JP5293044B2 - Broadband radar equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an ultra-wide-band radar system for detecting the position of a target such as a moving object with high precision by transmitting/receiving an ultra-wide-band radio wave and detecting the distance and direction of the target by combining a plurality of reception waves, in which direction accuracy of the target can be increased even when the distance between transmitting and receiving antennas is short and the target is distant from the ultra-wide-band radar system. <P>SOLUTION: Two reception pulse signals received by two receiving antenna sections are sampling integrally detected to be converted into two digital signals, and then two response differential signals which have detected a moving object are obtained. From the two signals, a pseudo response differential signal received by a first virtual receiving antenna section and a second virtual receiving antenna section which are spaced apart from each other by an arbitrary distance is calculated. By detecting the distance and direction of the moving object using the signal, direction accuracy can be increased even when the target is somewhat distant. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a radar apparatus, and more particularly to a broadband radar apparatus that detects the position (distance, azimuth) of a target (target) such as a moving object with high accuracy by transmitting and receiving ultra-wideband (UWB) radio waves. .

2. Description of the Related Art UWB radar devices that detect the position (distance, azimuth, height) of a moving object with high accuracy by transmitting / receiving ultra-wideband radio waves are known.
The UWB radar apparatus is characterized in that it can perform highly accurate position evaluation with ultra-high range resolution. In addition, the ultra-wideband radio wave has a property of transmitting a non-metal (attenuation medium) such as concrete or wood when the frequency includes a low band of several GHz or less. And application to various radars and sensors is examined by making use of these two characteristics.

  For example, UWB radar (wall transmission radar, through wall radar) that detects the movement of unauthorized intruders in a building or room through a wall as a UWB radar that utilizes two features of ultra-high resolution and attenuation medium transparency , UWB radar (forest penetration radar, foliage transmission radar, FOPEN radar: Foliage Penetration Radar) that detects the movement of dangerous animals lurking in the forest through the plantation and planting, survival buried under rubble and soil UWB radar (survivor detection radar) that detects people, UWB radar (security gate detection radar for security gates) that detects whether an intruder in a facility has hidden dangerous objects, etc., installed inside the front of an automobile UWB recorders that measure the distance from a non-metallic bumper or a front grille through a front car, a car that stops, a wall of a parking lot, etc. with high accuracy. A radar (collision prevention radar) is being studied.

FIG. 35 is a diagram showing a configuration of a conventional broadband radar apparatus.
The synchronization control unit 1 repeatedly transmits the transmission clock signal to the UWB pulse generation unit 2. The UWB pulse generation unit 2 repeatedly generates a UWB transmission pulse signal at the timing of the transmission clock signal transmitted from the synchronization control unit 1.

The UWB pulse transmission signal generated by the UWB pulse generation unit 2 is radiated from the transmission antenna unit 3 to the free space where the target object exists.
The reflected wave from the target object is repeatedly received by the receiving antenna units 4 and 5 and becomes a first UWB reception pulse signal and a second UWB pulse signal.

  The first UWB gate pulse generator 6 and the second UWB gate pulse generator 7 each generate a UWB gate pulse signal at the timing of the reception clock signal transmitted from the synchronization controller 1. The first UWB gate pulse generator 6 generates the first UWB reception pulse signal received by the first reception antenna unit 4 and the second UWB reception pulse signal received by the second reception antenna unit 5. Between the gate pulse signal generated and the second pulse width of the gate pulse signal generated by the second UWB gate pulse generator 7, respectively, and detected by the first detector 8 and the second detector 9, respectively. The first reception pulse detection signal and the second reception pulse detection signal are obtained.

  The first reception pulse detection signal and the second reception pulse detection signal are integrated by the first integration unit 10 and the second integration unit 11 to become a first baseband signal and a second baseband signal, respectively. .

The repetition cycle of the reception clock generated by the synchronization control unit 1 is received at an extremely high repetition frequency by shifting the repetition cycle (transmission clock cycle) of the UWB reception pulse signal received by the reception antenna unit 4 by several Hz. The signal is sampled and detected (equivalent time sampling) in the first detector 8 and the first integrator 10, and the second detector 9 and the second integrator 11, respectively. It becomes a band signal and a second baseband signal.

  The first baseband signal and the second baseband signal subjected to sampling integration detection are subjected to analog-digital conversion (AD conversion) by the first baseband signal AD conversion unit 12 and the second baseband signal AD conversion unit 13. Thus, the first digital signal and the second digital signal are obtained.

  The first digital signal and the second digital signal AD-converted by the first baseband signal AD conversion unit 12 and the second baseband signal AD conversion unit 13 are the first moving object detection unit S1 and the second digital signal. Only the component of the moving object is detected by the moving object detection unit S2, and the first response difference signal and the second response difference signal are obtained.

  The first response difference signal and the second response difference signal in which only the moving object component is detected by the first moving object detection unit S1 and the second moving object detection unit S2 are the first moving object data conversion unit S28 and The second moving object data conversion unit S29 converts the data from one dimension to two dimensions, and becomes a first two-dimensional response difference signal and a second two-dimensional response difference signal, respectively.

  The first two-dimensional response difference signal and the second two-dimensional response difference signal converted by the first moving object data conversion unit S28 and the second moving object data conversion unit S29 are shifted by the first moving object data shift. The data is shifted by the separation distance between the first receiving antenna unit 4 and the second receiving antenna unit 5 in the unit S30 and the second moving object data shift unit S31, and the first two-dimensional response shift signal and the second It becomes a two-dimensional response shift signal.

  The first two-dimensional response shift signal and the second two-dimensional response shift signal that have been data-shifted by the first moving object data shift unit S30 and the second moving object data shift unit S31 are processed by the moving object data combining unit S27. The combined signal is a UWB radar pulse two-dimensional response synthesized signal.

The UWB radar pulse two-dimensional response synthesized signal synthesized by the moving object data synthesizing unit S27 is displayed on the moving object data display unit 14.
Japanese Patent Laid-Open No. 7-280924 Japanese Patent Laid-Open No. 2001-124846

  However, when data is synthesized from the first two-dimensional response shift signal and the second two-dimensional response shift signal to the UWB radar pulse two-dimensional response synthesis signal using the conventional technique, the first receiving antenna unit When the distance between the second receiving antenna unit and the second receiving antenna unit is small and the distance of the target object is large, the component in the azimuth direction of the target object spreads.

  That is, when two antennas are installed close to each other as shown in FIG. 15B, the accuracy of the azimuth direction becomes worse as the distance between the target objects is larger. Further, when the distance between the two antennas is set large as shown in FIG. 15A, the spread of the component in the azimuth direction becomes small even if the distance of the target object is increased. However, when a small radar configuration such as a portable radar device or a general radar device is used, there is a limit in increasing the distance between the receiving antennas.

Therefore, in a conventional broadband radar device that detects the distance and direction of a target object by combining two received waves, the size of the radar device is reduced (the distance between the two reception antennas is reduced), and the target object is reduced. However, it is difficult to detect the azimuth direction with high accuracy when it is away from the broadband radar device.

  An object of the present invention is to provide a broadband radar device that detects the distance and direction of a target object by combining a plurality of received waves, even when the distance between the receiving antennas is small and the target object is separated from the broadband radar device. Another object of the present invention is to provide a broadband radar device with improved azimuth accuracy of a target object.

  In each aspect of the present invention, a broadband radar pulse is repeatedly generated and transmitted to a target object to be observed, a reflected wave from the target object is received, sampling integration detection is performed, and time extension is performed to a baseband signal. Then, it is assumed that the broadband radar device detects and displays the distance and direction of the moving target after analog-to-digital conversion and detecting the moving target component.

The first aspect of the present invention has the following configuration.
The UWB pulse generation means (2) generates a broadband pulse.
The transmission antenna means (3) transmits the UWB transmission pulse signal generated by the UWB pulse generation means to the free space where the target object exists.

The two receiving antenna means (4, 5) receive a signal in which the UWB transmission pulse signal is reflected back to the target object.
The synchronization control means (1) transmits a transmission clock to the UWB pulse generation means and outputs a reception clock.

The two UWB gate pulse generating means (6, 7) respectively generate two UWB gate pulse signals based on the reception clock.
The two detection means (8, 9) respectively detect two UWB reception pulse signals received by the two reception antenna means during each pulse width of the two UWB gate pulse signals.

The two integration means (10, 11) integrate the two received pulse detection signals detected by the two detection means.
The two baseband signal AD conversion means (12, 13) perform analog-digital conversion on the two baseband signals sampled and detected by the two detection means and the two integration means.

The two moving object detection means (S1, S2) detect only the component of the moving object from the two digital signals AD-converted by the two baseband signal AD conversion means.
Two pseudo moving object data generating means (S3, S4) are received when two receiving antenna means are arranged at virtual distance intervals from two response difference signals detected by the two moving object detecting means. Two pseudo response difference signals that would be generated are generated.

The two pseudo moving object data conversion means (S5, S6) convert the two pseudo response difference signals generated by the two pseudo moving object data generation means from one-dimensional to two-dimensional data.
The two pseudo moving object data shift means (S7, S8) shift the data of the two two-dimensional pseudo response difference signals converted by the two pseudo moving object data conversion means by the virtual distance interval of the receiving antenna means. .

