JP5206738B2 - Radar apparatus, antenna control method, and program - Google Patents

Description

  The present invention relates to a radar apparatus and the like, and more particularly to a radar apparatus that performs monitoring control using a movable phased array antenna, an antenna control method, and a program that causes a computer to execute the method.

  It is desirable that the radar apparatus has a performance capable of tracking a small target at a long distance with high resolution. In order to satisfy such performance, a plurality of phased array antennas are combined, and the optimum radiation aperture plane is selected from the position information of each phased array antenna and the data of the radiation beam directing direction, whereby a single phased array antenna is selected. A technique of a radar apparatus in which an antenna having a larger aperture surface is equivalently formed is known (for example, see Patent Document 1). According to this technique, the aperture surface of the phased array antenna can be equivalently enlarged, so that a small target at a longer distance can be tracked with high azimuth resolution. However, in the radar apparatus combining a plurality of phased array antennas, when any of the phased array antennas of the plurality of phased array antennas loses its function, the beam scanning range monitoring function shared by that phased array antenna is lost. There was a problem of doing.

  Further, Patent Document 2 discloses a technique of a radar apparatus in which a mechanism that bends to one phased array antenna is provided to form a plurality of radiation surfaces. According to Patent Document 2, a drive control unit that arbitrarily sets the angle of each radiation surface is provided, and a desired scan beam can be formed based on each angle of the radiation surface. However, the radar apparatus described in Patent Document 2 can dynamically change the scanning range of the beam. However, when the antenna of any of the plurality of radiation surfaces loses its function, the radiation surface There is a problem in that the monitoring function of the beam scanning range that has been shared by is lost.

  Here, as a countermeasure method when one of the phased array antennas loses its function among the radar devices having a plurality of phased array antennas, the direction of the antenna aperture and the beam scanning range of the remaining phased array antennas are changed. Thus, a method of covering the scanning range of the phased array antenna that has lost its function can be considered.

Below, the specific example of the said method is demonstrated.
The radar apparatus includes four phased array antennas.
In the first phased array antenna, when the north direction is set to 0 °, the antenna opening faces the 0 ° direction, and a range of ± 45 ° of the direction of the antenna opening is set as a beam scanning range. Thereby, the first phased array antenna scans a range of −45 ° (315 °) to 45 °.
In the second phased array antenna, the antenna aperture is directed to the 90 ° direction, and the range of ± 45 ° of the orientation of the antenna aperture is set as the beam scanning range. Thereby, the second phased array antenna scans a range of 45 ° to 135 °.
In the third phased array antenna, the antenna aperture is oriented in the 180 ° direction, and the range of ± 45 ° of the orientation of the antenna aperture is set as the beam scanning range. Thereby, the third phased array antenna scans 135 ° to 225 °.
In the fourth phased array antenna, the antenna aperture faces the 270 ° direction, and a range of ± 45 ° of the azimuth of the antenna aperture is a beam scanning range. Accordingly, the fourth phased array antenna scans from 225 ° to 315 ° (−45 °).

Here, when the third phased array antenna loses its function, the radar apparatus controls each phased array antenna as shown below.
1. The scanning range of the first phased array antenna is set to a range of ± 60 ° of the direction of the antenna opening. As a result, the first phased array antenna scans a range of −60 ° (300 °) to 60 °.
2. The antenna opening of the second phased array antenna is oriented in the 120 ° direction, and the scanning range is a range of ± 60 ° of the direction of the antenna opening. As a result, the second phased array antenna scans a range of 60 ° to 180 °.
3. The antenna opening of the fourth phased array antenna is oriented in the 240 ° direction, and the scanning range is a range of ± 60 ° of the direction of the antenna opening. Accordingly, the fourth phased array antenna scans a range of 180 ° to 300 ° (−60 °).
By performing such processing, the radar apparatus can continuously scan the same range even when one phased array antenna loses its function.

Japanese Patent Laid-Open No. 2005-181203 JP 2007-178332 A

In the case of performing processing when the function of one phased array antenna described above is lost, a method of changing the direction of the antenna opening after changing the scanning range, and a method of changing the scanning range after changing the direction of the antenna opening Can be considered.
However, when changing the direction of the antenna aperture after changing the scanning range, the scanning range overlaps between the phased array antennas until the radar apparatus completes the operation of changing the direction of the antenna aperture. For this reason, excessive energy irradiation is performed on portions where the scanning ranges overlap, and power consumption is unnecessarily increased.

  On the other hand, when the scanning range is changed after changing the azimuth of the antenna aperture, an unscanned range occurs between the phased array antennas until the radar apparatus completes the operation of changing the azimuth of the antenna aperture. Therefore, there is a possibility that the target tracked before the change of the direction of the antenna opening may be lost.

  The present invention has been made to solve the above-described problem, and is a radar apparatus including a plurality of phased array antennas installed in different directions, and at least one of the plurality of phased array antennas. A selection unit that selects a phased array antenna and a beam scanning range of a non-selected antenna that is a phased array antenna other than the phased array antenna selected by the selection unit, the beam scanning range of the non-selected antenna being combined A scanning range calculation unit that calculates a scanning range of the beam of the non-selected antenna so that the predetermined range is completely covered and the scanning range of the beam of the non-selected antenna does not overlap, and the non-selected antenna Each of these covers the scanning range of the beam calculated by the scanning range calculation unit. An azimuth calculating unit for calculating the azimuth of each antenna opening of the non-selected antenna, and the antenna opening of the non-selected antenna facing the same azimuth as the antenna opening calculated by the azimuth calculating unit. A drive unit for driving the non-selected antenna, and a non-scanned range generated by driving the non-selected antenna while the drive unit drives the non-selected antenna, and between the non-selected antennas And a scanning range control unit that sequentially changes the scanning range of each beam of the non-selected antenna so that the scanning ranges of the beams do not overlap.

