JP5730565B2 - Radar signal processing device and radar image processing device - Google Patents

Description

  The present invention relates to a radar signal processing device for performing signal processing necessary for identifying a target on a wave signal arriving from a target in a radar device, and a radar image processing device for generating image information necessary for indicating the identified target. And about.

  The radar apparatus is applied with highly advanced signal processing technology and information processing technology. In particular, in addition to the identification of moving targets such as ships and airplanes with high accuracy, it is flexible for tracking such targets. Adaptability is required.

FIG. 5 is a diagram illustrating a configuration example of a conventional radar apparatus.
In the figure, a transmission / reception unit 22 is connected to the feeding path of the antenna system 21, and a modulation input and a demodulation output of the transmission / reception unit 22 are connected to an instruction device 30.

  In the instruction device 30, the modulation input and demodulation output of the transmission / reception unit 22 are connected to the modulation output and demodulation input of the signal processing unit 23, respectively. Corresponding ports of the instruction unit 32 are connected to specific ports of the signal processing unit 23, and the first and second ports of the control unit 33 are control ports that the signal processing unit 31 and the instruction unit 32 individually have. Are connected to each other. The third and fourth ports of the control unit 33 are connected to the control ports individually included in the antenna system 21 and the transmission / reception unit 22 described above. Further, a specific port of the signal processing unit 31 and the instruction unit 32 is connected with a corresponding port of a target tracking device (ARPA: Automatic Radar Plotting Aids) 40. Is done.

  In the radar apparatus having such a configuration, the signal processing unit 31 has a base adapted to a request given by the user via the operation unit of the instruction unit 32 and a command given by the control unit 25 based on a predetermined processing procedure. Generate a band signal. The transmission unit 23 converts the baseband into a transmission wave having a predetermined radio frequency under the control of the control unit 33. The antenna system 21 radiates the transmission wave under the control of the control unit 33 in a region where a target such as a ship to be identified or tracked can be located.

  The received wave that has arrived at the antenna system 21 by reflecting the transmitted wave at the target is demodulated by the transmitting / receiving unit 22. The signal processing unit 31 performs predetermined signal processing on the baseband signal obtained by such demodulation, for example, to convert each target into image information based on a PPI scope. The instruction unit 32 displays such image information and serves to identify a target visually by the user.

In addition, the signal processing unit 31 provides the target tracking device 40 with information on each target identified in the signal processing process.
The target tracking device 40 performs the following processing.

(1) Based on the above information, individual ships located around the ship are detected as targets, and the information is automatically plotted to analyze the relative motion and true motion of these targets.
(2) As a result of the analysis, it generates image information (hereinafter referred to as “superimposed image information”) that is useful for avoiding navigation and should be displayed superimposed on the instruction screen of the indicator 32. The superimposed image information is given to the instruction unit 32.

Further, in the signal processing process, the signal processing unit 31 identifies the length and size of each target as any of the following, and reflects them in the above-described image information.
(1) Target width in the range direction
(2) A set (area) of pixels which are indicated by received waves estimated to have arrived from a common target and occupy corresponding areas on the display screen of the instruction unit 32

In addition, there exist the patent document 1 thru | or the patent document 3 listed below as a prior art relevant to this invention.
(1) `` Laser beam (14) is sent out at approximately equal angular intervals on a predetermined surface from almost the same delivery point (30), and the said delivery point (28) from the reflected beam (28) from the object (26) ( 30) to a distance r from the object (26), and a number n of angular positions of the reflected beam (28) from the object (26) is detected, and the object is based on the distance r and the number n. By determining the size of (26), the laser radar is characterized in that "the distance detection object is accurately detected by excluding objects such as floating objects that hinder the detection of the distance detection object" Method for determining object size by the use of ...

