JP5733881B2 - FM-CW radar equipment - Google Patents

Description

  The present invention relates to an FM-CW radar apparatus that detects a target object based on a beat signal obtained by mixing a transmission signal and a reception signal, and particularly detects a relatively long distance range, for example, for ships. The present invention relates to an FM-CW radar apparatus suitable for a radar or the like.

  Conventionally, an FM-CW radar apparatus is mainly used as a radar mounted on a vehicle such as an automobile, and transmits a frequency-modulated continuous wave transmission signal and receives a reception signal reflected from a target simultaneously with the transmission. Thus, the distance and relative speed between the host vehicle and the other vehicle are obtained by the beat signal of the transmission signal and the reception signal.

  In such an FM-CW radar apparatus, in order to prevent the distance measurement accuracy from being lowered due to sudden noise included in the received signal, the amplitude of the beat signal is determined and the noise is removed or Suppression is performed (Patent Document 1).

Japanese Patent Laid-Open No. 7-110373

  In the FM-CW radar apparatus, when the receiver is saturated, a harmonic component is included in the beat signal, and the radar video signal is deteriorated by this harmonic component. However, in the conventional FM-CW radar device for automobiles, the measurement distance is usually as short as several tens to several hundreds of meters, and the power of the transmission signal is small, so the receiver is rarely saturated. Signal degradation has not been a major issue.

  However, when the FM-CW radar device is used as a marine radar, the detection range is significantly longer than that for automobiles (for example, several tens of kilometers), and the power of the transmission signal is also increased, so that the receiver is saturated. As a result, the deterioration of the radar video signal due to harmonic components becomes a problem. In particular, since the received signal has a continuous large amplitude due to reflection from a target near the antenna of the FM-CW radar apparatus, sea clutter, and land clutter, the receiver saturates, and the beat signal (and thus radar video) Signal)), a harmonic component having a wide frequency range and a large amplitude is superimposed as noise over one sweep.

  A radar video signal in which a harmonic component having a large amplitude in a wide frequency range is superimposed has its S / N ratio deteriorated, making it difficult to identify a target. This deterioration of the S / N ratio of the radar video signal caused by the saturation of the receiver is a matter specific to the FM-CW radar apparatus, and various signal processing in the conventional pulse radar apparatus, for example, STC, integration, Even if CFAR or the like is applied, the improvement effect is small.

  Therefore, the present invention provides an FM-CW radar apparatus that detects a target object based on a beat signal obtained by mixing a transmission signal and a reception signal. An object is to reduce the harmonic components from the superimposed beat signal and improve the S / N ratio of the radar video signal.

The FM-CW radar apparatus according to claim 1 is configured to detect a target based on a beat signal obtained by mixing a continuous wave transmission signal frequency-modulated with a predetermined modulation period and a reception signal reflected from a target. In an FM-CW radar device that detects a target to be detected, a beat signal for one modulation period is subjected to frequency conversion by Fourier transform for each modulation period, and each frequency component included in the modulation period is obtained, and each frequency is obtained. Fourier transform means for outputting a component as an uncorrected video signal; and multiplying an average value of uncorrected video signals for one modulation period from the Fourier transform means by a predetermined coefficient to obtain a threshold value for the modulation period, and the Fourier transform Noise removing means for subtracting a threshold value of the modulation period from the uncorrected video signal from the means to obtain a corrected video signal and outputting the corrected video signal. The removing unit has a storage capacity for storing the uncorrected video signal for one modulation period, sequentially stores the input uncorrected video signal, and sequentially stores the stored uncorrected video signal in the input order. Storing means for outputting; accumulating means for accumulating the input uncorrected video signal over one modulation period to obtain an accumulated value for one modulation period; and the accumulated value as the number of frequency components. The division / coefficient multiplication means for multiplying the average value obtained by division by a predetermined coefficient to obtain the threshold value, and the threshold value from the division / coefficient multiplication means from the uncorrected video signal sequentially output from the storage means. Subtracting means for subtracting.