  The present invention is also an antenna control method for a radar apparatus including a plurality of phased array antennas installed in different directions, wherein the selection unit includes at least one phased array antenna from among the plurality of phased array antennas. And the scanning range calculation unit combines the beam scanning range of the non-selected antenna, which is a beam scanning range of a non-selected antenna that is a phased array antenna other than the phased array antenna selected by the selection unit. The scanning range of the beam of the non-selected antenna is calculated so that the predetermined range is completely covered and the scanning range of the beam of the non-selected antennas does not overlap, and the azimuth calculating unit includes the non-selected antenna. Each covers the scanning range of the beam calculated by the scanning range calculation unit. The driving unit calculates the azimuth of each antenna opening of the non-selected antenna so that the antenna opening of the non-selected antenna faces the same azimuth as the antenna opening calculated by the azimuth calculating unit. The non-selected antenna is driven, and the scanning range control unit covers a non-scanned range generated by driving the non-selected antenna while the driving unit drives the non-selected antenna, and the non-selected antenna The scanning range of each beam of the non-selected antenna is sequentially changed so that the scanning ranges of the beams do not overlap each other.

  According to another aspect of the present invention, there is provided a radar apparatus including a plurality of phased array antennas installed in different directions, a selection unit that selects at least one phased array antenna from the plurality of phased array antennas, and the selection unit includes: A scanning range of a beam of a non-selected antenna that is a phased array antenna other than the selected phased array antenna, and covers a predetermined range by combining the scanning range of the beam of the non-selected antenna, and the non-selected antenna A scanning range calculation unit that calculates the scanning range of the beam of the non-selected antenna so that the scanning ranges of the beams of the selected antennas do not overlap each other, and a scanning range of the beam that each of the non-selected antennas calculates by the scanning range calculation unit Each of the unselected antennas when covering An azimuth calculating unit that calculates the azimuth of the aperture, a drive unit that drives the non-selected antenna so that the antenna aperture of the non-selected antenna faces the same azimuth as the antenna aperture calculated by the azimuth calculating unit, While the drive unit is driving the non-selected antenna, the non-selected area is covered by the non-selected antenna so as not to be scanned and the scanning range of the beams of the non-selected antennas does not overlap. This is a program for functioning as a scanning range control unit that sequentially changes the scanning range of each beam of the antenna.

  According to the present invention, the scanning range control unit covers the non-scanned range generated by driving the non-selected antenna while driving the non-selected antenna, and the scanning ranges of the beams of the non-selected antennas do not overlap. As described above, the scanning range of each beam of the non-selected antenna is sequentially changed. Thereby, when performing the operation of changing the direction of the antenna opening, tracking can be continued while suppressing power consumption.

It is a block diagram of the radar apparatus of 1st Embodiment which has N antenna parts. It is a flowchart which shows the operation | movement which changes the direction of the antenna opening of an antenna part. It is a figure which shows the example of the azimuth | direction of the antenna opening of an antenna part, and the scanning range of a beam. It is a figure which shows an example of the setting azimuth | direction and beam scanning range when a specific azimuth | direction is designated. It is a figure which shows an example of the setting azimuth | direction and beam scanning range when the antenna part which lost the function is designated. It is a figure which shows the correction method of the range which is not scanned generated by the drive of a non-selection antenna.

Hereinafter, an embodiment of a radar apparatus according to the present invention will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram of a radar apparatus according to a first embodiment having N antenna units. As shown in FIG. 1, the radar apparatus includes an antenna unit 1-1 to 1-n (hereinafter, the antenna units 1-1 to 1-n are collectively referred to as an antenna unit 1), and an antenna driver 2. -1 to 2-n (driving unit: hereinafter, when the antenna driving units 2-1 to 2-n are collectively referred to as the antenna driving unit 2), the direction of each antenna opening of the antenna unit 1 is detected. Azimuth detectors 3-1 to 3-n (hereinafter, the azimuth detectors 3-1 to 3-n are collectively referred to as an azimuth detector 3), a sector switching unit 4, a transmission / reception switching unit 5, and a receiving unit. 6, signal processing unit 7, data processing unit 8, display / operation unit 9 (selection unit), target scanning range calculation unit 10 (scanning range calculation unit), antenna drive control unit 11 (azimuth calculation unit), beam control unit 12 (Scanning range control unit), a transmission unit 13, and a beam scanning range calculator 14.

The antenna unit 1 has a phased array antenna, and scans a range determined by the beam control unit 12 with a beam.
The antenna drive unit 2 mechanically changes the direction of each antenna opening of the antenna unit 1 based on the control data generated by the antenna drive control unit 11.
The azimuth detector 3 detects the azimuth of each antenna opening of the antenna unit 1, and outputs azimuth data indicating the detected azimuth to the beam scanning range calculator 14.
The sector switching unit 4 performs switching so that an RF (Radio Frequency) signal of a predetermined antenna unit 1 can be input and output.
The transmission / reception switch 5 switches transmission / reception of the signal system.