The pseudo moving object data synthesizing means (S9) synthesizes two two-dimensional pseudo response shift signals that have been data shifted by the two pseudo moving object data shifting means.
The moving object data display means (14) displays the pseudo UWB radar pulse two-dimensional response composite signal synthesized by the pseudo moving object data synthesis means.

The second aspect of the present invention additionally has the following structure in addition to the structure of the first aspect of the present invention.
The two moving object data conversion means (S10, S11) convert the two response difference signals detected by the two moving object detection means from one-dimensional to two-dimensional data.

  The two moving object data shifting means (S12, S13) shift the data of the two two-dimensional response difference signals converted by the two moving object data converting means by the distance interval of the two receiving antenna means.

  The moving object / pseudo-moving object data synthesizing means (S14) includes two two-dimensional response shift signals shifted by two moving object data shifting means and two two-dimensional data shifted by two pseudo moving object data shifting means. The pseudo response shift signal is combined with data.

  In the third aspect of the present invention, the two pseudo moving object data generation means (S15, S16) in the first aspect of the present invention are obtained by using the two response difference signals detected by the two moving object detection means. Two pseudo response difference signals are generated by changing the virtual distance interval according to the distance from the target object.

  In the fourth aspect of the present invention, the two UWB gate pulse generating means (6, 7) in the first aspect of the present invention are shared by one UWB gate pulse generating means (6), and the UWB gate pulse distributing means ( 25) is configured to distribute the UWB gate pulse signal generated by the one UWB gate pulse generating means and to output the two UWB gate pulse signals obtained as a result to the two detecting means, respectively.

  In the fifth aspect of the present invention, the two UWB gate pulse generating means (6, 7) are replaced with the UWB pulse generating means (2), and the UWB transmission pulse signal generated by the UWB pulse generating means is transmitted to the transmitting antenna means. The UWB pulse distribution means (26) for distributing the UWB transmission pulse signal and the second UWB transmission pulse signal supplied to the second UWB transmission pulse signal, and the second UWB transmission pulse signal distributed by the UWB pulse distribution means is further divided into two. The UWB transmission pulse distribution means (27) for performing the above and the two UWB transmission pulse distribution signals distributed by the UWB transmission pulse distribution means are respectively time-delayed and output to the two detection means as two UWB gate pulse signals, respectively. UWB pulse delay means (28, 29).

  In the sixth aspect of the present invention, the two UWB gate pulse generating means (6, 7) are replaced with the UWB pulse generating means (2), and the UWB transmission pulse signal generated by the UWB pulse generating means is transmitted to the transmitting antenna means. UWB pulse distribution means (26) for distributing the UWB transmission pulse signal and the second UWB transmission pulse signal supplied to the second UWB transmission pulse signal, and the second UWB transmission pulse signal distributed by the UWB pulse distribution means by time delaying UWB A UWB pulse delay means (31) for outputting a gate pulse signal, and the UWB gate pulse signal are distributed to two, and the resulting two distribution signals are output as two UWB gate pulse signals to two detection means, respectively. And UWB gate pulse distribution means (25).

  According to a seventh aspect of the present invention, in the configuration of the first aspect of the present invention, the UWB pulse signal generated by the UWB pulse generating means is passed only in a predetermined frequency band, and the resulting signal is transmitted as a UWB transmission pulse. UWB pulse band filtering means (33) for outputting as a signal is further included.

  According to an eighth aspect of the present invention, in the configuration of the first aspect of the present invention, a UWB pulse that modulates the UWB pulse signal generated by the UWB pulse generation means and outputs the resulting signal as a UWB pulse signal. It is configured to further comprise modulation means (38).

The ninth aspect of the present invention has the following configuration.
Two UWB pulse generating means (39, 40) generate a broadband pulse.
The two transmission antenna means (41, 42) transmit the two UWB transmission pulse signals generated by the two UWB pulse generation means so as to be continuous in time division in the free space where the target object exists.

One receiving antenna means (45) receives, in a time division manner, signals in which two UWB transmission pulse signals are reflected by the target object and returned respectively.
The UWB gate pulse generating means (44) generates a UWB gate pulse signal based on the reception clock.

The detection means (46) detects the UWB reception pulse signal received by the reception antenna means during the pulse width of the UWB gate pulse signal.
The integration means (47) integrates the received pulse detection signal detected by the detection means.

The baseband signal AD conversion means (48) performs analog-to-digital conversion on the baseband signal sampled / integrated / detected by the detection means and the integration means.
The moving object detection means (S28) detects only the component of the moving object from the digital signal AD-converted by the baseband signal AD conversion means.

The two moving object signal recording means (S29, S30) record two response difference signals that are continuous in time division detected by the moving object detection means.
Two pseudo moving object data generating means (S3, S4) are received from two response difference signals recorded by two moving object signal recording means when two transmitting antenna means are arranged at virtual distance intervals. Two pseudo response difference signals that will be generated are generated.

The two pseudo moving object data conversion means (S5, S6) convert the two pseudo response difference signals generated by the two pseudo moving object data generation means from one-dimensional to two-dimensional data.
The two pseudo moving object data shifting means (S7, S8) shift the data of the two two-dimensional pseudo response difference signals converted by the two pseudo moving object data converting means by the virtual distance interval of the transmitting antenna means. .

The pseudo moving object data synthesizing means (S9) synthesizes two two-dimensional pseudo response shift signals that have been data shifted by the two pseudo moving object data shifting means.
The moving object data display means (14) displays the pseudo UWB radar pulse two-dimensional response composite signal synthesized by the pseudo moving object data synthesis means.

The tenth aspect of the present invention has the following configuration.
The transmission antenna means (3) transmits the UWB transmission pulse signal generated by the UWB pulse generation means to the free space where the target object exists.

N (n is an integer of 2 or more) receiving antenna means (4, 5, 15,..., 49) receive a signal from which the UWB transmission pulse signal is reflected back to the target object.
The synchronization control means (1) transmits a transmission clock to the UWB pulse generation means and outputs a reception clock.

The n UWB gate pulse generating means (6, 7, 17,..., 50) respectively generate n UWB gate pulse signals based on the reception clock.
The n detection means (8, 9, 19,..., 51) convert n UWB reception pulse signals received by the n reception antenna means between the pulse widths of the n UWB gate pulse signals. Each is detected.

The n integration means (10, 11, 21,..., 52) integrate n reception pulse detection signals detected by the n detection means.
The n baseband signal AD conversion means (12, 13, 23,..., 53) analog-digitally convert n baseband signals sampled and detected by n detection means and n integration means. Convert.

  The n moving object detection means (S1, S2, S19,..., S31) detect only the component of the moving object from the n digital signals AD-converted by the n baseband signal AD conversion means. .

  The n pseudo moving object data generating means (S3, S4, S21,..., S32) are configured such that n receiving antenna means are virtually determined from n response difference signals detected by the n moving object detecting means. N pseudo-response difference signals that will be received when arranged at various distance intervals.

  The n pseudo moving object data converting means (S5, S6, S23,..., S33) convert the n pseudo response difference signals generated by the n pseudo moving object data generating means from one dimension to two dimensions. Convert to data.

  The n pseudo moving object data shift means (S7, S8, S25,..., S34) receive n two-dimensional pseudo response difference signals obtained by data conversion by the n pseudo moving object data conversion means. The data is shifted by the virtual distance interval.

The pseudo moving object data synthesizing means (S9) synthesizes n two-dimensional pseudo response shift signals that have been data shifted by the n pseudo moving object data shifting means.
The moving object data display means (14) displays the pseudo UWB radar pulse two-dimensional response composite signal synthesized by the pseudo moving object data synthesis means.

  According to the first aspect of the present invention, in a small radar device in which the distance between two receiving antennas is small, even when the distance of the target object is increased, the spread of the target object in the azimuth direction can be suppressed to a small level. It is possible to improve the azimuth accuracy.

According to the second aspect of the present invention, the degree of emphasis of the target object component after synthesis is increased, and the detection accuracy can be increased.
According to the third aspect of the present invention, it is possible to improve both the distance method and the accuracy of the azimuth direction even if the distance of the moving target changes.

  According to the fourth aspect of the present invention, each UWB reception pulse signal can be detected by providing UWB gate pulse distribution means without providing two UWB gate pulse generation means.

According to the fifth aspect of the present invention, without providing the UWB gate pulse generation means, the UWB pulse distribution means, the UWB transmission pulse distribution means, the UWB pulse distribution section, and the two UWB pulse delay means are provided. It becomes possible to detect the UWB reception pulse signal.

  According to the sixth aspect of the present invention, each UWB reception pulse signal is detected by providing the UWB pulse distribution means, the UWB pulse delay means, and the UWB gate pulse distribution means without providing the UWB gate pulse generation means. It becomes possible.

According to the seventh aspect of the present invention, for example, it is possible to radiate from the transmitting antenna means only in the frequency band conforming to the UWB spectrum mask in Japan.
According to the eighth aspect of the present invention, the spectrum of the UWB transmission pulse signal radiated from the transmission antenna means can be spread, the average transmission power can be suppressed, and the average transmission power is less than the UWB limit stipulated by laws and the like. It becomes possible.