(2) “Another ship detection that detects the length, course, and speed of other ships around the ship from the image information obtained by the radar apparatus in the automatic collision prevention assistance device installed on the ship with the radar device. Means, a stop performance calculating means for calculating stop performance based on the relative speed of the other ship to the own ship detected by the other ship detecting means and the detected length of the ship, and the calculated stop performance Based on the characteristics of the sea area, it is equipped with a dangerous area calculation means for obtaining a dangerous area that may cause a collision with another ship when the ship enters, and a means for displaying the obtained dangerous area on the screen. The characteristics of the sea area that is being used is a characteristic that shows from the congested sea area where the ship is dense to the sea area where the ship is not, and the length of the detected ship was detected by the own ship length and other ship detection means The length of your ship among other ship lengths By using the length obtained by taking the weighted average of the square root of the sum of the squares of other ships and the length of the other ship, it is more useful for ship owners by setting the risk area based on the size and trend of the ship. Automatic collision prevention assistance device characterized by "giving assistance" ... Patent Document 2

(3) “The process of formulating the correspondence between the planar measurement area and the actual area of a marine target obtained by radar in advance through experiments or estimation processes, Calculating the actual area from the measurement area of the marine target obtained in the above, estimating the total length of the marine target from the actual area from the average total length to width ratio of the ship, etc., from the radar Including a step of accumulating a predetermined amount of correspondence data between a planar measurement area and an actual area of an actually obtained marine target and sequentially correcting the correspondence relation formula based on the accumulated correspondence data. “Even when the ship-specific data file of the system cannot be used, the size (length) of the target can be accurately estimated from the measurement area of the marine target actually obtained by the radar. With a stable display Method for estimating the size of a marine target using radar characterized by

Japanese Patent No. 2998125 Japanese Patent No. 4055915 JP-A-5-188140

  By the way, in the above-described conventional example, in a state where almost all of the target reflection surfaces that reflect the transmission wave are the closest surfaces in the range direction, depending on the target posture (tilt) with respect to the range direction and the target shape, The accuracy of target identification and tracking was likely to be significantly impaired, as listed in.

(1) It is difficult to specify whether the width of the reflecting surface on the instruction screen corresponds to the target length or width.
(2) When the target shape is substantially rectangular and another target is located in the vicinity of the target in the range direction, it is difficult to identify the length of the target.
(3) These difficulties are further increased when other targets can be located in the vicinity of the target.

  The present invention relates to a radar signal processing device and a radar image processing device capable of accurately and stably realizing identification of an area occupied geographically or physically by a target regardless of the posture, moving direction, distance and direction of the target. The purpose is to provide.

In the first aspect of the present invention, the target evaluation unit acquires reference information indicating a posture or a moving direction of a target that radiates or reflects a radio signal as a response to the transmitted transmission wave from the navigation assistance system, and the radio The direction of movement of the target is obtained from the reference information as a relative angle θ _{d with} respect to a predetermined direction that can be set as the direction of the main lobe of the antenna used for signal reception. The target identification means includes the target distance R, the target azimuth angle θ with respect to the predetermined direction, the relative angle θ _d, and the width θ _{T of the} direction in which the radio signal is received by the antenna. Based on the above, the target length L (= 2R · tan (θ _T / 2) / | cos { 90 ° −θ / 2 + θ _d } |) is obtained, and the distance R, the azimuth angle θ, and the angle θ are obtained. _d, wherein Sadamari width theta _T and the length L, a and identifies the region in which the target is located.

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the area occupied and occupied by the target is accurate in cooperation with the device or system that provides the reference information. Well identified.

In the invention described in claim 2, in the radar signal processing apparatus according to claim 1, wherein the predetermined direction is the direction of true north.

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the area where the target is located and occupied under the cooperation with the device or system that provides the reference information is true. It is accurately identified with reference to the north direction.

According to a third aspect of the present invention, in the radar signal processing device according to the first aspect, the predetermined direction is a direction in which a moving body on which the antenna is mounted moves.

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the radar device to which the present invention is applied is mounted in cooperation with the device or system that provides the reference information. With reference to the direction in which the moving body moves, the area occupied by the corresponding target is accurately identified.

According to a fourth aspect of the present invention, in the radar signal processing device according to the first aspect, the predetermined direction is a direction in which a head of a moving body on which the antenna is mounted is directed.