The receiving unit 6 receives the received RF signal from the transmission / reception switch 5, converts it into an IF (Intermediate Frequency) signal, and outputs it to the signal processing unit 7.
The signal processing unit 7 performs target detection processing on the IF signal input from the receiving unit 6.
The data processing unit 8 performs detection target tracking processing based on the target detection processing result by the signal processing unit 7.
The display / operation unit 9 displays the detection target tracking status by the data processing unit 8. In addition, the display / operation unit 9 receives an input of a centralized monitoring instruction of a detection target by the antenna unit 1 or information on the antenna unit 1 that has lost its function from the operator.
The target scanning range calculation unit 10 calculates the beam scanning range of the non-selected antenna unit 1 ′ that is the antenna unit 1 other than the antenna unit 1 that the display / operation unit 9 has received the input. Specifically, the target scanning range calculation unit 10 covers the entire azimuth by combining the scanning range of the beam of the non-selected aerial part 1 ′, and the scanning range of the beam between the non-selected aerial part 1 ′ A beam scanning range that does not overlap is calculated.
The antenna drive control unit 11 calculates each set orientation of the antenna unit 1 to generate control data for controlling the antenna drive unit 2 and outputs the control data to the antenna drive unit 2.
The beam control unit 12 generates control data for forming a search beam that constantly scans the entire azimuth based on the beam scanning range calculated by the beam scanning range calculator 14.
The transmission unit 13 transmits the control data generated by the beam control unit 12 to the transmission / reception switch 5.
The beam scanning range calculator 14 calculates the beam scanning range during driving of the antenna unit 1 based on the direction detected by the direction detector 3.

  That is, the radar apparatus shown in FIG. 1 connects an antenna unit 1 composed of an N-plane phased array antenna and a sector switching unit 4, and the sector switching unit 4 performs input / output of transmission / reception RF signals. Switch appropriately. The sector switching unit 4 is connected to the transmission / reception switching unit 5 to transmit the received RF signal to the receiving unit 6. Further, the transmission / reception switch 5 receives the transmission RF signal from the transmission unit 13 and transmits it to the sector switching unit 4.

  The received RF signal input from the transmission / reception switch 5 to the reception unit 6 is converted into a reception IF signal, and then the signal processing unit 7 performs target detection, and the data processing unit 8 tracks the detection target. Do. Then, the tracking status of the detection target is displayed on the screen of the display / operation unit 9, and the operator visually recognizes the tracking status of the detection target. Further, the result of the tracking process by the data processing unit 8 is transmitted to the beam control unit 12, and control data for forming a tracking beam to be irradiated to the tracking target is generated. Further, the beam control unit 12 also generates control data for forming a search beam that constantly scans the entire azimuth. These control data are transmitted by the route of the transmission unit 13 → transmission / reception switch 5 → sector switching unit 4 → antenna unit 1.

  Further, the transmission unit 13 generates a transmission RF signal based on the control data generated by the beam control unit 12 and transmits the transmission RF signal to the transmission / reception switch 5, and the sector switching unit 4 further performs RF transmission of a predetermined antenna unit. Switching is performed so that the signal can be input to and output from the antenna unit 1. In the antenna unit 1, each phased array antenna forms a beam in a predetermined direction.

  Further, the operator visually recognizes the tracking state of the target on the display / operation unit 9 and manually inputs the specific orientation that is determined to be particularly important to be monitored from the display / operation unit 9. As a result, data of a specific direction is transmitted from the display / operation unit 9 to the target scanning range calculation unit 10. Here, the target scanning range calculation unit 10 generates a beam from each antenna unit 1 so that the size of the aperture of the phased array antenna and the number of antenna elements used for forming a beam in that direction are increased according to data in a specific direction. The scanning range is calculated. The scanning range calculated here is represented by an angle based on a certain direction (for example, the north direction). Then, the target scanning range calculation unit 10 transmits data indicating the calculated scanning range to the antenna drive control unit 11.

  Further, the operator manually inputs the data of the aerial part whose function is lost from the display / operation part 9. As a result, the data of the antenna portion whose function has been lost is transmitted from the display / operation unit 9 to the target scanning range calculation unit 10. Then, the target scanning range calculation unit 10 can change the monitoring direction range shared by the antenna unit 1 according to the contents of the data of the antenna unit 1 whose function has been lost. The scanning range of the beam by the antenna unit 1 is calculated. Then, the target scanning range calculation unit 10 transmits target scanning range data indicating the calculated scanning range to the antenna drive control unit 11.

  Here, the antenna drive control unit 11 calculates the direction of each antenna opening of the antenna unit 1 when covering the scanning range indicated by the data, and generates direction control data according to the target scanning range data. Then, the azimuth control data generated by the antenna drive control unit 11 is transmitted to the antenna drive unit 2 and mechanically driven so that each antenna unit 1 is set to a predetermined azimuth.

  While the antenna drive control unit 11 transmits the azimuth control data to drive the antenna unit 1, the beam scanning range calculator 14 determines the azimuth of the current antenna opening of the antenna unit 1 from the azimuth detector 3. The azimuth data shown is sequentially input, and the scanning range of the beam by each antenna unit 1 is dynamically calculated using the azimuth data. Then, the scanning range control data indicating the scanning range calculated by the beam scanning range calculator 14 is transmitted to the beam control unit 12, and the beam forming is performed so that the scanning range of the beam of each antenna unit 1 becomes a predetermined range. I do.

  Next, the operation of the radar apparatus of the first embodiment will be described in detail along the signal flow. The received RF signal received by the antenna unit 1 composed of an N-plane phased array antenna is transmitted to the transmission / reception switch 5 via the sector switching unit 4. At this time, the sector switching unit 4 selectively switches which antenna unit receives the received RF signal according to the control signal from the beam control unit 12. The transmission / reception switch 5 transmits the reception RF signal input from the sector switching unit 4 to the reception unit 6. The receiving unit 6 converts the received RF signal into an IF signal and transmits the IF signal to the signal processing unit 7.

