and secondary clutter components of the digital phase modulation video signal, a1 and a2 are the complex amplitudes of the primary echo and the secondary clutter, n is the number of transmissions, j is the imaginary unit, and Tp is the transmission signal. Represents PRI. Further, τ0 is reflected by the radar device from the time of transmission by the radar device and is a remainder obtained by dividing the time delay τ from reception by the radar device by the A / D conversion sampling period Ts (hereinafter referred to as residual delay time), Ψ1, Ψ2 is the phase of the primary echo and secondary clutter by the phase modulation signal Φ. fdt and fdc are the Doppler frequencies of the primary echo and the secondary clutter, respectively, and are proportional to the transmission frequency. However, since the step frequency ΔF is usually smaller than the transmission frequency, it is approximated to the constant value shown in the following equation.

  Here, Vt is the relative speed between the target and the radar, Vc is the relative speed between the clutter and the radar, c is the speed of light, and f0 is the average value of the transmission frequency f in N transmissions.

FIG. 3 is a diagram for explaining the phase shift of the secondary clutter of the LPRF radar apparatus of the present invention. As shown in FIG. 3, since the received signal of the primary echo is reflected and returned in the same PRI, the phase Ψ1 of the primary echo is expressed by the phase modulation signal Φ103 as shown in equation (10). In addition, since the reception signal of the secondary clutter returns within the PRI next to the PRI that transmitted the transmission pulse, the phase Ψ2 of the secondary clutter returning at the Nth timing is transmitted at the (N-1) th time. This is the phase modulation signal Φ, that is, expressed by the equation (11).

Here, PRI can be set by m (arbitrary integer) in equation (17) described later.

  On the other hand, the speed detection unit 10 detects the speed of the target, which is a moving body, using, for example, a radar speedometer, and sends it to the speed compensation unit 9 as speed information 112. The speed compensator 9 calculates the Doppler frequency fdc by the expression (7) based on the speed information 112, and performs the calculation shown by the expression (12) on the digital phase modulation video signal Vbd111. As a result, the term relating to the Doppler frequency fdc in the secondary clutter expressed by the equation (5) can be canceled. Then, the speed compensator 9 sends the calculation result to the phase demodulator 11 as a speed compensated phase modulation video signal 113.

  Here, Vbh represents the velocity compensation phase modulation video signal 113, and Vbh1 and Vbh2 represent the primary echo component and the secondary clutter component of the velocity compensation phase modulation video signal 113, respectively.

Here, the setting of the repetition cycle time Tp which is PRI will be described. In the present invention, the repetition cycle time Tp is set to an integral multiple of the reciprocal of the value obtained by doubling the step frequency ΔF, as shown by the equation (17), based on the equations (1) and (16).

Here, m is an arbitrary integer.

By substituting the repetition cycle time Tp of equation (17) into equation (15), equation (18) is obtained.

In this way, by setting the repetition cycle time Tp as shown in the equation (17), the secondary clutter component Vbh2 of the speed compensation phase modulation video signal is determined by the step frequency ΔF and the remainder delay time τ0.

Next, the speed compensated phase modulated video signal 113 sent to the phase demodulator 11 is demodulated by the phase demodulator 11 with the phase demodulated signal Θ104 having the same phase pattern as the phase modulated signal Φ103. The demodulated speed compensated phase modulation video signal 113 is sent to the band synthesizing unit 12 as a phase demodulation video signal Vb114.

Further, the phase demodulator 11 calculates the phase term P1 of the primary echo and the phase term P2 of the secondary clutter caused by the phase modulation signal Φ103 and the phase demodulation signal Θ104 in the phase demodulated video signal Vb114.

In consideration of the equations (10), (11) and the phase modulation of two phases of 0 degrees / 180 degrees, the phase term P1 of the primary echo and the phase term P2 of the secondary clutter with modulation are respectively It is shown by the equations (19) and (20).

That is, it can be seen that the phase term P1 of the primary echo is always zero, and the phase term P2 of the secondary clutter is switched at 0 degree / 180 degrees for each PRI.

Similarly, the phase term P1 ′ of the primary echo and the phase term P2 ′ of the secondary clutter in the case of no modulation are expressed by the equations (21) and (22), respectively.

It can be seen that, unlike the primary echo phase terms P1 and P2 with the previous modulation, the primary echo and secondary clutter phase terms P1 'and P2' are always zero.