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the radar device to which the present invention is applied is mounted in cooperation with the device or system that provides the reference information. With reference to the leading direction of the moving body, the area where the corresponding target is located and occupied is accurately identified.

In the invention according to claim 5, the target evaluation means obtains reference information indicating the attitude or moving direction of the target that radiates or reflects a radio signal as a response to the transmitted transmission wave from the navigation assistance system, and displays the instruction screen. The moving direction of the target is obtained from the reference information as a relative angle θ _{d with} respect to the predetermined direction above. The target identifying means is based on the target distance R, the target azimuth angle θ relative to the predetermined direction, the relative angle θ _d, and the target viewing angle θ _T on the instruction screen. A target length L (= 2R · tan (θ _T / 2) / | cos { 90 ° −θ / 2 + θ _d } |) is obtained, and the distance R, the azimuth angle θ, the angle θ _d , and the width θ An area determined by _T and the length L and where the target is located on the instruction screen is identified.

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the area occupied and occupied by the target is accurate in cooperation with the device or system that provides the reference information. Well identified.

In a sixth aspect of the present invention, in the radar image processing apparatus according to the fifth aspect, the direction on the instruction screen corresponds to a true north direction .

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the area where the target is located and occupied under the cooperation with the device or system that provides the reference information is true. It is accurately identified with reference to the north direction.

In a seventh aspect of the present invention, in the radar image processing apparatus according to the fifth aspect, the predetermined direction is a direction in which the radar apparatus to which the present invention is applied moves on the instruction screen.

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the radar device to which the present invention is applied is mounted in cooperation with the device or system that provides the reference information. With reference to the direction in which the moving body moves, the area occupied by the corresponding target is accurately identified.

In the invention described in claim 8, in the radar apparatus according to claim 5, wherein the predetermined direction, the top faces of the indication screen of the mobile radar apparatus to which the present invention is applied is mounted and that is the direction.

  In other words, regardless of the relative distance and direction of the target and the direction in which the target travels, the radar device to which the present invention is applied is mounted in cooperation with the device or system that provides the reference information. With reference to the leading direction of the moving body, the area where the corresponding target is located and occupied is accurately identified.

  According to the present invention, the structure is not significantly complicated under the cooperation with a navigation assistance system provided separately, and stable with high accuracy that has not been achieved by conventional radar signal processing or radar image processing alone. The desired target positioning is achieved.

  Therefore, the radar apparatus to which the present invention is applied can realize positioning at low cost in a form that is flexibly adapted to any of the forms of operation and instruction and the actual attitude, distance, direction, and movement direction of the target. .

It is a figure which shows one Embodiment of this invention. It is a figure which shows the principle of this embodiment. It is a figure which shows the cooperation of each part in this embodiment. It is an operation | movement flowchart of the signal processing part in this embodiment. It is a figure which shows the structural example of the conventional radar apparatus.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing an embodiment of the present invention.
In the figure, components having the same functions and configurations as those shown in FIG. 5 are given the same reference numerals, and descriptions thereof are omitted here.

  The difference in configuration between the present embodiment and the conventional example shown in FIG. 5 is different from the instruction device 30 in that the signal processing unit 11 is provided instead of the signal processing unit 31 instead of the instruction device 30. The pointing device 10 is provided.

FIG. 2 is a diagram illustrating the principle of the present embodiment.
FIG. 3 is a diagram showing the linkage of each part in the present embodiment.
FIG. 4 is an operation flowchart of the signal processing unit in the present embodiment.
The operation of this embodiment will be described below with reference to FIGS.

  In the present embodiment, as described later, the signal processing unit 11 specifies an area occupied by the target on the PPI scope in the process of signal processing performed by the signal processing unit 11 under the control of the control unit 33 as described later. Image information indicating the region (hereinafter referred to as “estimated target image”) is added to the image information to be given.