  Further, the signal processing unit 7 performs target detection processing for extracting a signal corresponding to the target, and transmits target detection data such as target detection time and position information to the data processing unit 8. Accordingly, the data processing unit 8 estimates the target position, speed, and course at the current time, and predicts the target position, speed, and course at a future time based on the target detection data. Then, the data processing unit 8 transmits the estimated target position, speed, and course data to the display / operation unit 9, and the display / operation unit 9 displays the target position, speed, course data, etc. on the display screen. Is displayed and made visible to the operator.

  Further, the target position data at the future time obtained by the data processing unit 8 is transmitted to the beam control unit 12, and the beam control unit 12 controls the tracking beam that irradiates the target position with the beam when the time comes. Is generated. In addition to the tracking beam, the beam control unit 12 also generates search beam control data for constantly scanning the entire circumference of the azimuth. The control data generated by the beam control unit 12 is transmitted through the route of the transmission unit 13 → the transmission / reception switch 5 → the sector switching unit 4 → the antenna unit 1.

  At this time, the transmission unit 13 generates a transmission RF signal at a predetermined timing specified by the control data, and transmits this transmission RF signal to the sector switching unit 4 via the transmission / reception switch 5. Based on the control data from the beam control unit 12, the sector switching unit 4 switches the transmission destination of the transmission RF signal to the necessary antenna unit 1 among the antenna units 1 so as to form a beam in a predetermined direction. In the antenna unit 1, the phased array antenna of the predetermined antenna unit 1 forms a transmission beam based on the input RF transmission signal and the control data from the beam control unit 12.

  On the other hand, the operator grasps the situation from the data such as the target position, speed, traveling direction, and type displayed on the display / operation unit 9, and when it is judged necessary, to perform the monitoring intensively. The specific orientation is manually designated from the display / operation unit 9. The data of the specific orientation designated at this time is transmitted from the display / operation unit 9 to the target scanning range calculation unit 10. Thereby, the target scanning range calculation unit 10 calculates the scanning range of the beam of each antenna unit 1 so that the size of the aperture of the phased array antenna and the number of antenna elements used for beam formation in a specific direction are increased. Next, the antenna drive control unit 11 transmits target scan range data indicating the calculated scan range to the antenna drive control unit 11. Accordingly, the antenna drive control unit 11 calculates the direction of each antenna opening of the antenna unit 1 when covering the scanning range indicated by the data, according to the target scanning range data. Usually, one aerial part 1 forms a beam, but a plurality of aerial parts are simultaneously used for a specific orientation.

  Here, if the direction setting angle of the aerial part is changed so as to form a beam of a specific direction in a plurality of aerial parts, when forming a search beam that scans the entire circumference, the normal direction of the antenna aperture It is necessary to greatly tilt the beam forming direction to either the left or right. As a result, the antenna aperture viewed from the beam forming direction is effectively reduced, which may cause a decrease in target detection performance. Further, since the half width of the beam is increased, the azimuth resolution performance is also degraded. In order to reduce such an adverse effect, not only the azimuth setting angle of the antenna portion that forms the beam in a specific azimuth but also the azimuth setting angle of the antenna portion that forms the beam in other regions is changed.

  Further, the operator manually inputs the data of the aerial part that has lost the function from the display / operation part 9. As a result, the data of the antenna portion that has lost its function is transmitted from the display / operation unit 9 to the target scanning range calculation unit 10. Here, if the function of the antenna portion is lost, beam scanning in the azimuth range that the antenna portion has shared becomes impossible. For this reason, the target scanning range calculation unit 10 determines the beam of each antenna unit 1 so that the beam scanning range shared by the antenna unit can be complemented by other antenna units according to the information of the antenna unit that has lost its function. And the target scanning range data is generated. The target scanning range data is transmitted to the antenna drive control unit 11, and the antenna drive control unit 11 responds to the target scanning range data with each antenna of the antenna unit 1 when covering the scanning range indicated by the data. The direction of the opening is calculated and direction control data is generated. Then, the set azimuth angle of each antenna unit calculated by the antenna drive control unit 11 is transmitted to the antenna driver 2 and mechanically driven so that the antenna unit 1 is set to a designated direction.

  When the antenna drive unit 2 drives the antenna unit 1, the direction detector 3 transmits the direction data indicating the direction of the antenna opening of each antenna unit 1 to the beam scanning range calculator 14. The beam scanning range calculator 14 receives the azimuth data from the azimuth detector 3 and dynamically calculates the scanning range of the beam by each antenna unit 1 using the azimuth data, and the scanning range indicating the scanning range. Generate control data. Then, the scanning range control data is transmitted to the beam control unit 12, and the beam control unit 12 generates control data for performing beam formation so that the scanning range of the beam of each antenna unit 1 becomes a predetermined range. Then, the control data is transmitted to the antenna unit 1.

  As described above, the radar apparatus of the present invention is provided with the antenna drive unit 2 for mechanically changing the direction of the antenna unit 1 having the phased array antenna, and further calculates the set direction of the antenna unit 1. Thus, an antenna drive control unit 11 for generating control data for controlling the antenna driver 2 is provided. As a result, the number of antenna elements of the phased array antenna for forming a beam in a specific direction designated by the operator from the display / operation unit 9 is increased, and the horizontal antenna aperture is equivalently increased. The antenna drive control unit 11 determines the setting direction of the antenna opening of each antenna unit 1 and generates corresponding direction control data.

  In addition, the operator can specify the aerial part that has lost the function from the display / operation part 9 so that the monitoring direction range shared by the aerial part that has lost the function can be complemented by other aerial parts. The drive control unit 11 determines the setting direction of the antenna opening of each antenna unit, and generates corresponding direction control data. Then, the direction control data is transmitted to the antenna drive unit 2, and the antenna drive unit 2 mechanically sets the direction of each antenna unit 1 according to the direction control data. As a result, it is possible to improve the detection performance and orientation resolution performance of a target in a specific orientation, and even if at least one of a plurality of phased array antennas loses its function, the orientation range shared by the phased array antenna Monitoring function can be maintained, and it is possible to always scan all around the azimuth.