  According to the FM-CW radar apparatus of the present invention, when a receiver is saturated and a beat signal (radar video signal) has a wide frequency range and a large amplitude harmonic component superimposed as noise over one sweep. However, it is possible to improve the S / N ratio of the radar video signal by reducing harmonic components (noise) superimposed over a wide frequency range as if it were a direct current component after Fourier transform.

  Further, each frequency component obtained from the beat signal for each modulation period is sequentially output as an uncorrected video signal in order of frequency (low order or high order) by the Fourier transform means, and one modulation period is obtained by the noise removal means. Subtracting the threshold of the modulation period from the uncorrected video signal using the threshold of the modulation period obtained based on the uncorrected video signal (uncorrected video signal group) for one minute. Since the signals are output in order of frequency (low order or high order), the corrected video signal can be supplied as display data to a display device or the like without performing inverse Fourier transform.

  In addition, the FM-CW radar apparatus of the present invention can reduce harmonic components and improve the S / N ratio of the radar video signal, and can transmit significantly compared to the transmission power of the pulse radar apparatus (usually about several tens of kW). Since the power is small (several tens to several tens of watts for ships), it is difficult for other ships to detect, and low detectability (LPI: Low Probability of Intercept) is good.

The block diagram which shows the whole structure of the FM-CW radar apparatus which concerns on this invention The figure which shows the structural example of the noise removal means 8. The figure which shows the process in the noise removal means 8 notionally The figure which shows the example of the waveform in “OFF” and “ON” of the noise removal processing

  Embodiments of the FM-CW radar apparatus according to the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block diagram showing an overall configuration of an FM-CW radar apparatus according to the present invention.

The FM-CW radar apparatus 1 of FIG. 1 includes an FM signal generation circuit 2 that generates a continuous wave FM signal 2a that is frequency-modulated with a predetermined modulation period by sweeping the fundamental frequency, and an FM signal 2a that is transmitted with a transmission signal TS. The power distributor 3 that distributes the signal LS, the circulator 5 that supplies the transmission signal TS to the antenna 4 and efficiently extracts the reception signal RS received by the antenna 4, and mixes the reception signal RS and the local signal LS to beat The mixer 6 that generates the signal BS and the beat signal BS for one modulation period for each modulation period are Fourier transformed to obtain each frequency component included in the modulation period, and the frequency components are not corrected in order of frequency. Based on the Fourier transform means 7 that sequentially outputs as a video signal and the uncorrected video signal (uncorrected video signal group) for one modulation period from the Fourier transform means 7. A threshold value of the modulation period is obtained, a corrected video signal is obtained by subtracting the threshold value of the modulation period from the uncorrected video signal from the Fourier transform means 7, and the corrected video signal is sorted in the frequency order (low order or high order). ) And a display device 9 for displaying information relating to the distance to the object.

  The FM signal 2a may be a signal whose frequency is swept in a triangular wave shape or one whose frequency is swept in a sawtooth wave shape. Although not shown, the receiver is provided in the reception path before the mixer 6, and the beat signal BS is converted into a digital signal by an A / D converter and digitally processed.

  The Fourier transform means 7 is constituted by FFT or the like, and frequency conversion is performed on the beat signal for each modulation period by discrete Fourier transform to obtain each frequency component, and the respective frequency components are not sorted in the frequency order (low order or high order). Output as a corrected video signal (sequentially). The frequency component of one modulation period depends on the distance at which the target should be detected, but is 4096 points with 16 bits, for example.