The principle of the present invention in this embodiment is as follows.
The course θ _{d of the} ship that is detected by the target tracking device 40 and is the target of the above-described analysis of relative motion and true motion.
And the viewing angle θ _{T of} the region where the echo image indicating the ship is located on the PPI scope, the minimum value θ _R and the maximum value θ _L of the azimuth angle of the region, and the distance R of the ship as shown in FIG. 2, among the sides of the aforementioned area within the viewing angle theta _T, the length X of the distance is R side is represented by the following formula.

X = 2R · tan (θ _T / 2) (a)
Further, the length L of the ship has two sides with lengths L and X, respectively, as indicated by a thick line in FIG. 2, and the included angle φ between these sides is expressed by the following equation (b). It can be obtained as the length of the side of the triangle shown, and is given by the following equation (c).

φ = 90 ° − (θ _L + θ _R ) / 2 + θ _d (b)
L = X / | cosφ | (c)
Therefore, the length L of the ship is given by the following formula (d) from the above formulas (a) to (c).
_{L = 2R · tan (θ T} / 2) / | cos {90 ° - (θ L + θ R) / 2 + θ d} | ··· (d)

  Of the functions of the control unit 33 in the present embodiment, the functions not related to the linkage with the signal processing unit 11 in the process of such signal processing are the same as those in the conventional example shown in FIG. The description is omitted.

The signal processing unit 11 performs signal processing generally similar to that of the conventional example, but the content of the signal processing is different from the conventional example in the following points.
(1) Do not perform the same process to identify the target ship size.
(2) Calculate the length L of the ship as follows.

(2-1) The aforementioned course θd given by the target tracking device 40 for the relevant ship
(FIG. 3 (1), step S1 in FIG. 4).
(2-2) The aforementioned viewing angle θ _T and maximum value θ _{L for} the ship concerned , Obtaining the minimum value theta _R and the distance R (FIG. 3 (2), 4 Step S2).

(2-3) The above course θ _d , viewing angle θ _T , maximum value θ _L , By performing an arithmetic operation represented in the above formula and (d) based on the minimum theta _R and the distance R, and calculates the length L of the ship (Fig. 3 (3), 4 Step S3).

(2-5) The estimated target image is handed over to the instruction unit 32 together with image information to be given to the instruction unit 32 (generated in the same manner as in the conventional example) (FIG. 3 (5), step S5 in FIG. 4). ).
The instruction unit 32 superimposes and displays the image information and the estimated target image delivered in this manner while matching with the arrangement on the PPI scope (FIG. 3 (5)).

That is, the desired length L of the ship can be obtained by using the target tracking device 40 that reduces the burden on the observer involved in collision prevention and aims to accurately and promptly grasp the situation. An image showing the occupied area is displayed on the PPI scope.
Therefore, according to the present embodiment, the sea area occupied by the ship can be accurately identified regardless of the desired course, distance, direction, and attitude of the ship, and the sea area can be easily identified on the instruction screen. Is done.

In the present embodiment, the course θ _d is given by the target tracking device 40.
However, such a course θ _d is, for example, an automatic ship identification device (AIS: Automatic Identification) that can be used instead of or in combination with the target tracking device 40.
System).

Further, when the course θ _d is given by the automatic vessel identification device or when the automatic vessel identification device is used together with the target tracking device 40, the course θ _d is estimated based on the target size given by the automatic vessel identification device. The accuracy and reliability of the instruction screen may be improved by optimizing the size of the target image.

  Furthermore, in the present embodiment, generation of the estimated target image and delivery of the estimated target image to the instruction unit 32 may be performed by the target tracking device 40.

  In the present embodiment, the processing described above is realized in the process of radar signal processing (including clutter removal, MTI, etc.), but is displayed on the PPI scope under such radar signal processing. It may be performed in the course of image processing used to generate image information to be performed.

Furthermore, in the present embodiment, the present invention is applied to a radar apparatus in which the aerial system 21 performs sweeps and scans in all directions under the control of the control unit 33, but for example, only distance measurement like a berthing distance meter. In order to realize the above, the present invention can be similarly applied to a radar apparatus in which sweeping or scanning is performed in a specific direction.
The present invention is not limited to an instruction type radar apparatus adapted to a PPI scope. For example, the present invention is applicable to various instruction type radar apparatuses such as a time axis delay PPI scope, an open-center PPI scope, an eccentric PPI scope, and a stretched PPI scope. Is equally applicable.