FIG. 4 shows the transmission pulse modulation signal Pmod, the phase modulation signal Φ, the two-phase modulation term ψ1 of the primary echo component Vbd1 of the velocity compensation phase modulation video signal Vbd, and the secondary of the velocity compensation phase modulation video signal Vbd in the case of modulation. FIG. 6 is a diagram showing, on the time axis, a two-phase modulation term Ψ2, a phase demodulated signal Θ, a phase term P1 of a primary echo component of a video signal Vb, and a phase term P2 of a secondary clutter component of a video signal Vb of a clutter component Vbd2.
As shown in FIG. 3, since the received signal returns in PRI, the phase is returned at the same timing as phase modulation signal Φ, but Ψ2 does not return in PRI but returns at the next PRI. Therefore, the timing is shifted by one from the phase modulation signal Φ. Since this phase is demodulated at the same timing as the phase modulation signal Φ, the phase terms P1 of the primary echo after demodulation are all 0 degrees, but the phase terms P2 of the secondary clutter alternately appear as 0 degrees / 180 degrees.

FIG. 5 shows the transmission pulse modulation signal Pmod, the phase modulation signal Φ, the two-phase modulation term Ψ1 of the primary echo component Vbd1 of the velocity compensation phase modulation video signal Vbd, and the secondary of the velocity compensation phase modulation video signal Vbd in the case of no modulation. FIG. 3 is a diagram showing, on the time axis, a two-phase modulation term Ψ 2 of a clutter component Vbd 2, a phase demodulated signal Θ, a phase term P 1 ′ of a primary echo component of a video signal Vb, and a phase term P 2 ′ of a secondary clutter component of a video signal Vb. is there.
As in the case with the modulation shown in FIG. 4, the phase of the secondary clutter is shifted, but since all are modulated at 0 degrees and demodulated at 0 degrees, the phases of P1 and P2 are both 0 degrees.

As described above, the phase modulation unit 3 performs phase modulation of 0 degrees / 180 degrees with a period of 2 PRI when phase modulation is performed on the transmission frequency signal 107 (when modulation is performed) based on the phase modulation signal 103. When the transmission frequency signal 107 is output with the same phase (when there is no modulation), the phase modulation is performed at 0 degrees. The phase demodulator 11 demodulates the signal reflected by the target with the phase demodulated signal Θ104 having the same phase pattern as the phase modulation signal Φ103. Thereby, the phase term P1 of the primary echo is always zero when the phase modulation unit 3 performs phase modulation, and is always zero even when the phase modulation is not performed. On the other hand, the phase term P2 of the secondary clutter is switched at 0 degrees / 180 degrees for each PRI when the phase modulation unit 3 performs phase modulation, and is always zero when no phase modulation is performed.

Next, the phase demodulator outputs the phase demodulated video signal Vb 114 to the band synthesizer 12. Here, N phase-demodulated video signals 114 for each PRI are held, and then inverse frequency analysis is performed. Therefore, the frame width of the inverse frequency analysis processing frame for performing the inverse frequency analysis is a time until N phase demodulated video signals Vb114 are held. The band synthesizing unit 12 sends the result of inverse frequency analysis to the primary echo selection unit 13 as a target range profile B115 expressed by the equations (23) to (28).

Here, B1 is the primary echo component of the range profile with modulation (hereinafter, primary echo range profile with modulation), and B2 is the secondary clutter component of the range profile with modulation (hereinafter, secondary clutter range with modulation). Profile).

Here, B1 ′ is the primary echo component of the range profile without modulation (hereinafter referred to as the primary echo range profile without modulation), and B2 ′ is the secondary clutter component of the range profile without modulation (hereinafter referred to as the secondary without modulation). Clutter range profile).

From Equations (24) and (25), the maximum values of the primary echo range profile B1 with modulation and the secondary clutter range profile B2 with modulation are when the exponential function term in Equations (24) and (25) is zero. Therefore, the cell number k of the range profile is given by the equations (29) and (30), respectively.

Similarly, the maximum values of the primary echo range profile B1 ′ and the secondary clutter range profile B2 ′ are when the exponential function term in the equations (27) and (28) is zero, and the output cell numbers are (31), respectively. It is given by equation (32).

Here, K1 and K1 ′ are cell numbers giving the maximum values of the primary echo range profiles B1 and B1 ′, and K2 and K2 ′ are cell numbers giving the maximum values of the secondary clutter range profiles B2 and B2 ′.