  As shown in FIG. 2, the noise removing unit 8 has a storage capacity (4096 × 16 bits) for storing an uncorrected video signal (uncorrected video signal group) for one modulation period, and receives an input uncorrected video signal. FIFO type storage means 21 that receives and sequentially stores the input signal A and sequentially outputs the stored uncorrected video signals in the input order; and the input uncorrected video signals are accumulated over the modulation period. Accumulating means (accumulator) 22 for calculating an accumulated value for one modulation period by dividing, and a dividing / coefficient multiplying means for multiplying an average value obtained from the accumulated value by a predetermined coefficient to obtain a threshold B ( (Division / coefficient multiplication circuit) 23 and latch means (latch circuit) 24 that latches the threshold value B and outputs the latched threshold value while the storage means 21 outputs an uncorrected video signal for one modulation period. And storage means 2 The subtracting means (subtractor) 25 for subtracting the threshold value B from the uncorrected video signal A output from, and the value AB subtracted by the subtracting means 25 are left as they are when they are positive values and when they are negative values. The zero limit means (zero limit circuit) 26 that outputs the output signal to the display device 9 as an output signal is changed to zero, and the enable signal for turning on / off the noise processing of the noise removal means 21 and the uncorrected video signal are synchronized. And a control means (control circuit) 27 for receiving the clock signal and controlling required components of the noise removing means 21.

  The display device 9 displays radar information (distance, azimuth, etc.) of the detection object, and an appropriate display form such as a PPI scope or an A scope is provided depending on the use form of the FM-CW radar apparatus 1. Adopted.

  In general, in an FM-CW radar apparatus, for example, in the case of a triangular wave FM signal, the frequency modulation repetition frequency is fm (the modulation period T is 1 / fm), the frequency shift width of the frequency modulation is Δf, and a single target If the distance of R is R and the speed of light is c, the beat frequency fr of the beat signal by the single target located at the distance R is represented by the following expression “fr = 4RfmΔf / c”. Since the beat frequency fr and the distance R are in a proportional relationship, the distance R to a single target can be measured.

In the FM-CW radar apparatus 1 for ship radar assumed by the present invention, it is necessary to detect a plurality of targets existing in a detection range as long as several tens of kilometers. Power also increases. Since the received signal continuously has a large amplitude due to reflection from a target near the radar antenna 4, sea surface clutter, and land clutter, the receiver is saturated. As a result, the beat signal BS (and hence the radar video signal) is a plurality of or continuous targets in a wide frequency range and a large amplitude harmonic component as noise over the entire modulation period (one sweep) T. Will be superimposed on the reflected signal. As a result, the S / N ratio of the radar video signal on which the harmonic component is superimposed is deteriorated, making it difficult to identify the target.

  Therefore, in the present invention, the beat signal BS is first Fourier-transformed by the Fourier transform means 7 and each frequency component is output as an uncorrected video signal in order of frequency. Next, the noise removal means 8 obtains a threshold value of the modulation period based on the uncorrected video signal, subtracts the threshold value from the uncorrected video signal to obtain a corrected video signal, and corrects the corrected video for one modulation period. Signals are output to the display device 9 in order of frequency (lowest or higher).

  FIG. 3 conceptually shows the processing in the noise removing means 8. The input signal (uncorrected video signal) A is each frequency component obtained by frequency-transforming a beat signal for each modulation period by Fourier transform in the Fourier transform means 7, and the input signal A is in frequency order (lowest order). ) Are sequentially supplied to the noise removing means 8. In the input signal A shown in FIG. 3, the horizontal axis represents frequency and the vertical axis represents amplitude.

  As can be seen from FIG. 3, the input signal A has a shape in which a noise component is superimposed over the entire frequency region of one sweep, as if a DC component is superimposed.

  When the processing of the noise removing unit 8 of the present invention is set to “ON”, the enable signal and the clock signal are supplied to the control circuit 27, and a necessary control signal is sent from the control circuit 27 to each component. Thus, the noise removing means 27 functions.

  An input signal A (16 bits, 4096 points) of one modulation period is sequentially input and stored in the storage means 21 and is also supplied to the accumulator 22 to accumulate 4096 points of data. The division coefficient divider 23 first divides the accumulated data of 4096 points of the accumulator 22 by the number of points to obtain an average value, and multiplies the average value by a predetermined coefficient to obtain a threshold value B. This coefficient may be any value including 1 and is configured to be adjustable.