  Furthermore, the present invention is not limited to a radar device in which both the transmitted wave irradiated to the target and the received wave radiated from the target or arrived as a reflected wave are radio waves. For example, these transmitted waves Similarly, the present invention can be applied to a radar apparatus in which both or one of the received waves is a wave signal such as an optical signal or a sound wave.

In the present embodiment, the course θ _d of the ship described above.
And the viewing angle θ _{T of} the region where the ship is located on the PPI scope, the maximum value θ _L and the minimum value θ _R of the azimuth angle of the region
And the distance R of the ship are given as the attitude of the ship on the two-dimensional sea surface.

  However, the present invention is not limited to a ship. For example, an ACARS (Aircraft Communications Addressing and Reporting System), which replaces the target tracking device 40 and the automatic ship identification device, is linked to three-dimensionally occupy a target such as an aircraft. The space to be applied can be similarly applied to a three-dimensional radar apparatus for making it possible to identify regardless of the target course, distance, direction, and posture.

Furthermore, in the present embodiment, the course θ _d of the ship described above.
, Azimuth angle maximum value θ _L and minimum value θ _R
Are given with reference to the direction of true north on the PPI scope.
However, these courses θ _d , maximum values θ _L
And if the minimum value theta _R is given or calculated as a converted value relative to the one of the following, the present invention is applicable as well.
(1) Direction of ship course
(2) Ship bow direction
(3) Arbitrary direction set in advance by the operator

  In the present embodiment, the distance R of the ship may be calculated as any of the following distances.

(1) The shortest distance identified as the point in time when the first received wave was received from the ship
(2) Average distance identified as the average at the time the received wave was received from the ship
(3) Distance identified as the time when the received wave is received from the ship at the maximum level
(4) Distance identified as the average value of target distances obtained by multiple sweeps (any of (1) to (3) above)

Furthermore, in the present embodiment, the above-described estimated target image may be generated in any of the following forms.
(1) The target size and shape given by AIS or the like associated with the radar apparatus according to the present invention is reflected.
(2) When such size and shape information cannot be obtained, it is possible to estimate that the received signal has a level exceeding a predetermined threshold and can be estimated to have arrived from the target among neighboring pixels on the instruction screen. Are generated as a set of pixels (or pixels whose luminance indicated by the received wave exceeds a predetermined threshold).

In the present embodiment, the course θ _d given by the target tracking device 40 is also used.
Is old enough to be unsuitable for the generation of the estimated target image described above, the generation of the estimated target image is matched, and the generation of the estimated target is resumed when the subsequent latest course θ _d is given. As a result, reliability may be ensured.

  Further, the present invention is not limited to the pulse radar, and can be similarly applied to various types of radars such as CW radar, pulse compression radar, secondary radar, and the like.

  Further, the present invention is not limited to the above-described embodiments, and various configurations of the embodiments are possible within the scope of the present invention, and any improvements may be made to all or some of the components.

  Hereinafter, among the inventions disclosed in the present application, the configurations, operations, and effects of the invention not described in “Claims” are described in the “Claims” and “Means for Solving the Problems” column. List them in a format according to.

[ 9 ] In the radar signal processing device according to any one of claims 1 to 4,
The target evaluation means includes
A radar signal processing apparatus, wherein a minimum distance in a range direction of the target portion that radiates or reflects the radio signal is employed as the target distance.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to any one of claims 1 to 4, the target evaluation unit is configured to detect the target that has radiated or reflected the radio signal. The minimum distance in the range direction of the part is adopted as the target distance.

Such a minimum distance can generally be obtained by simple processing in the course of radar signal processing.
Therefore, if the region where the target is located is not a region wide in the range direction, the region occupied by the target can be easily and accurately identified in cooperation with the device or system that provides the reference information.