  According to the ninth aspect of the present invention, time-division reception processing can be performed by one receiving antenna means and the subsequent receiving circuit system, so that a receiving circuit system having a complicated circuit configuration is configured by one system. It becomes possible.

  According to the tenth aspect of the present invention, by having n reception processing systems, the signal of the target object is more emphasized and the detection accuracy can be increased.

The best mode for carrying out the present invention will be described below in detail with reference to the drawings.
First Embodiment of the Invention FIG. 1 is a configuration diagram of a first embodiment of a broadband radar apparatus according to the present invention.

  In the figure, the part to which a number is attached is realized by hardware, and the part to which S, such as S1, is attached, is realized by software processing. These processes are performed in a general computer having a configuration in which a CPU (central processing unit), a main storage memory, an auxiliary storage device, an input / output device, and the like are connected to each other via a bus. This is realized as an operation of loading a control program for realizing each function into the main memory and executing it. Alternatively, the processing may be executed by a dedicated DSP (digital signal processor).

  The synchronization control unit 1 transmits a transmission clock signal to the UWB pulse generation unit 2. The UWB pulse generation unit 1 repeatedly generates a UWB transmission pulse signal at the timing of the transmission clock signal transmitted from the synchronization control unit 1.

  The pulse width of the UWB transmission pulse signal is, for example, 200 to 300 picoseconds. The frequency band is, for example, an ultra-wide band of several MHz to 5 GHz. The pulse repetition frequency (PRF) is determined by the transmission clock signal and is, for example, 10 MHz. The pulse amplitude of the UWB transmission pulse signal is 4 V, for example.

  The UWB transmission pulse signal is radiated in free space with respect to the target object in the transmission antenna unit 3. An example of the UWB transmission pulse signal is shown in FIG. The UWB transmission pulse signal is repeatedly generated and radiated every period of the transmission clock signal transmitted from the synchronization control unit 1.

The reflected wave reflected by the target object is received by the first receiving antenna unit 4 and the second receiving antenna unit 5, and becomes a first UWB received pulse signal and a second UWB received pulse signal.
An example of the first UWB reception pulse signal is shown in FIG. Since the UWB transmission pulse signal is a reflected wave reflected from the target object, the first UWB reception pulse signal is repeatedly received for each period of the transmission clock signal, like the UWB transmission pulse signal.

  The synchronization control unit 1 transmits a first reception clock signal and a second reception clock signal to the first UWB gate pulse generation unit 6 and the second UWB gate pulse generation unit 7, respectively. The first UWB gate pulse generator 6 and the second UWB gate pulse generator 7 repeatedly generate gate pulse signals at the timing of the reception clock signal transmitted from the synchronization controller 1.

  The reception clock signal is set to a PRF signal having a slightly lower frequency than the transmission clock signal. For example, the PRF of the transmission clock signal is 10 MHz, whereas the PRF of the reception clock signal is 9.99998 MHz. The difference between the transmission clock signal and the reception clock signal is 20 Hz. In this case, the pulse repetition interval (PRI) of the transmission clock signal is 100 ns (1/10 MHz), whereas the PRI of the reception clock signal is 100.0002 ns (1 / 9.99998 MHz).

  An example of the gate pulse signal is shown in FIG. The first UWB reception pulse signal and the second UWB reception pulse signal become conductive between the pulse widths of the respective gate pulse signals, detected by the first detection unit 8 and the second detection unit 9, respectively. 1 reception pulse detection signal and 2nd reception pulse detection signal.

  As shown in FIG. 3, since the detection outputs a detection voltage corresponding to the input level input to the detector, each of the first detection unit 8 and the second detection unit 9 has a first UWB reception pulse. The first reception pulse detection signal and the second reception pulse detection signal, which are voltage signals, are output according to the input level of the signal and the second UWB reception pulse signal.

The 1st detection part 8 and the 2nd detection part 9 are comprised with the detector using the Schottky barrier diode for S band detection, for example.
An example of the first received pulse detection signal is shown in FIG.

  The first reception pulse detection signal and the second reception pulse detection signal are integrated by the first integration unit 10 and the second integration unit 11, respectively. The integration is repeated until the timings of the first UWB reception pulse signal, the second UWB reception pulse signal, and the gate pulse signal match, and are output as the first baseband signal and the second baseband signal (equivalent time). sampling).

  For example, in the above case, since the cycle of the first UWB reception pulse signal is 100 ns and the cycle of the gate pulse signal is 100.0002 ns, the time axis is multiplied by 500,000 times until the respective timings coincide with each other. The first baseband signal and the second baseband signal are expanded to a period of 50 ms.

  The first baseband signal and the second baseband signal are data in which signals are arranged on the time axis from the minimum distance point to the maximum distance point. An example of the first baseband signal is shown in FIG.

  The first baseband signal and the second baseband signal are AD-converted by the first baseband signal AD conversion unit 12 and the second baseband signal AD conversion unit 13, respectively, and the first digital signal and the second baseband signal This is a digital signal.

For example, if the sampling rate of AD conversion is 15000 samples / second, the data is 750 samples per 50 ms period of the baseband signal. Since the PRF of the UWB transmission pulse signal is 10 MHz, the maximum detection distance is 15 m (light speed 3 × 108 [m / s]
/ 10 [MHz] / 2), and the distance resolution is a digital signal of 0.02 m.

  In the first digital signal and the second digital signal, only the moving object component is detected in the first moving object detection unit S1 and the second moving object detection unit S2, and the first response difference signal and the second digital signal are respectively detected. It becomes a response difference signal.

  For example, moving object detection is performed as shown in FIG. 4A is a digital signal at a certain sampling time t1 in the baseband period, FIG. 4B is a digital signal at the next sampling time t2, and FIG. 4C is a digital signal at the next sampling time t3. By calculating the difference between the signal at time t1 and time t2 as shown in (a ′) and the difference between time t2 and time t3 as shown in (b ′), the response component from the stationary object is eliminated and moved. Only response components from the object are detected.

  The first response difference signal and the second response difference signal are input to the first pseudo moving object data generation unit S3 and the second pseudo moving object data generation unit S4, in which the first pseudo response difference is respectively A signal and a second pseudo-response difference signal are generated.

  As shown in FIG. 5, the pseudo response difference signal includes the first response difference signal obtained from the first UWB reception pulse signal from the first reception antenna unit and the first response difference signal from the second reception antenna unit. As a response differential signal that will be received by the first virtual reception antenna unit and the second virtual reception antenna unit separated by an arbitrary distance using the second response differential signal obtained from the UWB reception pulse signal of 2 It is a calculated signal.

FIG. 6 shows a basis for calculating a pseudo response difference signal in the first virtual receiving antenna unit C1.
The position of the transmitting antenna unit is A0, the position of the first receiving antenna unit is A1, the position of the second receiving antenna unit is A2, the position of the target object is T0, the distance between A1-T0 is x, and A2-T0 If the distance between them is y, the distance between AO and T0 is b, the distance between A1 and C1 is c, and the angle between A0 and T0 is θ, it can be decomposed into three triangles shown in FIG. From the cosine theorem in the triangle of FIG.

Moreover, in the triangle of FIG.7 (b), the relationship of following Numerical formula 2 is formed.

Further, in the triangle of FIG. 7C, the following equation (3) is satisfied.

The following equation (4) is obtained from equation (1) and equation (2).

The following Formula 5 is obtained by Formula 1-Formula 2.

By substituting Equation 4 and Equation 5 into Equation 3, the following Equation 6 is obtained.
That is, by calculating Equation 6, the distance z to the target object obtained by the first virtual receiving antenna unit can be calculated.

  The process of the first pseudo moving object data generation unit S3 is performed in the flowchart shown in FIG. The processing of this flowchart is realized as an operation in which a computer (not shown) executes a program.

  In other words, the distance point x of the first UWB radar pulse response difference signal is sequentially increased from 1 to the number of data points of the first UWB radar pulse response difference signal by the loop processing of step S131 and step S136. However, for each of the first distance point values, the distance point y of the second UWB radar pulse response difference signal becomes (first distance point−antenna separation distance point) by the loop processing of step S132 and step S135. (Number / 2) to (first distance point + number of antenna separation points / 2).

  For each combination of the distance point of each first UWB radar pulse response difference signal and the distance point of the second UWB radar pulse response difference signal determined by these double loops, in step S133, based on Equation 6 The distance point z of the first pseudo UWB radar pulse response difference signal is calculated.

  In step S134, the amplitude data of the distance point z calculated this time is added to the amplitude data of the original distance point z, so that the amplitude data of the new distance point z becomes the first pseudo UWB radar pulse response. Calculated as amplitude data of the differential signal.

  The above arithmetic processing is executed for all combinations of the distance points of the first UWB radar pulse response difference signals and the distance points of the second UWB radar pulse response difference signals determined by the double loop.

FIG. 9 shows the basis for calculating the pseudo response difference signal in the second virtual reception antenna unit C2. The position of the transmitting antenna unit is A0, the position of the first receiving antenna unit is A1, the position of the second receiving antenna unit is A2, the position of the target object is T0, the distance between A1-T0 is x, and A2-T0 When the distance between them is y, the distance between AO-T0 is b, the distance between A2-C2 is d, and the angle between A0-T0 is θ, it can be decomposed into three triangles shown in FIG. From the cosine theorem in the triangle of FIG.
The following equation holds. In addition, in the triangle of FIG.
The relationship holds. Furthermore, in the triangle of FIG.
The relationship holds. From Equation 7 + Equation 8,
Is obtained by the following equation (7)-(8)
Is obtained. Substituting Equation 4 and Equation 5 into Equation 3 for transformation,
It becomes. That is, by calculating Formula 12, the distance w to the target object obtained by the second virtual receiving antenna unit can be calculated.