As can be seen from the equations (29) and (30), the cell numbers K1 and K1 ′ that give the maximum values of the primary echo range profile B1 with modulation and the primary echo range profile B1 ′ without modulation are the conventional values. The cell number moves at the Doppler frequency as in the radar apparatus of FIG. However, the cell numbers K2 and K2 ′ that give the maximum values of the secondary clutter range profile B2 with modulation and the secondary clutter range profile B2 ′ without modulation are determined only by the residual delay time.

 Further, as shown in the equation (17), the transmission pulse width Tpw is set to be equal to or less than the reciprocal of the value obtained by doubling the step frequency ΔF, so that the secondary clutter range profile B2 with modulation and the modulation without modulation are set. The range of the cell numbers K2 and K2 ′ giving the maximum value of the secondary clutter range profile B2 ′ is the range shown by the equations (33) and (34) from the equations (27) and (29).

That is, the cell number K2 with modulation is in the range of N / 2 cells or more and less than N. The cell number K2 ′ without modulation is in the range of zero or more and less than N / 2.

As described above, the cell number that gives the maximum value of the secondary clutter range profile appears at N / 2 or more when there is modulation, and appears below N / 2 when there is no modulation. On the other hand, the cell number giving the maximum value of the primary echo range profile does not know where it appears due to the influence of the Doppler frequency, but appears at the same position regardless of whether there is modulation.
In other words, comparing the range profiles with and without modulation, the one that appears at the same position is the primary echo, and the one that appears at the symmetrical position around the cell number N / 2 is the secondary clutter. Can be distinguished.

A method of distinguishing the primary echo and the secondary clutter will be described with reference to FIG. FIG. 6 is a diagram showing the appearance pattern of the primary echo and the secondary clutter when the LPRF radar apparatus according to Embodiment 1 is modulated and not modulated.

When the primary echo and the secondary clutter cannot be separated from the appearance pattern of the primary echo and the secondary clutter shown in FIG. 6 when the modulation is performed (with modulation), the modulation is not performed (no modulation is performed). Thus, the primary echo and the secondary clutter can be separated. Also, when primary modulation and secondary clutter cannot be separated without modulation (no modulation), primary modulation and secondary clutter are separated by applying modulation (with modulation). You can see that

Next, a method for separating the primary echo and the secondary clutter will be described with reference to FIGS. In the present invention, in order to realize the separation of the primary echo and the secondary clutter as described above, for example, pre-discrimination processing as shown in the timing chart of FIG. 7 is performed. FIG. 7 is a diagram for explaining a method of pre-discrimination processing for separating the primary echo and the secondary clutter. FIG. 8 is a diagram for explaining the outline of the primary echo / secondary clutter discrimination method, and FIG. 9 is a flowchart of the primary echo / secondary clutter discrimination method.

In FIG. 7, the transmission unit 4 alternately transmits “with modulation” and “without modulation” for each inverse frequency analysis processing frame, and stores the range profile B115 of the previous processing frame in the memory circuit unit 14. Then, when the range profile B115 of the current processing frame is input to the primary echo selection unit 13, the phase modulation information 105 indicating whether the current processing frame has been modulated is passed from the timing generation unit 1 to the primary echo selection unit. The comparison is made with the range profile of the previous processing frame stored in the memory circuit unit 14 (see FIG. 8).

As shown in FIG. 7, since the transmission unit 4 repeatedly transmits with and without modulation, either the current processing frame or the previous processing frame has a primary echo or a secondary clutter. Separated.

In step S201 of FIG. 9, the primary echo selection unit 13 determines whether the primary echo and the secondary clutter have been separated in the current frame. If separated, the primary echo selector 13 selects the current processing frame as the target detection frame (S202). If not separated, the previous processing frame is selected as the target detection frame (S203).

  Next, it is determined whether or not the selected target detection frame is modulated (S204, S205). Whether or not the selected target detection frame is modulated is obtained from the information on the presence or absence of modulation obtained from the timing generator 1. In S204, when the separated processing frame is modulated, the secondary clutter always appears at N / 2 or higher, so that the one that appears at N / 2 or higher becomes the secondary clutter (S206), N / 2 or lower. It is determined that what has appeared is a primary echo (S207). If the processing frame that can be separated is not modulated, the secondary clutter always appears at N / 2 or lower, so the one that appears below N / 2 is the secondary clutter, and the one that appears above N / 2 is the primary echo. Can be distinguished.