  The threshold value B is adjusted to an appropriate level according to the operational status of the radar apparatus 1 by adjusting the coefficient. The threshold value B is input to the latch circuit 24 and held until the input signal A having the modulation period is sequentially output from the storage unit 21.

  Then, the subtracter 25 subtracts the threshold value B of the latch circuit 24 from the input signal A sequentially output from the storage means 21 (A−B), and the subtracted value A−B is output through the zero limit circuit 26 to the output signal C. Get.

  The output signal C in FIG. 3 is also a signal in the frequency domain, with the horizontal axis representing frequency and the vertical axis representing amplitude. However, in the FM-CW radar apparatus, the beat frequency fr is expressed by “fr = 4RfmΔf / c” as described above, and the distance to a target and the beat frequency by the target are always in a proportional relationship. Therefore, the output signal C obtained in the frequency domain can be used as it is as a video signal in the time domain without performing inverse Fourier transform.

  As shown in FIG. 3, the output signal C has a noise component superimposed over the entire frequency range of one sweep, and the input signal A is shaped as if a direct current component is superimposed. Corresponding noise components are reduced. Since the output signal C is supplied to the display device 9 as a video signal, the S / N ratio of the video signal is improved and the target can be easily identified as compared with the case where the input signal A is directly supplied.

  In the present invention, when the processing of the noise removing unit 8 is set to “OFF”, the supply of the enable signal to the control circuit 27 may be stopped. FIG. 4 shows the actual output signal C when the processing of the noise removing means 8 of the present invention is set to “OFF” (left side of FIG. 4) and when “ON” is set (right side of FIG. 4). FIG. 4 is a diagram showing an example of A in the form of an A scope waveform, and the noise removal effect of the present invention can also be confirmed from FIG.

  The noise removal function of the present invention is achieved for the first time by making use of the characteristics of the FM-CW radar device, first performing Fourier transform on the beat signal, and then performing noise reduction using the Fourier transform result. The method of Patent Document 1 cited as the prior document cannot be achieved at all, and the required effect as in the present invention cannot be obtained even when the noise removal and the Fourier transform are reversed.

1: FM-CW radar device, 2: FM signal generation circuit, 3: Power distributor, 4: Antenna,
5: circulator, 6: mixer, 7: Fourier transform means, 8: noise removal means,
9: display device, 21: storage means, 22: accumulator, 23: division / coefficient multiplier,
24: latch circuit, 25: subtractor, 26: zero limit circuit, 27: control circuit

Claims (1)

In an FM-CW radar device that detects a target object based on a beat signal obtained by mixing a continuous wave transmission signal frequency-modulated with a predetermined modulation period and a reception signal reflected from the target ,
Fourier transform means for frequency-converting a beat signal for one modulation period for each modulation period by Fourier transform, obtaining each frequency component included in the modulation period, and outputting each frequency component as an uncorrected video signal; ,
The threshold value of the modulation period is obtained by multiplying the average value of the uncorrected video signal for one modulation period from the Fourier transform means by a predetermined coefficient, and the threshold value of the modulation period is determined from the uncorrected video signal from the Fourier transform means. A noise removing means for subtracting to obtain a corrected video signal and outputting the corrected video signal;
With
The noise removing means is
Storage means having a storage capacity for storing the uncorrected video signal for one modulation period, sequentially storing the input uncorrected video signal, and sequentially outputting the stored uncorrected video signal in the input order When,
Accumulating means for accumulating the input uncorrected video signal over one modulation period to obtain an accumulated value for one modulation period;
A division / coefficient multiplying means for multiplying the average value obtained by dividing the accumulated value by the number of frequency components by a predetermined coefficient to obtain the threshold;
Subtracting means for subtracting the threshold value from the division / coefficient multiplying means from the uncorrected video signal sequentially output from the storage means,
An FM-CW radar apparatus characterized by the above.

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