  The process of the second pseudo moving object data generation unit S4 is performed in the flowchart shown in FIG. The processing of this flowchart is also realized as an operation in which a computer (not shown) executes a program, as in the case of FIG.

In other words, the distance point y of the second UWB radar pulse response difference signal is sequentially increased from 1 to the number of data points of the second UWB radar pulse response difference signal by the loop processing of step S141 and step S146. However, for each of the second distance point values, the loop processing of step S142 and step S145 further performs the first process.
The distance point x of the UWB radar pulse response difference signal is between (second distance point−points of antenna separation distance / 2) to (second distance point + points of antenna separation distance / 2). Increased sequentially.

  For each combination of the distance point of each second UWB radar pulse response difference signal and the distance point of the first UWB radar pulse response difference signal determined by these double loops, in step S143, based on Equation 12 The distance point w of the second pseudo UWB radar pulse response difference signal is calculated.

  In step S144, the amplitude data of the distance point w calculated this time is added to the amplitude data of the original distance point w, so that the amplitude data of the new distance point w becomes the second pseudo UWB radar pulse response. Calculated as amplitude data of the differential signal.

  The above arithmetic processing is executed for all combinations of the distance points of each second UWB radar pulse response difference signal and the distance points of the first UWB radar pulse response difference signal determined by the double loop.

  The first pseudo response difference signal and the second pseudo response difference signal are converted from a one-dimensional to two-dimensional response difference signal in the first pseudo moving object data converter S5 and the second pseudo moving object data converter S6. These are converted into a first two-dimensional pseudo response difference signal and a second two-dimensional pseudo response difference signal, respectively.

As shown in FIG. 12, the conversion of the one-dimensional to two-dimensional response difference signal is performed so as to draw a concentric circle around the position of the receiving antenna unit.
The first two-dimensional pseudo response difference signal and the second two-dimensional pseudo response difference signal are transmitted from the transmission antenna unit in the first pseudo moving object data shift unit S7 and the second pseudo moving object data shift unit S8. The data is shifted by the distance between the receiving antenna unit and the second receiving antenna unit to become a first two-dimensional pseudo response shift signal and a second two-dimensional pseudo response shift signal, respectively. In the pseudo moving object data shift process, as shown in FIG. 13, data is shifted in the azimuth direction by the distance from the transmitting antenna unit to the receiving antenna unit.

  The first two-dimensional pseudo response shift signal and the second two-dimensional pseudo response shift signal are combined in the pseudo moving object data combining unit S9 to become a two-dimensional pseudo response combined signal. As shown in FIG. 14, data synthesis is performed by adding or multiplying each element (mesh) on a matrix in which the distance direction and the azimuth direction are combined. The two-dimensional pseudo response composite signal is displayed on the moving object data display unit 14.

Here, the two-dimensional pseudo response synthesized signal that can be acquired by the broadband radar apparatus of the first embodiment is compared with the two-dimensional response synthesized signal that can be acquired by the conventional broadband radar apparatus.
FIG. 15A is a diagram illustrating a two-dimensional pseudo-response synthesized signal that can be acquired by the broadband radar apparatus according to the first embodiment. In FIG. 15A, the distance between the transmission antenna unit and the first virtual reception antenna unit 1 and the distance to the second virtual reception antenna unit 2 are separated, and the target object is separated to some extent. , The spread of the orientation method can be kept small (the intersection of concentric circles has a small area). That is, the azimuth accuracy at the time of detecting the moving target object is increased.

  On the other hand, as shown in FIG. 15B, the two-dimensional response combined signal that can be acquired by the conventional broadband radar apparatus is the distance between the transmission antenna unit and the first reception antenna unit 1 and the second reception antenna. When the distance to the portion 2 is approaching and the distance between the target objects is some distance away, the spread in the azimuth direction becomes large (the area of the intersection of concentric circles becomes large).

  FIG. 16 shows a response difference signal and a pseudo response difference signal acquired from a received wave of an actual moving person. The first receiving antenna unit and the second receiving antenna unit are 0.2 m away from the transmitting antenna unit, and the first virtual receiving antenna unit and the second virtual receiving antenna unit are 1.0 m away from the transmitting antenna unit. This is a virtual installation. 16A shows the first pseudo-response difference signal, FIG. 16B shows the first response difference signal, FIG. 16C shows the second response difference signal, and FIG. 16D shows the second pseudo-response difference signal. FIG. 17A is a two-dimensional response synthesized signal obtained by synthesizing FIGS. 16B and 16C, and FIG. 17B is a two-dimensional composition obtained by synthesizing FIGS. 16A and 16D. This is a pseudo response composite signal.

  Therefore, by adopting the configuration of the broadband radar apparatus of the first embodiment, in the case of a small radar apparatus in which the distance between the transmitting antenna and the two receiving antennas is reduced, even if the distance between the target objects is some distance away, The direction accuracy can be increased.

Second embodiment of the present invention Next, FIG 18 is a diagram showing the configuration of a wideband radar apparatus of the second embodiment of the present invention.
In FIG. 18, the same blocks and processes as those in FIG. 1 are denoted by the same reference numerals.

  FIG. 18 shows the first moving object data conversion unit S11 and the first moving object data shift unit S13 that obtain the first two-dimensional response shift signal from the first response difference signal, and the first response object difference signal from the second response difference signal. A second moving object data conversion unit S12 and a second moving object data shift unit S14 for obtaining two two-dimensional response shift signals, and the first two-dimensional response shift signal and the second two-dimensional response shift signal; , A moving object that combines the first two-dimensional pseudo response shift signal and the second two-dimensional pseudo response shift signal obtained from the first pseudo moving object data shift unit S7 and the second pseudo moving object data shift unit. A pseudo moving object data synthesizing unit S15 is provided.

  With the configuration shown in FIG. 18, there are four signals to be combined by the moving object / pseudo-moving object data combining unit S15. Therefore, the degree of enhancement of the target object component after combining is increased, and the detection accuracy can be increased. .

Third Embodiment FIG. 19 of the present invention is a diagram showing a configuration of a third embodiment of a wideband radar apparatus of the present invention.
FIG. 19 includes a pseudo moving object data generation unit S16 corresponding to the first distance and a pseudo moving object data conversion unit S18 corresponding to the first distance from the first response difference signal and the second response difference signal. A two-dimensional pseudo response difference signal corresponding to the first distance is obtained, and a pseudo moving object data generating unit S17 corresponding to the second distance and a pseudo moving object data converting unit S19 corresponding to the second distance are provided. A two-dimensional pseudo-response difference signal corresponding to the second distance is obtained.

  As shown in FIG. 20, when the target object is in the area a and the pseudo received wave of the virtual antenna DD ′ is generated, the accuracy in the azimuth direction is increased, but the accuracy of the distance method is worsened. End up. Therefore, the separation distance of the virtual reception antenna is not constant, but the separation distance of the virtual reception antenna is changed according to the distance of the target object.

For example, when the target object is close to the area a, the reception antenna uses the received wave by AA ′, and when the target object is far away and the target object is far to the area d, the reception antenna uses the virtual wave. The pseudo moving object data is generated using the pseudo received wave by the receiving antenna DD ′.
By doing so, even if the distance of the moving target changes, both the distance method and the accuracy in the azimuth direction can be improved.

Fourth Embodiment Figure 21 of the present invention is a diagram showing the configuration of a fourth embodiment of a wideband radar apparatus of the present invention.
FIG. 21 shows that the receiving antenna unit has not only two horizontal systems but also two vertical systems, that is, the third receiving antenna unit 15, the third UWB gate pulse generating unit 17, and the third detecting unit 19. , Third integration unit 21, third baseband signal AD conversion unit 23, third moving object detection unit S20, third pseudo moving object data generation unit S22, third pseudo moving object data conversion unit S24, Third pseudo moving object data shift unit S26 and fourth reception antenna unit 16, fourth UWB gate pulse generation unit 18, fourth detection unit 20, fourth integration unit 22, fourth baseband signal AD A conversion unit 24, a fourth moving object detection unit S21, a fourth simulated moving object data generation unit S23, a fourth simulated moving object data conversion unit S25, and a fourth simulated moving object data shift unit S27 are provided. .
With the configuration of FIG. 21, not only the azimuth direction of the target object but also the accuracy in the height direction can be improved.

Embodiment FIG 22 of the fifth present invention is a diagram showing the configuration of a wideband radar apparatus according to a fifth embodiment of the present invention.
FIG. 22 includes a UWB gate pulse distribution unit 25 that distributes the UWB gate pulse signal generated by the first UWB gate pulse generation unit 6, and the pulse width of the UWB gate pulse distribution signal distributed by the UWB gate pulse distribution unit 25. During this time, the first detection unit 8 and the second detection unit 9 are operated.