Next, the operation when changing the direction of the antenna opening of the antenna unit 1 will be specifically described.
FIG. 2 is a flowchart showing an operation of changing the direction of the antenna opening of the antenna portion.
First, the display / operation unit 9 receives a plurality of antennas when receiving a designation of a specific direction for intensive monitoring from an operator, or when receiving data of the antenna unit 1 that has lost its function. One or a plurality of antenna units 1 are selected from the units 1 as the antenna unit 1 to be excluded from the configuration for the entire circumference scanning (step S1). Specifically, when the input of the data of the antenna unit 1 that has lost its function is received, the display / operation unit 9 selects the antenna unit 1 indicated by the input data. On the other hand, when designation of a specific azimuth is received, the display / operation unit 9 selects the antenna unit 1 that sets the specific azimuth within the beam scanning range.

  Next, the target scanning range calculation unit 10 calculates the beam scanning range of the plurality of non-selected aerial units 1 ′ that are the aerial units 1 that are not selected by the display / operation unit 9 (step S2). For example, it is conceivable that an angle obtained by dividing 360 °, which is the entire circumference of the azimuth, by the number of non-selected aerial parts 1 ′ is used as the scanning range of each non-selected aerial part 1 ′. Specifically, when there are four non-selection antenna parts 1 ′, the target scanning range calculation unit 10 calculates the range of 90 ° obtained by calculating 360 ÷ 4 (that is, ± 45 ° in the direction of the antenna opening). Is determined as the scanning range of each of the non-selected antenna portions 1 ′. As a result, the scanning range calculated by the target scanning range calculation unit 10 covers the entire azimuth by combining the scanning range of the beam of the non-selected aerial part 1 ′, and the beam of the non-selected aerial part 1 ′ The scanning range does not overlap.

When the target scanning range calculation unit 10 calculates the beam scanning range of the non-selected antenna unit 1 ′, target scanning range data indicating the scanning range of each non-selected antenna unit 1 ′ is generated and output to the antenna drive control unit 11. . Next, the antenna drive control unit 11 determines whether the data received by the display / operation unit 9 is data designating a specific direction or data of the antenna unit 1 that has lost its function (step). S3).
When the data received by the display / operation unit 9 is data specifying a specific direction (step S3: specific direction), the antenna drive control unit 11 sets the antenna unit 1 selected by the display / operation unit 9. The direction is determined to be the same direction as the specific direction (step S4). In addition, the antenna drive control unit 11 determines the setting direction of the plurality of non-selected antenna units 1 ′ having the smallest angle between the direction of the antenna opening and the specific direction as the same direction as the specific direction (step) S5). Thereby, it is possible to increase the number of antenna openings and the number of antenna elements used for forming a beam directed to a specific direction.
Next, the antenna drive control unit 11 has the smallest difference between the setting direction of the non-selected antenna unit 1 ′ other than the non-selected antenna unit 1 ′ whose setting direction has been determined in step S5 and the direction of the current antenna opening, When the scanning range of the beam is changed to the scanning range indicated by the target scanning range data, the scanning range is determined to have an orientation that does not overlap with the scanning range of the beam of the other non-selected antenna part 1 ′ (step S6).

Here, an operation when a specific direction is designated by the operator because it is determined that the target focus monitoring is necessary will be described using a specific example.
FIG. 3 is a diagram showing an example of the antenna aperture azimuth and beam scanning range of the antenna portion.
Here, the operation of the radar apparatus when the number of antenna units 1 is four will be described.
When the display / operation unit 9 loses the function of the antenna unit 1 and there is no input of a specific direction, that is, in the initial state, the antenna aperture direction of the antenna unit 1 and the beam scanning range are as shown in FIG. FIG. 3 shows the arrangement and beam scanning range of each phased array antenna when the four-phase phased array antenna is looked down from above. In FIG. 2, the antenna unit 1-1 to the antenna unit 1-4 change the direction of the antenna unit 1 by rotating the antenna driver units 2-1 to 2-4 around the center of each phased array antenna. Let

  Here, in order to simplify the description, the direction of the antenna opening of the antenna unit 1-1 is defined as 0 °, and the value increases clockwise. When there is no designation | designated of a specific azimuth | direction, as shown in FIG. 2, the azimuth | direction setting angles of the antenna parts 1-1 to 1-4 are set to 0 degree, 90 degrees, 180 degrees, and 270 degrees, respectively. In addition, each aerial unit 1 sets a range of ± 45 ° of the azimuth of the antenna opening as a beam scanning range. Thereby, the aerial part 1-1 scans the range of −45 ° (315 °) to 45 °, the aerial part 1-2 scans the range of 45 ° to 135 °, and the aerial part 1-3 is 135 to 225 ° is scanned, and the aerial portion 1-4 scans from 225 to 315 ° (−45 °).

  Here, when the specific azimuth 45 ° is designated, the aerial part 1-1 that scans 45 ° is used for scanning in the specific direction. Select. Thereby, the antenna parts 1-2 to 1-4 become the non-selected antenna parts 1 '.