[ 10 ] In the radar signal processing device according to any one of claims 1 to 4,
The target evaluation means includes
A radar signal processing apparatus characterized in that an average of distances in the range direction of the target portion that radiates or reflects the radio signal is adopted as the target distance.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to any one of claims 1 to 4, the target evaluation unit is configured to detect the target that has radiated or reflected the radio signal. The average distance in the range direction of the part is adopted as the target distance.

Such an average of distances can generally be obtained by a simple integration process in the process of radar signal processing.
Therefore, even if the region where the target is located is distributed in the range direction, the region occupied by the target can be easily and accurately identified in cooperation with the device or system that provides the reference information. .
[ 11 ] In the radar signal processing device according to any one of claims 1 to 4,
The target evaluation means includes
A radar signal processing apparatus characterized in that a distance in a range direction of the target portion that radiates or reflects the radio signal at a maximum level is adopted as the target distance.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to any one of claims 1 to 4, the target evaluation unit radiates or reflects the radio signal at a maximum level. The distance in the range direction of the target portion that has been used is adopted as the target distance.

In the course of radar signal processing, such a distance can generally be obtained by processing for detecting the leading value of a radio signal that has arrived from a target.
Therefore, even when the area where the target is located is widely distributed in the range direction, the area occupied by the target is the main target of the corresponding target in cooperation with the device or system that provides the reference information. It is possible to easily and accurately identify the distance and direction of the region where the part is located.

[ 12 ] In the radar signal processing device according to any one of claims 1 to 4,
The target evaluation means includes
A radar signal processing apparatus characterized in that an average of distances in the sweep direction of the target portion identified for each sweep is adopted as the target distance.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to any one of claims 1 to 4, the target evaluation unit includes a range of the target portion identified for each sweep. The average distance in the direction is adopted as the target distance.

In the course of radar signal processing, such a distance can generally be obtained by a process of integrating the amplitude of a radio signal arriving from a target in the sweep direction.
Therefore, even if the area where the target is located is widely distributed in the sweep (scan) direction, the area occupied by the target is applicable in cooperation with the device or system that provides the reference information. It is possible to easily and accurately identify the distance and direction of the region where the main part of the target is located.

[ 13 ] The radar signal processing device according to any one of claims 1, 2, 3, 4, and the above [ 9 ] , [ 10 ] , [ 11 ], and [ 12 ] ,
The target identifying means includes
A radar signal processing apparatus characterized in that additional information comprising either or both of the target size and shape is acquired from the outside, and the additional information is reflected on a region occupied by the target.

In the radar signal processing device having such a configuration, the radar signal processing device according to any one of claims 1, 2, 3, 4, and [ 9 ] , [ 10 ] , [ 11 ], and [ 12 ] . The target identifying means acquires additional information comprising the size and / or shape of the target from the outside and reflects the additional information on the area occupied by the target.

That is, the identification of the region where the target is located is not obtained only by the conventional radar signal processing, but is realized by reflecting the additional information.
Therefore, the radio signal arriving from the target contains a lot of clutter, noise and the like that cause an error in identifying the region where the target is located, or the resolution of the radar apparatus to which the present invention is applied is insufficient. However, the area occupied by the target can be accurately identified.

[ 14 ] In the radar image processing device according to any one of claims 5 to 8,
The target evaluation means includes
A radar image processing apparatus, wherein a minimum distance with respect to the processing portion in the range direction of the target portion that radiates or reflects the radio signal is adopted as the target distance.

  In the radar image processing apparatus having such a configuration, in the radar image processing apparatus according to any one of claims 5 to 8, the target evaluation unit is configured to detect the target that has radiated or reflected the radio signal. The minimum distance with respect to the processing location in the range direction of the region is adopted as the target distance.

Such a minimum distance can generally be obtained by a simple process in the course of radar image processing.
Therefore, when the region where the target is located is not a wide region in the range direction, the region occupied by the target can be easily and accurately identified in cooperation with the device or system that provides the reference information.

[ 15 ] In the radar image processing device according to any one of claims 5 to 8,
The target evaluation means includes
An average of distances in the range direction of the target portion that radiates or reflects the radio signal is adopted as the target distance.

  In the radar image processing apparatus having such a configuration, in the radar image processing apparatus according to any one of claims 5 to 8, the target evaluation unit is configured to detect the target that has radiated or reflected the radio signal. The average distance in the range direction of the part is adopted as the target distance.

Such an average of distances can generally be obtained by a simple integration process of pixel values in the course of radar image processing.
Therefore, even when the area where the target is located is widely distributed in the range direction, the area occupied by the target can be easily and accurately identified in cooperation with the device or system that provides the reference information. is there.

[ 16 ] In the radar image processing device according to any one of claims 5 to 8,
The target evaluation means includes
A radar image processing apparatus, wherein a distance in a range direction of the target portion that radiates or reflects the wireless signal at a maximum level is adopted as the target distance.

  In the radar image processing apparatus having such a configuration, in the radar image processing apparatus according to any one of claims 5 to 8, the target evaluation unit radiates or reflects the radio signal at a maximum level. The distance in the range direction of the target portion that has been used is adopted as the target distance.

In the course of radar image processing, such a distance can generally be obtained by processing for detecting the leading value of the pixel value indicated by the radio signal arriving from the target.
Therefore, even if the area where the target is located is distributed in the range direction, the area occupied by the target is the main part of the target under the cooperation with the device or system that provides the reference information. Can be easily and accurately identified based on the distance and direction of the region where the is located.

[ 17 ] In the radar image processing apparatus according to any one of [ 14 ] to [ 16 ] ,
The target evaluation means includes
A radar image processing apparatus characterized in that an average of distances in the sweep direction of the target portion identified for each sweep is adopted as the target distance.

In the radar image processing apparatus having such a configuration, in the radar image processing apparatus described in any one of [ 14 ] to [ 16 ] , the target evaluation unit is configured to identify the target portion identified for each sweep. The average distance in the range direction is adopted as the target distance.

In the course of radar image processing, such a distance can generally be obtained by a process of integrating pixel values indicated by a radio signal arriving from a corresponding target in the sweep direction.
Therefore, even if the area where the target is located is widely distributed in the sweep (scan) direction, the area occupied by the target is applicable in cooperation with the device or system that provides the reference information. It is possible to easily and accurately identify the distance and direction of the region where the main part of the target is located.

[ 18 ] In the radar image processing device according to any one of claims 5, 6, 7, 8, and [ 14 ] , [ 15 ] , [ 16 ] , and [ 17 ] ,
The target identifying means includes
Additional information consisting of either or both of the target size and shape is acquired from the outside, and the additional information is reflected on the area occupied by the target.

In the radar image processing apparatus having such a configuration, the radar image processing apparatus according to any one of claims 5, 6, 7, 8, and the above [ 14 ] , [ 15 ] , [ 16 ] , and [ 17 ]. The target identifying means obtains additional information consisting of either or both of the target size and shape from the outside and reflects the additional information on the area occupied by the target.

That is, the identification of the region where the target is located is not obtained only by the conventional radar image processing, but is realized by reflecting the additional information.
Therefore, the radio signal arriving from the target contains a lot of clutter, noise and the like that cause an error in identifying the region where the target is located, or the resolution of the radar apparatus to which the present invention is applied is insufficient. However, the area occupied by the target can be accurately identified.

[ 19 ] The radar image processing apparatus according to any one of claims 5, 6, 7, 8, and the above [ 14 ] , [ 15 ] , [ 16 ] , [ 17 ] , [ 18 ] ,
The target identifying means includes
A radar image processing apparatus characterized by identifying an area occupied by the target as a set of pixels continuous in both or either of a range direction and a sweep direction.

In the radar image processing apparatus having such a configuration, the radar according to any one of claims 5, 6, 7, 8, and [ 14 ] , [ 15 ] , [ 16 ] , [ 17 ] , and [ 18 ]. In the image processing apparatus, the target identifying means identifies a region occupied by the target as a set of pixels connected in both or either of the range direction and the sweep direction.