  With the configuration of FIG. 22, each UWB reception pulse signal can be detected by providing a UWB gate pulse distribution unit without providing two gate pulse generation units.

Embodiment Figure 23 of a sixth invention is a diagram showing the configuration of a wideband radar device of a sixth embodiment of the present invention.
FIG. 23 shows a UWB pulse distribution unit 26 that distributes the UWB pulse signal generated by the UWB pulse generation unit 2, a UWB transmission pulse distribution unit 27 that further distributes the distributed UWB transmission pulse signal, and the UWB transmission pulse distribution signal. Is provided with a first UWB pulse delay unit 28 and a second UWB pulse delay unit 29 which are delayed in time to form a UWB gate pulse signal.

  With the configuration of FIG. 23, each UWB reception pulse signal can be detected by providing a UWB pulse distribution unit and a UWB pulse delay unit without providing a gate pulse generation unit.

Embodiment Figure 24 of a seventh invention is a diagram showing the configuration of a wideband radar apparatus of the seventh embodiment of the present invention.
FIG. 24 shows a UWB pulse directional coupling unit 30 that directionally couples the UWB pulse signal generated by the UWB pulse generation unit 2, a UWB transmission pulse distribution unit 27 that distributes the directional coupled UWB transmission pulse signal, and A first UWB pulse delay unit 28 and a second UWB pulse delay unit 29 are provided to delay the UWB transmission pulse distribution signal to make a UWB gate pulse signal.

  With the configuration of FIG. 24, each UWB reception pulse signal can be detected by providing a UWB pulse delay unit, a UWB pulse distribution unit, and a UWB pulse delay unit without providing a gate pulse generation unit.

Eighth Embodiment FIG. 25 of the present invention is a diagram showing the configuration of a wideband radar apparatus according to an eighth embodiment of the present invention.
FIG. 25 shows a UWB pulse distribution unit 26 that distributes the UWB pulse signal generated by the UWB pulse generation unit 2, a UWB pulse delay unit 31 that delays the distributed UWB transmission pulse signal, and a UWB gate pulse that is time delayed. A UWB gate pulse distribution unit 25 for distributing signals is provided.

  With the configuration of FIG. 25, each UWB reception pulse signal can be detected by providing a UWB pulse distribution unit, a UWB pulse delay unit, and a UWB gate pulse distribution unit without providing a gate pulse generation unit. .

Embodiment Figure 26 of the ninth invention is a diagram showing the configuration of a wideband radar apparatus of the ninth embodiment of the present invention.
In FIG. 26, the UWB pulse signal generated by the UWB pulse generator 2 is amplified by the UWB pulse amplifier 32.
With the configuration of FIG. 26, the power of the UWB transmission pulse signal radiated from the transmission antenna unit 3 is increased, and a target object at a longer distance can be detected.

Embodiment Figure 27 of the 10 of the present invention is a diagram showing a configuration of a tenth embodiment of the wideband radar apparatus of the present invention.
In FIG. 27, the UWB pulse signal generated by the UWB pulse generator 2 is band-passed by the UWB pulse band filtering unit 33 that passes only a predetermined frequency band.
27, for example, only the frequency band of 3.4 to 4.8 GHz conforming to the UWB spectrum mask in Japan can be radiated from the transmitting antenna unit 3.

Embodiment FIG 28 of the 11 of the present invention is a 11 illustrates the configuration of a wideband radar system of an embodiment of the present invention.
FIG. 28 shows the first UWB received pulse signal and the second UWB received pulse signal received by the first receiving antenna unit 4 and the second receiving antenna unit 5, respectively, as the first received pulse amplifying unit 34 and the second received UWB received pulse signal. The two reception pulse amplification units 35 amplify each of them.

  With the configuration of FIG. 28, the power of the UWB reception pulse signal received by the first reception antenna unit 4 and the second reception antenna unit 5 is increased, and a target object at a longer distance can be detected.

Twelfth Embodiment FIG. 29 of the present invention is a diagram showing a configuration of a twelfth embodiment of the wideband radar apparatus of the present invention.
FIG. 29 shows the first baseband signal and the second baseband signal output from the first integration unit 10 and the second integration unit 11 as the first baseband signal amplification unit 36 and the second baseband signal. Amplification was performed at the band signal abdomen.
With the configuration of FIG. 29, the voltages of the first baseband signal and the second baseband signal are increased, and a target object at a longer distance can be detected.

Thirteenth Embodiment of the Invention FIG. 30 is a diagram showing a configuration of a broadband radar apparatus according to a thirteenth embodiment of the present invention.
In FIG. 30, the UWB pulse signal generated by the UWB pulse generator 2 is modulated by the UWB pulse modulator 38.
With the configuration shown in FIG. 30, the spectrum of the UWB transmission pulse signal radiated from the transmission antenna unit 3 can be spread, and the average transmission power can be suppressed.

  For example, as shown in FIG. 31 (a), when a UWB pulse signal that is not modulated is used, its spectrum characteristic becomes a comb shape as shown in FIG. In some cases, the transmission power exceeds the UWB limit set by law.

  On the other hand, as shown in FIG. 31 (c), when a UWB pulse signal subjected to pulse position modulation (PPM) is used, its spectrum characteristic is as shown in FIG. 31 (d). Therefore, the average transmission power can be below the UWB limit stipulated by law.

Fourteenth Embodiment FIG. 32 of the present invention is the fourteenth diagram illustrating the configuration of a wideband radar system of an embodiment of the present invention.
FIG. 32 shows a synchronization control unit 1 that generates two transmission clock signals and one reception clock signal to control transmission / reception synchronization, a first UWB pulse generation unit 39 that generates UWB pulses, and a second UWB pulse generation. Unit 40, a first transmitting antenna unit 41 and a second transmitting antenna unit 42 that radiate a first UWB transmission pulse signal and a second UWB transmission pulse signal to free space, and a reflected wave from a target object Receiving antenna section 45, UWB gate pulse generating section 44 for generating a UWB gate pulse signal at the timing of the received clock signal, detecting section 46 for detecting the UWB received pulse signal between the pulse widths of the gate pulse signal, and receiving From the integration part 47 which integrates a pulse detection signal, the baseband signal AD conversion part 48 which AD converts a baseband signal, and a digital signal A moving object detection unit S28 that detects only moving body components, a first moving object signal recording unit S29 that records a first response difference signal, and a second moving object signal recording that records a second response difference signal Part S30 and a first response differential signal and a second response differential signal that are generated by the first virtual reception antenna means at an arbitrary distance from the first reception antenna means to generate data received in a pseudo manner The pseudo-moving object data generation unit S3, and the data received in a pseudo manner by the second virtual receiving antenna means separated from the second receiving antenna means by any distance from the first response difference signal and the second response difference signal A second pseudo-moving object data generation unit S4 to be generated, a first pseudo-moving object data conversion unit S5 that converts the first pseudo-response difference signal from one-dimensional to two-dimensional data, and a second pseudo-response difference Whether the signal is one-dimensional A second pseudo-moving object data conversion unit S6 for converting into two-dimensional data, and a first pseudo-moving object data shifting unit for shifting the first two-dimensional pseudo response difference signal by the distance of the first virtual antenna means S7, a second pseudo moving object data shift unit S8 that shifts the second two-dimensional pseudo response difference signal by the distance of the second virtual antenna means, a first two-dimensional pseudo response shift signal, and a second A pseudo moving object data synthesizing unit S9 for synthesizing the two-dimensional pseudo response shift signal and a moving object data display unit 14 for displaying the pseudo UWB radar pulse two-dimensional response synthesizing signal are provided.

  As a result, as shown in FIG. 33, the first UWB transmission pulse signal and the second UWB transmission pulse signal are time-divisionally transmitted from the first transmission antenna unit 41 and the second transmission antenna unit 42, respectively. As a result, time-division reception processing can be performed by one reception antenna unit 45 and the subsequent reception circuit system, so that a reception circuit system having a complicated circuit configuration can be configured by one system.

Embodiment FIG 34 of the 15 of the present invention is a diagram showing the configuration of a fifteenth embodiment of the wideband radar apparatus of the present invention.
FIG. 34 shows not only two receiving antenna units but also three to n systems, that is, the third receiving antenna unit 15, the third UWB gate pulse generating unit 17, the third detecting unit 19, and the third receiving unit. Integrating unit 21, third baseband signal AD converting unit 23, third moving object detecting unit S20
, Third pseudo moving object data generation unit S22, third pseudo moving object data conversion unit S24, third pseudo moving object data shift unit S26 to nth receiving antenna unit 49, nth UWB gate pulse generation unit 50, the nth detector 51, the nth integrator 52, the nth baseband signal AD converter 53, the nth moving object detector S31, the nth pseudo moving object data generator S32, the nth A pseudo moving object data conversion unit S33 and an nth pseudo moving object data shift unit S34 are provided.
With the configuration shown in FIG. 34, the signal of the target object is further emphasized, and the detection accuracy can be increased.