Next, the target scanning range calculation unit 10 determines that the range of 120 ° obtained by dividing the surrounding front circumference by 3 is the aerial unit 1 because the number of the non-selected aerial units 1 ′ is 3 in step S2. It is decided to scan each of −2 to 1-4. Next, the antenna drive control unit 11 determines the set direction of the antenna unit 1-1 selected by the display / operation unit 9 to be a specific direction of 45 ° in step S4.
Next, the antenna drive control unit 11 specifies the non-selected antenna unit 1 ′ that minimizes the angle formed by the direction of the antenna opening and the specific direction.

Referring to FIG. 3, the antenna opening azimuth of the antenna unit 1-2 is 90 °, and the angle formed with the specific azimuth is 45 °. The antenna opening direction of the antenna unit 1-3 is 180 °, and the angle formed with the specific direction is 135 °. The antenna opening direction of the antenna unit 1-4 is 270 °, and the angle formed with the specific direction is 225 °.
Therefore, the antenna drive control unit 11 specifies that the non-selected antenna unit 1 ′ that minimizes the angle formed by the direction of the antenna opening and the specific direction is the antenna unit 1-2. Therefore, the antenna drive control unit 11 determines the setting direction of the antenna unit 1-2 to be a specific direction of 45 ° in step S5. Thereby, since the setting azimuth | direction of the aerial part 1-2 is 45 degrees, the beam scanning range of the aerial part 1-2 becomes -15 degrees (345 degrees)-105 degrees.

  Next, the antenna drive control unit 11 determines the set orientations of the remaining antenna units 1-3 and 1-4 so as not to overlap with the beam scanning range of the antenna unit 1-2 in step S6. Since the beam scanning range of the aerial part 1-2 is −15 ° (345 °) to 105 °, the remaining aerial parts 1-3 and 1-4 have a range of 105 ° to 225 ° and 225 ° to 345. It is necessary to scan a range of °. To scan the range of 105 ° to 225 °, the antenna aperture needs to be directed to 165 °, and to scan the range of 225 ° to 345 °, the antenna aperture needs to be directed to 285 °. Therefore, the antenna drive control unit 11 determines the setting direction of the antenna unit 1-3 to be 165 ° so that the difference from the current antenna aperture direction becomes the smallest, and sets the setting direction of the antenna unit 1-4 as Determined at 285 °.

FIG. 4 is a diagram illustrating an example of a setting direction and a beam scanning range when a specific direction is designated.
As shown in FIG. 4, the antenna openings used for beam formation and the number of antenna elements can be increased by orienting the antenna openings of the antenna unit 1-1 and the antenna unit 1-2 in a specific direction. Further, by changing the azimuth setting angles of the aerial sections 1-3, 1-4, it is possible to scan all around the azimuth.

  On the other hand, when the data received by the display / operation unit 9 in step S3 is the data of the antenna unit 1 that has lost its function (step S3: loss of function), the antenna drive control unit 11 uses each unselected antenna. When the setting azimuth of the unit 1 ′ is the smallest difference from the azimuth of the current antenna aperture and the beam scanning range is changed to the scanning range indicated by the target scanning range data, the scanning range becomes another non-selected antenna. The orientation is determined so as not to overlap with the beam scanning range of the section 1 ′ (step S7).

Here, since the antenna unit 1-1 has lost its function, the operation when the operator receives data input of the antenna unit 1-1 will be described using a specific example. In addition, the initial state of arrangement | positioning of the antenna part 1 shall be the state shown in FIG.
When the data of the antenna unit 1-1 that has lost its function is input, the display / selection unit 9 selects the antenna unit 1-1 indicated by the input data in step S1. Thereby, the antenna parts 1-2 to 1-4 become the non-selected antenna parts 1 '.

  Next, the target scanning range calculation unit 10 determines that the range of 120 ° obtained by dividing the surrounding front circumference by 3 is the aerial unit 1 because the number of the non-selected aerial units 1 ′ is 3 in step S2. It is decided to scan each of −2 to 1-4.

  Next, in step S7, the antenna drive control unit 11 determines the set orientation of the non-selected antenna unit 1 ′ so that the beam scanning ranges of the non-selected antenna units 1 ′ do not overlap. Here, since the range scanned by each non-selected antenna part 1 ′ is 120 °, the difference in the direction of each antenna aperture needs to be 120 °. Therefore, the setting direction of the antenna unit 1-2 is determined to be 60 °, and the setting direction of the antenna unit 1-3 is determined to be 180 ° so that the difference from the current antenna aperture direction is minimized. The setting azimuth | direction of the part 1-4 is determined to 300 degrees.

FIG. 5 is a diagram illustrating an example of a setting direction and a beam scanning range when an aerial part that has lost its function is designated.
As shown in FIG. 5, by changing the azimuth setting angles of the aerial portions 1-2 to 1-4, it is possible to scan all around the azimuth.

  When the set direction of the non-selected antenna unit 1 ′ is determined in step S6 or step S7, the antenna drive control unit 11 generates control data indicating the set direction and transmits it to the antenna drive unit 2 (step S8). Thereby, the antenna driving unit 2 drives the non-selected antenna unit 1 ′ so that the antenna surface of the non-selected antenna unit 1 ′ faces the same direction as indicated by the control data.

When the antenna unit 1 starts driving, the beam scanning range calculator 14 reads azimuth data indicating the azimuth of the antenna opening of the antenna unit 1 from the azimuth detector 3 (step S9). Next, the beam scanning range calculator 14 determines whether or not the orientation indicated by the read orientation data matches the orientation indicated by the control data generated by the antenna drive control unit 11 in step S8 (step S10).
When the beam scanning range calculator 14 determines that the azimuth indicated by the azimuth data and the azimuth indicated by the control data do not match (step S10: NO), the beam scanning range calculator 14 uses the read azimuth data to select one unselected antenna part 1 ′. A non-scanned range that occurs between the scanning range of the beam and the scanning range of the beam of the other non-selected aerial part 1 ′ adjacent to the non-selected aerial part 1 ′ is calculated (step S11).