That is, identification of the region where the target is located and occupied is realized by simple image processing that specifies the set of consecutive pixels even when the shape of the target is not given from the outside.
Therefore, according to the radar apparatus to which the present invention is applied, the conventional radar signal processing and radar image processing alone are achieved by linking with various external devices and systems without greatly complicating the configuration. The desired target positioning can be stably achieved with high accuracy that has not been achieved.

[ 20 ] In the radar image processing device according to any one of claims 5, 6, 7, 8, and [ 14 ] , [ 15 ] , [ 16 ] ,
A radar image processing apparatus, wherein the distance of the target is obtained and referred to in an image processing area for instructing the target.

In the radar image processing apparatus having such a configuration, the radar image processing apparatus according to any one of claims 5, 6, 7, 8, and any one of [ 14 ] , [ 15 ] , and [ 16 ] , The target distance is obtained and referred to in the image processing area where the instruction is performed.

In other words, the target distance is determined not in radar signal processing, but in the process of radar image processing in which the amount of information to be calculated is much smaller than that in radar signal processing, and is used to identify the area occupied by the target. Is done.
Therefore, the responsiveness can be improved along with the reduction of the total processing amount required for realizing the present invention.

DESCRIPTION OF SYMBOLS 10,30 Instruction apparatus 11,31 Signal processing part 12 Control part 21 Antenna system 22 Transmission / reception part 32 Instruction part 33 Control part 40 Target tracking apparatus

Claims (8)

Reference information indicating the attitude or moving direction of a target that emits or reflects a radio signal as a response to the transmitted transmission wave is acquired from the navigation assistance system, and is used as the direction of the main lobe of the antenna used for receiving the radio signal. Target evaluation means for obtaining the moving direction of the target from the reference information as a relative angle θ _{d with} respect to a predetermined direction that can be set;
Based on the target distance R, the target azimuth angle θ with respect to the predetermined direction, the relative angle θ _d, and the width θ _{T of the} direction in which the radio signal is received by the antenna, A target length L (= 2R · tan (θ _T / 2) / | cos { 90 ° −θ / 2 + θ _d } |) is obtained, and the distance R, the azimuth angle θ, the angle θ _d , and the width θ A radar signal processing apparatus comprising: target identification means that is determined by _T and the length L and that identifies a region where the target is located. The radar signal processing apparatus according to claim 1, wherein
The default direction is
The radar signal processing apparatus, characterized in that the direction is true north. The radar signal processing apparatus according to claim 1, wherein
The default direction is
A radar signal processing apparatus, wherein the moving body on which the antenna is mounted is a moving direction. The radar signal processing apparatus according to claim 1, wherein
The default direction is
The radar signal processing apparatus according to claim 1, wherein the head of the moving body on which the antenna is mounted is directed. Reference information indicating a posture or a moving direction of a target that emits or reflects a radio signal as a response to the transmitted transmission wave is acquired from the navigation assistance system, and is set as a relative angle θ _{d with} respect to a predetermined direction on the instruction screen. Target evaluation means for obtaining the moving direction of the target from the reference information;
Based on the target distance R, the target azimuth angle θ with respect to the predetermined direction, the relative angle θ _d, and the target viewing angle θ _T on the instruction screen, the target length L (= 2R · tan (θ _T / 2) / | cos { 90 ° −θ / 2 + θ _d } |) is obtained, and the distance R, the azimuth angle θ, the angle θ _d , the width θ _T and the length are calculated. A radar image processing apparatus, comprising: target identification means that identifies a region that is determined by L and on which the target is located on the instruction screen. The radar image processing apparatus according to claim 5, wherein
The default direction is
A radar image processing apparatus, wherein the direction is a direction on the instruction screen corresponding to a direction of true north. The radar image processing apparatus according to claim 5, wherein
The default direction is
A radar image processing apparatus, wherein the radar apparatus to which the present invention is applied is in a moving direction on the instruction screen. The radar image processing apparatus according to claim 5, wherein
The default direction is
A radar image processing apparatus, characterized in that the moving object on which the radar apparatus to which the present invention is applied is mounted is a direction in which a head on the instruction screen is facing.