Supplement to the first to fifteenth embodiments of the present invention With respect to the first to fifteenth embodiments, the following additional notes are disclosed.
(Appendix 1)
A broadband radar pulse is repeatedly generated and transmitted to the target object to be observed, the reflected wave from the target object is received, sampling integration detection is performed, the time is expanded to a baseband signal, and analog-digital conversion is performed. In the broadband radar device that detects and displays the distance and direction of the moving target after detecting the moving target component,
UWB pulse generation means for generating a broadband pulse;
Transmitting antenna means for transmitting the UWB transmission pulse signal generated by the UWB pulse generating means to a free space where a target object exists;
Two receiving antenna means for receiving a signal in which the UWB transmission pulse signal is reflected back to the target object;
A synchronization control means for transmitting a transmission clock to the UWB pulse generation means and outputting a reception clock;
Two UWB gate pulse generating means for respectively generating two UWB gate pulse signals based on the reception clock;
Two detection means for detecting two UWB reception pulse signals received by the two reception antenna means respectively between the pulse widths of the two UWB gate pulse signals;
Two integration means for integrating the two received pulse detection signals detected by the two detection means;
Two baseband signal AD converting means for analog-to-digital conversion of the two baseband signals sampled and detected by the two integrating means and the two integrating means;
Two moving object detection means for detecting only the component of the moving object from the two digital signals AD-converted by the two baseband signal AD conversion means;
Generate two pseudo response difference signals that will be received when the two receiving antenna means are arranged at virtual distance intervals from the two response difference signals detected by the two moving object detection means 2 Two pseudo moving object data generating means,
Two pseudo moving object data converting means for converting the two pseudo response difference signals generated by the two pseudo moving object data generating means from one-dimensional to two-dimensional data;
Two pseudo-moving object data shifting means for shifting the data of the two two-dimensional pseudo response difference signals converted by the two pseudo moving object data converting means by a virtual distance interval of the receiving antenna means;
Pseudo moving object data synthesizing means for synthesizing two two-dimensional pseudo response shift signals that have been data shifted by the two pseudo moving object data shifting means;
Moving object data display means for displaying a pseudo UWB radar pulse two-dimensional response synthesized signal synthesized by the simulated moving object data synthesis means;
A broadband radar apparatus comprising:
(Appendix 2)
Two moving object data converting means for converting two response difference signals detected by the two moving object detecting means from one-dimensional to two-dimensional data;
Two pseudo-moving object data shifting means for shifting data of the two two-dimensional response difference signals converted by the two moving object data converting means by a distance interval of the two receiving antenna means;
A moving object / pseudo that synthesizes data of two two-dimensional response shift signals shifted by the two moving object data shift means and two two-dimensional pseudo response shift signals shifted by the two pseudo moving object data shift means. Moving object data synthesis means;
The broadband radar device according to appendix 1, further comprising:
(Appendix 3)
The two pseudo moving object data generation means change the virtual distance interval according to the distance from the target object with respect to the two response difference signals detected by the two moving object detection means. Generating two pseudo-response difference signals;
The broadband radar device according to appendix 1, wherein:
(Appendix 4)
A broadband radar pulse is repeatedly generated and transmitted to the target object to be observed, the reflected wave from the target object is received, sampling integration detection is performed, the time is expanded to a baseband signal, and analog-digital conversion is performed. In the broadband radar device that detects and displays the distance and direction of the moving target after detecting the moving target component,
UWB pulse generation means for generating a broadband pulse;
Transmitting antenna means for transmitting the UWB transmission pulse signal generated by the UWB pulse generating means to a free space where a target object exists;
Four receiving antenna means for receiving a signal in which the UWB transmission pulse signal is reflected back to the target object;
A synchronization control means for transmitting a transmission clock to the UWB pulse generation means and outputting a reception clock;
Four UWB gate pulse generating means for generating four UWB gate pulse signals based on the reception clock, respectively;
Four detection means for detecting four UWB reception pulse signals received by the four reception antenna means during each pulse width of the four UWB gate pulse signals;
Four integration means for integrating the four received pulse detection signals detected by the four detection means;
Four baseband signal AD converting means for analog-to-digital conversion of the four baseband signals sampled and detected by the four detecting means and the four integrating means;
Four moving object detection means for detecting only the component of the moving object from the four digital signals AD-converted by the four baseband signal AD conversion means;
Generates four pseudo response difference signals that will be received when the four receiving antenna means are arranged at virtual distance intervals from the four response difference signals detected by the four moving object detection means 4 Two pseudo moving object data generating means,
Four pseudo moving object data converting means for converting the four pseudo response difference signals generated by the four pseudo moving object data generating means from one-dimensional to two-dimensional data;
Four pseudo-moving object data shifting means for shifting the data of the four two-dimensional pseudo response difference signals converted by the four pseudo moving object data converting means by a virtual distance interval of the receiving antenna means;
Pseudo moving object data synthesizing means for synthesizing the four two-dimensional pseudo response shift signals data shifted by the four pseudo moving object data shifting means;
Moving object data display means for displaying a pseudo UWB radar pulse two-dimensional response synthesized signal synthesized by the simulated moving object data synthesis means;
A broadband radar apparatus comprising:
(Appendix 5)
The two UWB gate pulse generating means are shared by one UWB gate pulse generating means,
UWB gate pulse distribution means for distributing the UWB gate pulse signal generated by the one UWB gate pulse generation means and outputting two UWB gate pulse signals obtained as a result to the two detection means, respectively.
The broadband radar device according to appendix 1, wherein: (4, FIG. 22)
(Appendix 6)
Substituting the two UWB gate pulse generating means with the UWB pulse generating means,
UWB pulse distribution means for distributing the UWB transmission pulse signal generated by the UWB pulse generation means to the UWB transmission pulse signal and the second UWB transmission pulse signal supplied to the transmission antenna means;
UWB transmission pulse distribution means for further distributing the second UWB transmission pulse signal distributed by the UWB pulse distribution means into two;
Two UWB pulse delay means for delaying each of the two UWB transmission pulse distribution signals distributed by the UWB transmission pulse distribution means and outputting the two UWB gate pulse signals to the two detection means, respectively,
The wideband radar apparatus according to appendix 1, which includes:
(Appendix 7)
Substituting the two UWB gate pulse generating means with the UWB pulse generating means,
UWB pulse directional coupling means for directionally coupling the UWB transmission pulse signal generated by the UWB pulse generation means to the UWB transmission pulse signal and the second UWB transmission pulse signal supplied to the transmission antenna means;
UWB transmission pulse distribution means for further distributing the second UWB transmission pulse signal directionally coupled by the UWB pulse distribution means into two;
The two UWB transmission pulse distribution signals distributed by the UWB transmission pulse distribution means are each time-delayed, and the two delayed signals obtained as a result are output to the two detection means as the two UWB gate pulse signals, respectively. UWB pulse delay means;
The wideband radar apparatus according to appendix 1, which includes:
(Appendix 8)
Substituting the two UWB gate pulse generating means with the UWB pulse generating means,
UWB pulse distribution means for distributing the UWB transmission pulse signal generated by the UWB pulse generation means to the UWB transmission pulse signal and the second UWB transmission pulse signal supplied to the transmission antenna means;
UWB pulse delay means for delaying the second UWB transmission pulse signal distributed by the UWB pulse distribution means and outputting a UWB gate pulse signal;
UWB gate pulse distribution means for distributing the UWB gate pulse signal into two, and outputting the two distribution signals obtained as a result to the two detection means as two UWB gate pulse signals, respectively.
The wideband radar apparatus according to appendix 1, which includes:
(Appendix 9)
A UWB pulse amplifying means for amplifying the UWB pulse signal generated by the UWB pulse generating means and outputting the resulting signal as the UWB transmission pulse signal;
The broadband radar device according to appendix 1, wherein:
(Appendix 10)
UWB pulse band filtering means for allowing the UWB pulse signal generated by the UWB pulse generation means to pass only in a predetermined frequency band and outputting the resulting signal as the UWB transmission pulse signal.
The broadband radar device according to appendix 1, wherein:
(Appendix 11)
Further comprising two reception pulse amplification means for amplifying the UWB reception pulse signals received by the two reception antenna means and outputting the amplified signals to the two detection means, respectively.
The broadband radar device according to appendix 1, wherein:
(Appendix 12)
Two baseband signal amplifying means for respectively amplifying the two baseband signals integrated by the two integrating means and outputting to the two baseband signal AD converting means;
The broadband radar device according to appendix 1, wherein:
(Appendix 13)
UWB pulse modulation means for modulating the UWB pulse signal generated by the UWB pulse generation means and outputting the resulting signal as the UWB pulse signal.
The broadband radar device according to appendix 1, wherein:
(Appendix 14)
A broadband radar pulse is repeatedly generated and transmitted to the target object to be observed, the reflected wave from the target object is received, sampling integration detection is performed, the time is expanded to a baseband signal, and analog-digital conversion is performed. In the broadband radar device that detects and displays the distance and direction of the moving target after detecting the moving target component,
Two UWB pulse generating means for generating a broadband pulse;
Two transmitting antenna means for transmitting two UWB transmission pulse signals generated by the two UWB pulse generating means in a time-division manner to a free space where a target object exists, respectively,
One receiving antenna means for receiving, in a time division manner, signals returned by the two UWB transmission pulse signals reflected from the target object, respectively;
UWB gate pulse generating means for generating a UWB gate pulse signal based on the reception clock;
Detecting means for detecting a UWB received pulse signal received by the receiving antenna means during a pulse width of the UWB gate pulse signal;
Integrating means for integrating the received pulse detection signal detected by the detection means;
Baseband signal AD converting means for analog-to-digital conversion of the baseband signal sampled and detected by the detecting means and the integrating means;
Moving object detection means for detecting only a component of the moving object from the digital signal AD-converted by the baseband signal AD conversion means;
Two moving object signal recording means for recording two response difference signals consecutive in time division detected by the moving object detection means;
From the two response difference signals recorded by the two moving object signal recording means, two pseudo response difference signals that will be received when the two transmitting antenna means are arranged at virtual distance intervals are generated. Two pseudo moving object data generating means;
Two pseudo moving object data converting means for converting the two pseudo response difference signals generated by the two pseudo moving object data generating means from one-dimensional to two-dimensional data;
Two pseudo-moving object data shifting means for shifting the data of the two two-dimensional pseudo response difference signals converted by the two pseudo moving object data converting means by a virtual distance interval of the transmitting antenna means;
Pseudo moving object data synthesizing means for synthesizing two two-dimensional pseudo response shift signals that have been data shifted by the two pseudo moving object data shifting means;
Moving object data display means for displaying a pseudo UWB radar pulse two-dimensional response synthesized signal synthesized by the simulated moving object data synthesis means;
A broadband radar apparatus comprising:
(Appendix 15)
A broadband radar pulse is repeatedly generated and transmitted to the target object to be observed, the reflected wave from the target object is received, sampling integration detection is performed, the time is expanded to a baseband signal, and analog-digital conversion is performed. In the broadband radar device that detects and displays the distance and direction of the moving target after detecting the moving target component,
UWB pulse generation means for generating a broadband pulse;
Transmitting antenna means for transmitting the UWB transmission pulse signal generated by the UWB pulse generating means to a free space where a target object exists;
N receiving antenna means (n is an integer of 2 or more) receiving antenna means for receiving the UWB transmission pulse signal reflected from the target object and returned;
A synchronization control means for transmitting a transmission clock to the UWB pulse generation means and outputting a reception clock;
N UWB gate pulse generating means for generating n UWB gate pulse signals based on the reception clock,
N detection means for detecting n UWB reception pulse signals received by the n reception antenna means between pulse widths of the n UWB gate pulse signals, respectively.
N integration means for integrating n received pulse detection signals detected by the n detection means;
N baseband signal AD converting means for analog-to-digital conversion of n baseband signals sampled and detected by the n detecting means and the n integrating means;
N moving object detection means for detecting only a component of the moving object from the n digital signals AD-converted by the n baseband signal AD conversion means;
N pseudo response difference signals that will be received when the n receiving antenna means are arranged at virtual distance intervals from the n response difference signals detected by the n moving object detection means. N pseudo moving object data generating means for generating
N pseudo moving object data converting means for converting n pseudo response difference signals generated by the n pseudo moving object data generating means from one-dimensional to two-dimensional data;
N pseudo moving object data shifting means for shifting data of n two-dimensional pseudo response difference signals converted by the n pseudo moving object data converting means by a virtual distance interval of the receiving antenna means;
Pseudo moving object data synthesizing means for synthesizing n two-dimensional pseudo response shift signals data-shifted by the n pseudo moving object data shifting means;
Moving object data display means for displaying a pseudo UWB radar pulse two-dimensional response synthesized signal synthesized by the simulated moving object data synthesis means;
A broadband radar apparatus comprising:

1 is a configuration diagram illustrating a broadband radar apparatus according to a first embodiment of the present invention. It is a figure explaining operation | movement of a moving object detection process. It is a figure explaining operation | movement of a detection part. It is a figure explaining operation | movement of a moving object detection process. It is a figure explaining the relationship between a response difference signal and a pseudo response difference signal. It is FIG. (1) explaining operation | movement of a 1st pseudo | simulated moving object data generation process. It is FIG. (2) explaining operation | movement of a 1st pseudo | simulated moving object data generation process. It is a figure explaining the flowchart of the 1st pseudo moving object data generation process. It is FIG. (1) explaining operation | movement of a 2nd pseudo | simulation moving object data generation process. It is FIG. (2) explaining operation | movement of a 2nd pseudo | simulation moving object data generation process. It is a figure explaining the flowchart of a 2nd pseudo moving object data generation process. It is a figure explaining operation | movement of pseudo | simulation moving object data conversion processing. It is a figure explaining the operation | movement of a pseudo moving object data shift process. It is a figure explaining operation | movement of a pseudo | simulated moving object data synthetic | combination process. It is a figure explaining the relationship between the distance between receiving antennas, the distance of a target object, and azimuth | direction precision. It is a figure explaining a pseudo response difference signal. It is a figure explaining a two-dimensional pseudo response synthetic signal. It is a block diagram which shows the broadband radar apparatus by the 2nd Embodiment of this invention. It is a block diagram which shows the wideband radar apparatus by the 3rd Embodiment of this invention. It is a figure explaining operation | movement of the pseudo | simulated moving object data generation process according to distance. It is a block diagram which shows the wideband radar apparatus by the 4th Embodiment of this invention. It is a block diagram which shows the broadband radar apparatus by the 5th Embodiment of this invention. It is a block diagram which shows the broadband radar apparatus by the 6th Embodiment of this invention. It is a block diagram which shows the wideband radar apparatus by the 7th Embodiment of this invention. It is a block diagram which shows the wideband radar apparatus by the 8th Embodiment of this invention. It is a block diagram which shows the broadband radar apparatus by the 9th Embodiment of this invention. It is a block diagram which shows the wideband radar apparatus by the 10th Embodiment of this invention. It is a block diagram which shows the broadband radar apparatus by the 11th Embodiment of this invention. It is a block diagram which shows the wideband radar apparatus by the 12th Embodiment of this invention. It is a block diagram which shows the wideband radar apparatus by the 13th Embodiment of this invention. It is explanatory drawing for demonstrating the power reduction effect in the broadband radar apparatus by the 13th Embodiment of this invention. It is a block diagram which shows the broadband radar apparatus by the 14th Embodiment of this invention. It is explanatory drawing for demonstrating the time division process in the wideband radar apparatus by the 14th Embodiment of this invention. It is a block diagram which shows the wideband radar apparatus by the 15th Embodiment of this invention. It is a block diagram of the broadband radar apparatus of the conventional form.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Synchronization control part 2 UWB pulse generation part 3 Transmitting antenna part 4 1st reception antenna part 5 2nd reception antenna part 6 1st UWB gate pulse generation part 7 2nd UWB gate pulse generation part 8 1st detection Unit 9 second detection unit 10 first integration unit 11 second integration unit 12 first baseband signal AD conversion unit 13 second baseband signal AD conversion unit 14 moving object data display unit 15 third reception Antenna unit 16 Fourth receiving antenna unit 17 Third UWB gate pulse generation unit 18 Fourth UWB gate pulse generation unit 19 Third detection unit 20 Fourth detection unit 21 Third integration unit 22 Fourth integration Unit 23 third baseband signal AD conversion unit 24 fourth baseband signal AD conversion unit 25 UWB gate pulse distribution unit 26 UWB pulse distribution unit 27 UWB transmission path Distribution unit 28 first UWB pulse delay unit 29 second UWB pulse delay unit 30 UWB pulse directional coupling unit 31 UWB pulse delay unit 32 UWB pulse amplification unit 33 UWB pulse band filtering unit 34 first reception pulse amplification Unit 35 second reception pulse amplification unit 36 first baseband signal amplification unit 37 second baseband signal amplification unit 38 UWB pulse modulation unit 39 first UWB pulse generation unit 40 second UWB pulse generation unit 41 first 1 transmitting antenna unit 42 second transmitting antenna unit 43 receiving antenna unit 44 UWB gate pulse generating unit 45 receiving antenna unit 46 detecting unit 47 integrating unit 48 baseband signal AD converting unit 49 nth receiving antenna unit 50 nth UWB gate pulse generation unit 51 nth detection unit 52 nth integration unit 53 nth baseband A / D conversion unit S1 First moving object detection unit S2 Second moving object detection unit S3 First pseudo moving object data generation unit S4 Second pseudo moving object data generation unit S5 First pseudo moving object data conversion unit S6 Second pseudo moving object data conversion unit S7 First pseudo moving object data shift unit S8 Second pseudo moving object data shift unit S9 Pseudo moving object data synthesis unit S10 First moving object data conversion unit S11 Second Moving object data conversion unit S12 First moving object data shift unit S13 Second moving object data shift unit S14 Moving object / pseudo moving object data synthesis unit S15 Pseudo moving object data generation unit according to the first distance S16 Second Pseudo-moving object data generation unit according to the distance S17 Pseudo-moving object data conversion unit according to the first distance S18 Pseudo-movement according to the second distance Moving object data converter S19 Third moving object detection unit S20 Fourth moving object detection unit S21 Third pseudo moving object data generation unit S22 Fourth pseudo moving object data generation unit S23 Third pseudo moving object data conversion Unit S24 fourth pseudo moving object data conversion unit S25 third pseudo moving object data shift unit S26 fourth pseudo moving object data shift unit S27 moving object data synthesis unit S28 moving object detection unit S29 first moving object signal recording Unit S30 second moving object signal recording unit S31 nth moving object detection unit S32 nth pseudo moving object data generation unit S33 nth pseudo moving object data conversion unit S34 nth pseudo moving object data shift unit