  As described above, the pulse radar device according to the first embodiment of the present invention performs the following processing (processing 1) to (processing 4).

(Processing 1) The transmission signal is transmitted after being subjected to 0/180 degree phase modulation in the 2PRI period, and the reception signal is demodulated with the same code. As a result, the phase modulation of transmission of the primary echo disappears, whereas the secondary clutter is subjected to 0/180 degree phase modulation for each PRI.

(Process 2) The pulse width Tpw of the transmission signal is set to ½ of the ambiguity time Tu, the PRI is set to an integer multiple of Tu / 2, and the transmission signal is subjected to phase modulation of 0/180 degrees in 2 PRI cycles. (With modulation) and the received signal is demodulated with the same code as the transmitted signal. As a result, secondary clutter after IFFT will always appear at N / 2 or higher.

(Process 3) The pulse width Tpw of the transmission signal is set to ½ of the ambiguity time Tu, the PRI is set to an integral multiple of Tu / 2, and the transmission signal is subjected to phase modulation of 0 degrees (no modulation) ) The received signal is demodulated with the same code as the transmitted signal. As a result, secondary clutter after IFFT will always appear below N / 2.

(Processing 4) The modulation and non-modulation are switched for each IFFT processing frame and transmitted, and the range profile obtained from the IFFT processing frame with modulation and the range profile obtained from the IFFT processing frame without modulation are compared. As a result, one side can always select a range profile in which the primary echo and the secondary clutter are separated.

This makes it possible to prevent target detection errors and secondary clutter detections due to secondary clutter, and to obtain a pulse radar device using band synthesis processing that outputs only the primary echo that is the original signal.

1 is a block diagram of an LPRF radar apparatus according to Embodiment 1 of the present invention. It is a flowchart which shows operation | movement of the LPRF radar apparatus which concerns on Embodiment 1 of this invention. It is a figure explaining the phase shift of the secondary clutter of the LPRF radar apparatus which concerns on Embodiment 1 of this invention. It is the figure which showed the mode of the phase modulation / demodulation at the time of the modulation | alteration with the LPRF radar apparatus which concerns on Embodiment 1 of this invention on the time-axis. It is the figure which showed the mode of the phase modulation / demodulation in the case of no modulation of the LPRF radar apparatus which concerns on Embodiment 1 of this invention on the time axis. It is the figure which showed the appearance pattern of the primary echo in the LPRF radar apparatus which concerns on Embodiment 1 of this invention, and the case where there is no modulation, and a secondary clutter. It is a figure explaining the system which implements the discrimination | determination pre-processing of the LPRF radar apparatus which concerns on Embodiment 1 of this invention. It is a figure explaining the outline of the discrimination method of the primary echo of the LPRF radar apparatus which concerns on Embodiment 1 of this invention, and a secondary clutter. It is a flowchart of the discrimination method of the primary echo of the LPRF radar apparatus which concerns on Embodiment 1 of this invention, and a secondary clutter. It is explanatory drawing which shows the signal waveform of the conventional LPRF radar apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Timing generation part, 2 Oscillation part, 3 Transmission part, 4 Reception part, 5 Transmission / reception switching part, 6 Antenna part, 7 A / D conversion part, 8 Band synthesis part, 9 Phase modulation part, 10 Speed compensation part, 11 Speed Detection unit, 12 phase demodulation unit, 13 primary echo selection unit, 14 memory circuit unit, 100 LPRF radar device, 101 transmission pulse modulation signal, 102 transmission frequency setting signal, 103 phase modulation signal, 104 phase demodulation signal, 105 phase modulation information , 106 local signal, 107 transmission frequency signal, 108 phase modulation transmission signal, 109 transmission signal, 110 reception signal, 111 digital phase modulation video signal, 112 speed information, 113 speed compensation phase modulation video signal, 114 phase demodulation video signal, 115 Range profile, 120 analog phase modulated video signal.

Claims (2)

A timing generator for outputting a transmission pulse modulation signal, a transmission frequency setting signal, a phase modulation signal, a phase demodulation signal, and phase modulation information;
An oscillating unit that outputs a transmission frequency signal and a local signal set to a frequency that is increased or decreased by a predetermined frequency for each pulse repetition period PRI by the transmission frequency setting signal;
A phase modulation unit that phase-modulates the transmission frequency signal with the phase modulation signal and outputs a phase modulation transmission signal; and
A transmitter for pulse-modulating the phase-modulated transmission signal with the transmission pulse-modulated signal and amplifying power and outputting a transmission signal;
The transmission signal is radiated to the space, and a reflected wave including a primary echo that is a true reflected signal reflected from the target and a secondary echo that is reflected from a target other than the target is received and output as a received signal. An antenna unit to
A reception unit that frequency-converts, power-amplifies, and phase-detects the received signal according to the local signal, and outputs an analog phase-modulated video signal;
An A / D converter that converts the analog phase modulation video signal into a digital signal and outputs the digital phase modulation video signal;
A speed detector that detects the moving speed of the target and outputs speed information;
A velocity compensation unit that calculates a Doppler frequency of the secondary echo using the velocity information, removes a Doppler frequency term of the secondary echo included in the digital phase modulation video signal, and outputs a velocity compensated phase modulation video signal When,
A phase demodulator that demodulates the speed compensated phase modulated video signal with the phase demodulated signal and outputs a phase demodulated video signal;
A band synthesizing unit that performs inverse frequency analysis on the phase demodulated video signal and calculates a range profile of the target decomposed by N cells sequentially numbered in the distance direction;
A primary echo selection unit that selects the primary echo using the range profile and the phase modulation information;
The phase-modulated signal alternates between a modulated signal that repeats modulation with a code of 0 degrees and a code of 180 degrees and a non-modulated signal that always modulates with a code of 0 degrees in the double pulse repetition period PRI Is a repeated signal,
The phase demodulated signal is a signal composed of the same code as the phase modulated signal,
The primary echo selector is
For the primary echo, the number of the cell that gives the maximum value of the range profile is the same when the phase modulation signal is a signal with modulation and when there is no modulation,
For the secondary echo, when the phase modulation signal is a modulated signal, the cell number giving the maximum value of the range profile is in the range of N / 2 or more and less than N, and the phase modulation signal is not modulated. In the case of a signal, the pulse radar apparatus selects the primary echo based on the fact that the cell number giving the maximum value of the range profile is in a range of zero or more and less than N / 2. Modulation with transmission pulse modulation signal, transmission frequency setting signal, modulation with 0 degree code and 180 degree code in the period of double pulse repetition period PRI, and modulation that always repeats modulation with 0 degree code Outputting a phase modulation signal in which no signal is alternately repeated, a phase demodulation signal composed of the same code as the phase modulation signal, and phase modulation information;
Outputting a transmission frequency signal and a local signal set to a frequency that is increased or decreased by a predetermined frequency for each pulse repetition period PRI by the transmission frequency setting signal;
Phase-modulating the transmission frequency signal with the phase-modulated signal and outputting a phase-modulated transmission signal;
A step of pulse-modulating the phase-modulated transmission signal with the transmission pulse modulation signal and power amplification to output a transmission signal;
The transmission signal is radiated to the space, and a reflected wave including a primary echo that is a true reflected signal reflected from the target and a secondary echo that is reflected from a target other than the target is received and output as a received signal. And steps to
The received signal is subjected to frequency conversion, power amplification, phase detection by the local signal, and output as an analog phase modulation video signal;
Converting the analog phase modulation video signal into a digital signal and outputting the digital phase modulation video signal;
Detecting the moving speed of the target and outputting speed information;
Calculating a Doppler frequency of the secondary echo using the velocity information, removing a Doppler frequency term of the secondary echo included in the digital phase modulation video signal, and outputting a velocity compensated phase modulation video signal;
Phase-demodulating the speed-compensated phase-modulated video signal with the phase-demodulated signal and outputting a phase-demodulated video signal;
Inverse frequency analysis of the phase demodulated video signal to calculate a range profile of the target decomposed by N cells numbered sequentially in the distance direction;
For the primary echo, the number of the cell that gives the maximum value of the range profile is the same when the phase-modulated signal is a modulated signal and a non-modulated signal, and for the secondary echo, the phase number When the modulation signal is a signal with modulation, the cell number giving the maximum value of the range profile is in the range of N / 2 or more and less than N, and when the phase modulation signal is no modulation signal, A distance measuring method for measuring a distance to the target, comprising: selecting the primary echo based on the number of the cell giving the maximum value being in a range of zero or more and less than N / 2.

Images