  Next, the beam scanning range calculator 14 includes a half of the unaffected range in the scanning range of the beam of one unselected antenna part 1 ′, and the other half in the scanning range of the beam of the other unselected antenna 1 ′. The scanning range of each beam of the unselected antenna 1 ′ is determined so as to be included (step S12). Next, the beam scanning range calculator 14 transmits scanning range control data indicating the scanning range to the beam control unit 12. Then, the beam control unit 12 generates control data for forming the beam so that the beam control unit 12 has a predetermined scanning range of the beam of each antenna unit 1, and transmits the control data to the antenna unit. 1 is transmitted. Thereafter, the process returns to step S9 and the process is repeated.

Below, the specific example of the process of step S11, S12 is shown.
FIG. 6 is a diagram illustrating a method for correcting a non-scanned range generated by driving a non-selected antenna.
The time when the azimuth data is read at step S9 this time is set as time t, and the time when the azimuth data is read at the previous step S9 (when step S9 is executed for the first time, the time before the start of driving of the antenna unit 1) is set at time t−. Set to 1. At time t−1, as shown in FIG. 6A, the antenna opening azimuth of the antenna portion 1-2 which is the non-selected antenna portion 1 ′ is 90 °, and the beam scanning range is the azimuth of the antenna opening. To ± 45 °. Further, at time t-1, the antenna opening direction of the antenna part 1-3, which is the non-selected antenna part 1 ′ adjacent to the antenna part 1-2, is 180 °, and the beam scanning range is from the direction of the antenna opening. The range is ± 45 °.

Here, when the direction of the antenna opening of the antenna part 1-2 at time t is 90 ° and the direction of the antenna opening of the antenna part 1-3 is 186 °, as shown in FIG. 6B, the antenna part 1 The range from 135 °, which is the end of the −2 beam scanning range, to 141 °, which is the end of the beam scanning range of the aerial portion 1-3, is a range that is not scanned. Therefore, as shown in FIG. 6C, the beam scanning range calculator 14 includes a range of 135 ° to 138 °, which is a half of the non-scanned range, in the beam scanning range of the aerial part 1-2, The other half of the range of 138 ° to 141 ° is included in the beam scanning range of the aerial part 1-3.
In this way, the beam scanning range calculator 14 can cover a non-scanned range that is generated by driving the non-selected antenna unit 1 ′.

  When the beam scanning range calculator 14 determines in step S10 that the azimuth indicated by the azimuth data matches the azimuth indicated by the control data (step S10: YES), the beam scanning range calculator 14 determines that the non-selected antenna unit 1 The scanning range of each beam 'is determined as the scanning range calculated by the target scanning range calculation unit 10 in step S2 (step S13), and scanning range control data indicating the scanning range is transmitted to the beam control unit 12. Then, the beam control unit 12 generates control data for forming the beam so that the beam control unit 12 has a predetermined scanning range of the beam of each antenna unit 1, and transmits the control data to the antenna unit. 1 to complete the processing.

  As described above, the radar apparatus according to the present embodiment covers a range that is not scanned while the aerial drive unit 2 drives the non-selected aerial unit 1 ′, and the beam scanning range between the non-selected aerial units 1 ′. So that the scanning range of each beam of the non-selected antenna part 1 ′ is sequentially changed. Thereby, when changing the azimuth | direction of the antenna opening of the antenna part 1, tracking can be continued, suppressing power consumption.

Here, drive control of each antenna drive unit 2 by the antenna drive control unit 11 will be described.
As described above, by the processing of the beam scanning range calculator 14, the scanning range of each beam of the non-selected aerial unit 1 ′ covers a range not scanned by driving and between the non-selected aerial units 1 ′. The scanning range of the beam is changed so as not to overlap. At this time, in order to keep the scanning accuracy of each non-selection antenna part 1 'high, the non-selection antennas so that the scanning range of the non-selection antenna part 1' is equal to the positive direction and the negative direction from the direction of the antenna opening. It is necessary to change the orientation of the antenna opening of the part 1 ′. This is because the gain at the time of beam formation decreases as the direction of the beam to be transmitted moves away from the direction of the antenna aperture.

  Here, if the antenna driving unit 2 drives each of the non-selected antenna units 1 ′ at the same angular velocity, the interval of the unscanned range generated between each of the non-selected antenna units 1 ′ does not become uniform. . For this reason, the processing of steps S11 and S12 described above does not make the scanning range of the non-selected antenna part 1 'uniform in the positive direction and the negative direction from the direction of the antenna aperture.

Therefore, the antenna drive control unit 11 generates control data to be transmitted to the antenna drive unit 2 using the method described below so that the non-scanned range intervals generated between the non-selected antenna units 1 ′ are equal. To do.
First, the antenna drive control unit 11 sets the azimuth of the antenna opening of the non-selected antenna unit 1 ′ having the largest difference between the azimuth of the current antenna opening and the set azimuth among the non-selected antenna units 1 ′ as the set azimuth. The required drive time required until the time is calculated. For example, the orientation of the antenna opening of the unselected antenna portion 1 ′ having the largest difference between the orientation of the current antenna opening and the set orientation is 90 °, and the setting orientation of the unselected antenna portion 1 ′ is 120 °. In this case, the antenna drive control unit 11 calculates the time required to move the direction of the antenna opening of the non-selected antenna unit 1 ′ by 30 ° as the required drive time.

Next, the antenna drive control unit 11 sets the angular velocity required to drive the azimuth of the antenna opening of the non-selected antenna unit 1 ′ to the set azimuth for each of the non-selected antenna units 1 ′ with the calculated required driving time. calculate. Then, the antenna drive control unit 11 generates control data for causing the antenna drive unit 2 to drive the non-selected antenna unit 1 ′ at the calculated angular velocity, and transmits the control data to the antenna drive unit 2. Then, the antenna drive unit 2 drives each of the non-selected antenna units 1 ′ using the angular velocity indicated by the control data.
Thereby, the interval of the range which is not scanned and generate | occur | produced between each of the non-selection antenna parts 1 'can be made equal.

  As described above, the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention. It is possible to

  The aforementioned radar apparatus has a computer system inside. The operation of each processing unit described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

  DESCRIPTION OF SYMBOLS 1, 1-1 to 1-n ... Antenna part 1 '... Non-selection antenna part 2, 2-1 to 2-n ... Antenna driver 3, 3-1 to 3-n ... Direction detector 4 ... Sector switching part DESCRIPTION OF SYMBOLS 5 ... Transmission / reception switching device 6 ... Reception part 7 ... Signal processing part 8 ... Data processing part 9 ... Display / operation part 10 ... Target scanning range calculation part 11 ... Antenna drive control part 12 ... Beam control part 13 ... Transmission part 14 ... Beam Scan range calculator

Claims (5)

A radar apparatus comprising a plurality of phased array antennas installed in different directions,
A selector that selects at least one phased array antenna from the plurality of phased array antennas;
A scanning range of a beam of a non-selected antenna that is a phased array antenna other than the phased array antenna selected by the selection unit, and covers a predetermined range by combining the scanning range of the beam of the non-selected antenna. And a scanning range calculation unit for calculating a scanning range of the beam of the non-selected antenna so that a scanning range of the beam of the non-selected antenna does not overlap,
An azimuth calculating unit that calculates the azimuth of each antenna opening of the non-selected antenna when each of the non-selected antennas covers the scanning range of the beam calculated by the scanning range calculating unit;
A driving unit that drives the non-selected antenna so that the antenna aperture of the non-selected antenna is oriented in the same direction as the direction of the antenna aperture calculated by the azimuth calculating unit;
While the driving unit is driving the non-selected antenna, the non-scanned range generated by driving the non-selected antenna is covered, and the non-selected antennas are configured so that the scanning ranges of the beams do not overlap. A radar apparatus comprising: a scanning range control unit that sequentially changes a scanning range of each beam of the selected antenna. The scanning range control unit
Half of the unscanned range generated between the scanning range of the beam of one non-selected antenna and the scanning range of the beam of another non-selected antenna adjacent to the one non-selected antenna is the beam of the one non-selected antenna. The scanning range of each beam of the non-selected antenna is changed so that the other half is included in the scanning range of the beam of the other non-selected antenna. Radar device. Among the non-selected antennas, until the direction of the antenna opening of the non-selected antenna having the largest difference between the direction of the current antenna opening and the direction calculated by the direction calculation unit becomes the direction calculated by the direction calculation unit. A drive completion time calculation unit for calculating the time required;
Driving speed calculation for calculating each angular velocity of the non-selected antenna required to drive the azimuth of the antenna opening of the non-selected antenna to the azimuth calculated by the azimuth calculating unit at the time calculated by the driving completion time calculating unit The department and
The radar device according to claim 1, wherein the driving unit drives each of the non-selected antennas using the angular velocity calculated by the driving velocity calculation unit. A radar apparatus antenna control method comprising a plurality of phased array antennas installed in different directions,
The selection unit selects at least one phased array antenna from the plurality of phased array antennas,
The scanning range calculation unit is a beam scanning range of a non-selected antenna that is a phased array antenna other than the phased array antenna selected by the selection unit, and is determined in advance by combining the beam scanning range of the non-selected antenna. Calculating the beam scanning range of the non-selected antenna so that the scanning range of the beam between the non-selected antennas does not overlap.
The azimuth calculating unit calculates the azimuth of each antenna opening of the non-selected antenna when each of the non-selected antennas covers the scanning range of the beam calculated by the scanning range calculating unit,
The drive unit drives the non-selected antenna so that the antenna aperture of the non-selected antenna faces the same direction as the direction of the antenna aperture calculated by the direction calculation unit,
The scanning range control unit covers a non-scanned range generated by driving the non-selected antenna while the driving unit drives the non-selected antenna, and the scanning ranges of the beams of the non-selected antennas overlap. The antenna control method is characterized in that the scanning range of each beam of the non-selected antenna is sequentially changed so as not to cause a problem. A radar device comprising a plurality of phased array antennas installed in different directions,
A selector for selecting at least one phased array antenna from the plurality of phased array antennas;
A scanning range of a beam of a non-selected antenna that is a phased array antenna other than the phased array antenna selected by the selection unit, and covers a predetermined range by combining the scanning range of the beam of the non-selected antenna. And a scanning range calculation unit that calculates a scanning range of the beam of the non-selected antenna so that the scanning range of the beam of the non-selected antenna does not overlap.
An azimuth calculating unit that calculates the azimuth of each antenna opening of the non-selected antenna when each of the non-selected antennas covers the scanning range of the beam calculated by the scanning range calculating unit,
A drive unit that drives the non-selected antenna so that the antenna aperture of the non-selected antenna faces the same direction as the direction of the antenna aperture calculated by the azimuth calculating unit;
While the driving unit is driving the non-selected antenna, the non-scanned range generated by driving the non-selected antenna is covered, and the non-selected antennas are configured so that the scanning ranges of the beams do not overlap. A program for functioning as a scanning range controller that sequentially changes the scanning range of each beam of the selected antenna.

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