Claims (9)

A broadband radar pulse is repeatedly generated and transmitted to the target object to be observed, the reflected wave from the target object is received, sampling integration detection is performed, the time is expanded to a baseband signal, and analog-digital conversion is performed. In the broadband radar device that detects and displays the distance and direction of the moving target after detecting the moving target component,
UWB pulse generation means for generating a broadband pulse;
Transmitting antenna means for transmitting the UWB transmission pulse signal generated by the UWB pulse generating means to a free space where a target object exists;
Two receiving antenna means for receiving a signal in which the UWB transmission pulse signal is reflected back to the target object;
A synchronization control means for transmitting a transmission clock to the UWB pulse generation means and outputting a reception clock;
Two UWB gate pulse generating means for respectively generating two UWB gate pulse signals based on the reception clock;
Two detection means for detecting two UWB reception pulse signals received by the two reception antenna means respectively between the pulse widths of the two UWB gate pulse signals;
Two integration means for integrating the two received pulse detection signals detected by the two detection means;
Two baseband signal AD converting means for analog-to-digital conversion of the two baseband signals sampled and detected by the two integrating means and the two integrating means;
Two moving object detection means for detecting only the component of the moving object from the two digital signals AD-converted by the two baseband signal AD conversion means;
A virtual distance interval is changed according to a distance from the target object with respect to the two response difference signals detected by the two moving object detection means, and the two reception antenna means are obtained from the two response difference signals. There two simulated moving object data generating means for generating two pseudo response differential signal that would be received when placed in the virtual distance interval,
Two pseudo moving object data converting means for converting the two pseudo response difference signals generated by the two pseudo moving object data generating means from one-dimensional to two-dimensional data;
Two pseudo-moving object data shifting means for shifting the data of the two two-dimensional pseudo response difference signals converted by the two pseudo moving object data converting means by a virtual distance interval of the receiving antenna means;
Pseudo moving object data synthesizing means for synthesizing two two-dimensional pseudo response shift signals that have been data shifted by the two pseudo moving object data shifting means;
Moving object data display means for displaying a pseudo UWB radar pulse two-dimensional response synthesized signal synthesized by the simulated moving object data synthesis means;
A broadband radar apparatus comprising: Two moving object data converting means for converting two response difference signals detected by the two moving object detecting means from one-dimensional to two-dimensional data;
Two pseudo-moving object data shifting means for shifting data of the two two-dimensional response difference signals converted by the two moving object data converting means by a distance interval of the two receiving antenna means;
A moving object / pseudo that synthesizes data of two two-dimensional response shift signals shifted by the two moving object data shift means and two two-dimensional pseudo response shift signals shifted by the two pseudo moving object data shift means. Moving object data synthesis means;
The broadband radar apparatus according to claim 1, further comprising: The two UWB gate pulse generating means are shared by one UWB gate pulse generating means,
UWB gate pulse distribution means for distributing the UWB gate pulse signal generated by the one UWB gate pulse generation means and outputting two UWB gate pulse signals obtained as a result to the two detection means, respectively.
The wide-band radar apparatus according to claim 1. Substituting the two UWB gate pulse generating means with the UWB pulse generating means,
UWB pulse distribution means for distributing the UWB transmission pulse signal generated by the UWB pulse generation means to the UWB transmission pulse signal and the second UWB transmission pulse signal supplied to the transmission antenna means;
UWB transmission pulse distribution means for further distributing the second UWB transmission pulse signal distributed by the UWB pulse distribution means into two;
Two UWB pulse delay means for delaying each of the two UWB transmission pulse distribution signals distributed by the UWB transmission pulse distribution means and outputting the two UWB gate pulse signals to the two detection means, respectively,
The broadband radar apparatus according to claim 1, comprising: Substituting the two UWB gate pulse generating means with the UWB pulse generating means,
UWB pulse distribution means for distributing the UWB transmission pulse signal generated by the UWB pulse generation means to the UWB transmission pulse signal and the second UWB transmission pulse signal supplied to the transmission antenna means;
UWB pulse delay means for delaying the second UWB transmission pulse signal distributed by the UWB pulse distribution means and outputting a UWB gate pulse signal;
UWB gate pulse distribution means for distributing the UWB gate pulse signal into two, and outputting the two distribution signals obtained as a result to the two detection means as two UWB gate pulse signals, respectively.
The broadband radar apparatus according to claim 1, comprising: UWB pulse band filtering means for allowing the UWB pulse signal generated by the UWB pulse generation means to pass only in a predetermined frequency band and outputting the resulting signal as the UWB transmission pulse signal.
The wide-band radar apparatus according to claim 1. UWB pulse modulation means for modulating the UWB pulse signal generated by the UWB pulse generation means and outputting the resulting signal as the UWB pulse signal.
The wide-band radar apparatus according to claim 1. A broadband radar pulse is repeatedly generated and transmitted to the target object to be observed, the reflected wave from the target object is received, sampling integration detection is performed, the time is expanded to a baseband signal, and analog-digital conversion is performed. In the broadband radar device that detects and displays the distance and direction of the moving target after detecting the moving target component,
Two UWB pulse generating means for generating a broadband pulse;
Two transmitting antenna means for transmitting two UWB transmission pulse signals generated by the two UWB pulse generating means in a time-division manner to a free space where a target object exists, respectively,
One receiving antenna means for receiving, in a time division manner, signals returned by the two UWB transmission pulse signals reflected from the target object, respectively;
A synchronization control means for transmitting a transmission clock to the UWB pulse generation means and outputting a reception clock;
UWB gate pulse generating means for generating a UWB gate pulse signal based on the reception clock;
Detecting means for detecting a UWB received pulse signal received by the receiving antenna means during a pulse width of the UWB gate pulse signal;
Integrating means for integrating the received pulse detection signal detected by the detection means;
Baseband signal AD converting means for analog-to-digital conversion of the baseband signal sampled and detected by the detecting means and the integrating means;
Moving object detection means for detecting only a component of the moving object from the digital signal AD-converted by the baseband signal AD conversion means;
Two moving object signal recording means for recording two response difference signals consecutive in time division detected by the moving object detection means;
A virtual distance interval is changed according to a distance from the target object with respect to the two response difference signals recorded by the two moving object signal recording means, and the two transmission antennas are obtained from the two response difference signals. and two pseudo moving object data generating means for generating two pseudo response differential signal will will be received when the device is placed in the virtual distance interval,
Two pseudo moving object data converting means for converting the two pseudo response difference signals generated by the two pseudo moving object data generating means from one-dimensional to two-dimensional data;
Two pseudo-moving object data shifting means for shifting the data of the two two-dimensional pseudo response difference signals converted by the two pseudo moving object data converting means by a virtual distance interval of the transmitting antenna means;
Pseudo moving object data synthesizing means for synthesizing two two-dimensional pseudo response shift signals that have been data shifted by the two pseudo moving object data shifting means;
Moving object data display means for displaying a pseudo UWB radar pulse two-dimensional response synthesized signal synthesized by the simulated moving object data synthesis means;
A broadband radar apparatus comprising: A broadband radar pulse is repeatedly generated and transmitted to the target object to be observed, the reflected wave from the target object is received, sampling integration detection is performed, the time is expanded to a baseband signal, and analog-digital conversion is performed. In the broadband radar device that detects and displays the distance and direction of the moving target after detecting the moving target component,
UWB pulse generation means for generating a broadband pulse;
Transmitting antenna means for transmitting the UWB transmission pulse signal generated by the UWB pulse generating means to a free space where a target object exists;
N receiving antenna means (n is an integer of 2 or more) receiving antenna means for receiving the UWB transmission pulse signal reflected from the target object and returned;
A synchronization control means for transmitting a transmission clock to the UWB pulse generation means and outputting a reception clock;
N UWB gate pulse generating means for generating n UWB gate pulse signals based on the reception clock,
N detection means for detecting n UWB reception pulse signals received by the n reception antenna means between pulse widths of the n UWB gate pulse signals, respectively.
N integration means for integrating n received pulse detection signals detected by the n detection means;
N baseband signal AD converting means for analog-to-digital conversion of n baseband signals sampled and detected by the n detecting means and the n integrating means;
N moving object detection means for detecting only a component of the moving object from the n digital signals AD-converted by the n baseband signal AD conversion means;
A virtual distance interval is changed according to the distance from the target object with respect to the n response difference signals detected by the n moving object detection means, and the n response difference signals are detected from the n response difference signals . and n number of pseudo moving object data generating means for generating n pseudo response difference signal that would be received when the receiving antenna means is placed in the virtual distance interval,
N pseudo moving object data converting means for converting n pseudo response difference signals generated by the n pseudo moving object data generating means from one-dimensional to two-dimensional data;
N pseudo moving object data shifting means for shifting data of n two-dimensional pseudo response difference signals converted by the n pseudo moving object data converting means by a virtual distance interval of the receiving antenna means;
Pseudo moving object data synthesizing means for synthesizing n two-dimensional pseudo response shift signals data-shifted by the n pseudo moving object data shifting means;
Moving object data display means for displaying a pseudo UWB radar pulse two-dimensional response synthesized signal synthesized by the simulated moving object data synthesis means;
A broadband radar apparatus comprising: