JP5752481B2 - Passive radar device, guidance device, and radio wave detection method - Google Patents

Description

  Embodiments described herein relate generally to a passive radar device, a guidance device, and a radio wave detection method for detecting the arrival of a radar wave from a transmission source.

  One type of radar device that detects a target is a passive radar device. A passive radar device is a device that captures radio waves from a target and detects the direction of the target when the target outputs radio waves. When a passive radar device receives radio waves, there are many multipath components that are reflected by obstacles, etc., even if multiple radio waves are mixed within the reception band or even from the same target. May be mixed. Here, the multipath component is a component that has been reflected by reaching another obstacle. Therefore, the arrival direction of the multipath component indicates the direction of the obstacle and does not indicate the target direction.

  In order to know the exact direction of the target, it is necessary to select radio waves from the target and to detect radio waves that are not multipath components, that is, direct waves from the target. The direct wave always arrives first among the radar waves from the target.

  By the way, when the radio wave transmitted by the target is a chirped pulse radar wave, the received wave is pulse-compressed, and the capture of the radar wave from the target is confirmed based on whether or not the pulse can be compressed. The pulse compression is performed using FFT (Fast Fourier Transform) and IFFT (Inverse Fast Fourier Transform). At this time, the waveform obtained by FFT conversion and IFFT conversion is a repetitive waveform in which the start point and the end point are continuous. If the correct start frequency of the radar wave from the target is not obtained, the time of the pulse compression waveform is rotated. For this reason, the direct wave that should originally be at the beginning appears at the end of the waveform, and the leading pulse may not be correctly identified. In such a case, the multipath component cannot be removed, and the exact direction of the target cannot be acquired.

  Note that it is possible to specify the start frequency of the radar wave from the target by using the chirplet transform, which is the accurate detection of specifications necessary for pulse compression. However, with this method, the amount of processing is very large, and it may be difficult to adopt depending on the installed equipment.

W. Li, "Wigner distribution method equivalent to dechirp method for detecting a chirp signal," IEEE Trans. Acoustics, Speech, and Signal Processing, Vol. ASSP-35, No. 8, pp. 1210-1211, 1987 S. Mann and S. Haykin, "The chirplet transform: physical considerations," IEEE Trans. Signal Processing, Vol. 43, No. 11, pp. 2745-2761, 1995

  As described above, in the passive radar device, the capture of the radar wave from the target is confirmed by performing pulse compression. However, if the start frequency of the chirp pulse is not accurate, the direction of the target cannot be obtained accurately. Therefore, in order to accurately acquire the direction of the target, it is necessary to detect the start frequency of the radar wave from the target with high accuracy and perform pulse compression using the start frequency. However, various interference waves may be added to the radar wave in addition to the radar wave from the target, and it is difficult to detect an accurate start frequency from the spectrum of the radar wave.

  Therefore, an object is to provide a passive radar device, a guidance device, and a radio wave detection method capable of detecting a start frequency of a radar wave from a target with high accuracy and performing pulse compression using the start frequency. .

  According to the embodiment, the passive radar device includes a reception unit, a pulse compression unit, a peak selection unit, a Fourier transform unit, a parameter extraction unit, and a repulse compression unit. The receiving unit receives a radio wave that is expected to include a chirp pulse to be detected, performs reception processing on the radio wave, and converts it into a received signal. The pulse compression unit generates a first pulse compression filter based on the set chirp plate and an approximate value of the start frequency of the chirp pulse, and uses the first pulse compression filter to pulse the received signal. Perform compression. The peak selection unit extracts, from one or more peaks included in the pulse compression waveform generated by the pulse compression, a peak having the smallest noise power included in a predetermined range around the peak with respect to the peak power. The Fourier transform unit performs Fourier transform on the extracted peak. The parameter extraction unit detects a start frequency of the chirp pulse based on the pulse spectrum acquired by the Fourier transform. The re-pulse compression unit generates a second pulse compression filter based on the detected start frequency and the set chirp plate, and uses the second pulse compression filter to perform again on the received signal. Perform pulse compression.

It is a block diagram which shows the function structure of the passive radar apparatus which concerns on 1st Embodiment. It is a figure which shows the example of the received signal used by the simulation about the passive radar apparatus of FIG. It is a figure which shows the frequency spectrum of the received signal of FIG. It is a figure which shows the pulse compression waveform at the time of performing the pulse compression by the correct start frequency in the pulse compression part of FIG. It is a figure which shows the pulse compression waveform at the time of performing pulse compression by the pulse compression part of FIG. It is a figure which shows the pulse compression waveform at the time of performing the pulse compression by the pulse compression part of FIG. It is the figure which expanded a part of pulse compression waveform of FIG. It is a figure which shows the peak with the highest SNR among the peaks contained in FIG. It is the figure which extracted the peak shown in FIG. It is a figure which shows the pulse spectrum at the time of Fourier-transforming the waveform of FIG. It is the figure which expanded a part of FIG. It is a figure which shows the example in case another peak exists in the range which extracts a peak. It is a figure which shows the pulse compression waveform produced | generated by the repulse compression in the repulse compression part of FIG. It is a flowchart which shows the process sequence of the control part of FIG. It is a figure which shows the other example of a function structure of the pulse compression part of FIG. It is a figure which shows an example of the time-frequency map by Gabor conversion in the chirp plate detection part of FIG. It is a figure which shows the example of the process with respect to the time-frequency map shown in FIG. FIG. 17 is a diagram illustrating a delay amount-frequency difference map obtained by performing Radon-Ambiguity conversion on the same signal as that used to obtain FIG. 16. It is a figure which shows the pulse compression waveform acquired based on the char plate shifted | deviated 20% with respect to the correct char plate. It is a figure which shows the pulse compression waveform acquired based on the char plate which shifted | deviated 10% with respect to the correct char plate. It is a figure which shows the pulse compression waveform acquired based on the correct chirp plate. It is a figure which shows the result of having applied the 3rd method with respect to three types of conditions A, B, and C. FIG. It is a flowchart which shows the process sequence of a control part when the pulse compression part of FIG. 1 is provided with a chirp plate detection part. It is a block diagram which shows the other example of a function structure of the pulse parameter detection part of FIG. It is a figure which shows the result of the inverse Fourier transform by the inverse Fourier transform part of FIG. It is a block diagram which shows the other example of a function structure of the pulse parameter detection part of FIG. It is a block diagram which shows the function structure of the passive radar apparatus which concerns on 2nd Embodiment. It is a figure which shows the function structure of the guidance device using the passive radar apparatus which concerns on 1st or 2nd embodiment.

  Hereinafter, embodiments will be described with reference to the drawings. In the drawings, only the portion directly related to the operation in the embodiment is described, and blocks that are not related to the operation in the embodiment are omitted from description even if necessary for the actual operation. Is omitted.

(First embodiment)
FIG. 1 is a block diagram illustrating a functional configuration of the passive radar device 1 according to the first embodiment. The passive radar device 1 shown in FIG. 1 includes a reception unit 11, a pulse compression unit 12, a pulse parameter detection unit 13, a repulse compression unit 14, and a control unit 15.

  The receiving unit 11 includes an antenna 111 and a reception processing unit 112. The antenna 111 receives a radio wave that is expected to include a chirp pulse output from a radar device as a detection target. If the target is outputting a radar wave, the antenna 111 is located within a distance range in which the passive radar device 1 can receive the radar wave, and the directivity of the antenna 111 is oriented in an approximate target direction. A radar wave is received at such timing. The passive radar device 1 outputs the received signal by dividing it into gates in the time direction. If the gate length is longer than the repetition period of the radar wave from the target, one or more pulses can be received in the gate. When the gate length is shorter than the repetition period, a plurality of gates may be defined so as not to be interrupted for a length corresponding to the repetition period, and processing may be performed for each of them.

  The reception processing unit 112 performs amplification, baseband conversion, and analog-digital conversion on the radio wave received by the antenna 111. The reception processing unit 112 converts each of the I (in-phase) component and the Q (quadrature) component of the digitized signal into a DC vicinity so as to hold the phase information. The reception processing unit 112 generates a reception signal near the baseband in this way. In the reception processing unit 112 and later, the I and Q components of the received signal are treated as a complex signal having phase information and processed.

  The reception signal generated by the reception processing unit 112 is branched into two, one being output to the pulse compression unit 12 and the other being output to the re-pulse compression unit 14.

  The pulse compression unit 12 includes a first filter generation unit 121 and a first compressed waveform generation unit 122.

  The first filter generation unit 121 generates a pulse compression filter to be subjected to pulse compression by the first compressed waveform generation unit 122. At this time, the first filter generation unit 121 stores a plurality of chirp plates and approximate values for the start frequency and other specifications in advance. The first filter generation unit 121 selects a chirp plate that is expected to maximize the peak height of the received signal after pulse compression from a plurality of chirp plates. The first filter generation unit 121 generates a pulse compression filter with reference to the selected chirp plate and approximate values of the start frequency and other specifications. The first filter generation unit 121 outputs the generated pulse compression filter to the first compressed waveform generation unit 122.

  The first compressed waveform generation unit 122 performs pulse compression on the received signal using the pulse compression filter generated by the first filter generation unit 121, and outputs the data after pulse compression to the pulse parameter detection unit 13.

  The pulse parameter detection unit 13 includes a peak selection unit 131, a Fourier transform unit 132, and a parameter extraction unit 133.

  Based on the data after pulse compression, the peak selection unit 131 extracts the peak having the highest signal quality and isolated from other peaks as much as possible and the surrounding waveform. The peak selection unit 131 outputs the extracted data to the Fourier transform unit 132.

  The Fourier transform unit 132 performs FFT processing on the data extracted by the peak selection unit 131 and converts the data into a frequency spectrum. The Fourier transform unit 132 outputs the data after the FFT processing to the parameter extraction unit 133.

  The parameter extraction unit 133 detects the start frequency of the chirp pulse output by the target based on the frequency spectrum from the Fourier transform unit 132. The parameter extraction unit 133 outputs the detected start frequency to the repulse compression unit 14.

  The repulse compression unit 14 includes a second filter generation unit 141 and a second compressed waveform generation unit 142.

  The second filter generation unit 141 regenerates a pulse compression filter for pulse compression by the second compressed waveform generation unit 142. At this time, the second filter generation unit 141 generates a pulse compression filter with higher accuracy by using the preset chirp plate and the start frequency detected by the parameter extraction unit 133.

  The second compressed waveform generation unit 142 performs pulse compression on the received signal using the pulse compression filter created by the second filter generation unit 141, and outputs the data after pulse compression to the subsequent stage.

  Note that once the highly accurate pulse compression filter has been generated, the second compressed waveform generation unit 142 directly compresses the received signal with the pulse compression filter. The processing by the pulse compression unit 12 and the pulse parameter detection unit 13 may be performed only when necessary, such as at the start of reception or after losing sight of a radar wave from the target.

  The control unit 15 controls the overall operation of the passive radar device 1.

  Next, the operation of the passive radar device will be described in more detail using a simulation waveform example.

  2 and 3 are examples of received signals used in the simulation of the passive radar device 1 according to the first embodiment. FIG. 2 shows an example of a radio wave obtained by adding a plurality of radar waves from a target to be detected, a large number of interference waves, and a multipath component of a radar wave from the target to a reception signal in the vicinity of the baseband by the receiving unit 11. It is a figure which shows the amplitude of a part. FIG. 3 is a diagram showing a frequency spectrum of the reception signal shown in FIG. The chirp pulse of the radar wave from the target is originally rectangular, but it is difficult to estimate it from the waveform of FIG. The radar wave has main energy between frequencies -1 MHz to 9 MHz, but it is difficult to accurately detect it from the frequency spectrum of FIG.

  4 to 6 are diagrams showing pulse compression waveforms obtained by pulse-compressing the reception signals shown in FIGS. At this time, the pulse compression is performed by a pulse compression filter generated based on a high-precision chirp plate having an error of about 0.2% and a low-precision approximate start frequency value. In FIG. 4, the start frequency is correct, in FIG. 5, the start frequency is positively shifted by 1 MHz, and in FIG. 6, the start frequency is negatively shifted by 1 MHz.

  4 to 6, since the error of the chirp plate is small, the pulse compression waveform after the pulse compression is sufficiently narrow and sufficiently high. However, when there is an error in the start frequency, the delay amount of the pulse compression waveform is shifted. That is, since the start frequency is correct in FIG. 4, the position of the mark ◯ indicating the time when the peak should be coincident with the position of the peak, but in FIGS. The position of the peak is different. In particular, in the waveform of FIG. 6, a peak that should originally be at the earliest time appears at the end of the waveform. This is because pulse compression is performed using discrete Fourier transform / discrete inverse Fourier transform, and the waveform moves so as to rotate due to a shift in the delay amount.

  When the reception result of the radar wave is used for tracking the target, it is necessary to detect the angle by extracting the direct wave from the target, that is, the peak with the smallest delay. However, in the pulse compression waveform as shown in FIG. 6, the earliest peak is not a direct wave from the target. The direct wave wraps around the end of the waveform. Therefore, the direct wave cannot be correctly identified in such a state. Therefore, it is necessary to detect the start frequency with high accuracy.

  Here, suppose that the pulse compression waveform shown in FIG.

  The peak selection unit 131 of the pulse parameter detection unit 13 selects a peak expected to have the highest SNR (Signal to Noise Ratio) from the pulse compression waveform shown in FIG.

  FIG. 7 is an enlarged view of a part of the pulse compression waveform. In FIG. 5, the peak that looks like a line actually has a spread, and its side lobe spreads to the periphery. The SNR is the waveform energy (total power) included in the broadening of the main lobe of the peak indicated by the “signal part” in FIG. 7 and the side lobe mainly outside the peak indicated by the “noise part”. It calculates from the ratio with the energy of the waveform contained in the part to be. The peak selection unit 131 calculates the SNR for each peak shown in FIG.

  In selecting a peak, the width of the signal portion and the width of the noise portion may be determined from the window waveform used at the time of pulse compression. The width of the signal portion is the width of the main lobe determined from the window waveform, and is determined, for example, as a width of 3 dB down, a width of 10 dB down, or a width up to the first null. The width of the noise part is defined as a part obtained by determining a width centering a peak including up to what percentage (for example, 95%, 99%, etc.) of energy of one pulse determined from the window waveform and excluding the signal part from the width. do it.

  Note that the pulse compression waveform has a large number of peaks having different heights, and which of the peaks is a detection target candidate may be determined by threshold determination performed by a normal radar. The noise level may be detected to detect CFAR (Constant False Alarm Rate), or may be determined by the dynamic range from the maximum peak.

  The peak selection unit 131 selects the peak with the highest SNR calculated in this way. In FIG. 5, the peak circled in FIG. 8 has the highest SNR, so this is selected.

  In addition, as an index for peak selection, an index such as a ratio of the peak height and the total value of the heights of other peaks included in the noise portion may be used as a simpler method instead of the above SNR. .

  After selecting one peak, the peak selection unit 131 extracts only the selected peak. Specifically, as shown in FIG. 9, the pulse compression waveform is replaced with 0 except for a predetermined width around the selected peak.

  The Fourier transform unit 132 performs a Fourier transform on the peak extracted by the peak selection unit 131. FIG. 10 is a pulse spectrum as a result of Fourier transform of FIG. FIG. 11 is an enlarged view of FIG.

  As shown in FIG. 9, when the sample other than the periphery of the selected peak is replaced with 0 while maintaining the sample interval and the number of samples of the original waveform, the bin interval of the spectrum obtained after conversion is determined by the total length of the original waveform. To be fine. If the detection accuracy may be slightly reduced, it may be a certain length around the peak to be extracted, which is shorter than the total length. Conversely, if higher accuracy is required, 0 may be added to the original waveform. In any case, what is truly effective in the Fourier transform is the width of the signal left around the extracted peak, and the other 0s only interpolate between the points of the spectrum, so that the remarkably accurate There is no improvement. It is a change such as fineness at the time of detection. Therefore, the length left in the vicinity of the peak is preferably set to such a length that the spectrum after Fourier transform of the peak does not remarkably spread or become distorted. The length left around the peak is too short, and it is necessary to make the length so that an important part of the pulse information is not lost. For this purpose, if the estimated value of the pulse spectrum shape is known, a significant component determined by the shape and the window waveform when the pulse waveform is obtained is included in the length left around the peak. You just have to decide. For example, what is necessary is just to determine so that what percentage of energy may be included in the length left around a peak.

  If the remaining length is sufficiently long to contain significant components, the spread of the spectrum generated due to the finite length from the remaining length and the window waveform used for Fourier transform Can be predicted. Therefore, for the spread, the pulse spectrum obtained by Fourier transform may be corrected with the predicted spectral spread amount. For this reason, if the peaks in the pulse compression waveform are very close to each other and it is difficult to obtain an isolated peak, the length left around the peak is slightly shorter, so that interference is suppressed and shortened. It is also possible to take a form that corrects the spectral broadening caused by the removal.

  The pulse spectrum shown in FIG. 10 has a very clear and nearly rectangular shape as compared to FIG. Although some interference wave components remain on the negative frequency side, this is an interference wave component that exists within the range when the peak is extracted. Since only a small portion is extracted from the entire pulse compression waveform, the amount of the interference wave contained is small, and the level is reduced to a level where there is no problem.

  The reason why the peak having the highest SNR is detected is to reduce the components other than the desired radar wave contained in the obtained pulse spectrum as much as possible.

  In addition, it is better that there is no other peak as much as possible within the range for extracting the peak, but depending on the waveform, there is a case where no such peak is obtained. In that case, you should do as follows. This will be described with reference to FIGS. 12A shows a pulse compression waveform, and FIG. 12B is an enlarged view thereof. According to FIGS. 12 (a) and 12 (b), this pulse compression waveform has only two effective peaks, which are very close together. In such a case, if the Fourier transform is performed in a state including both the two, the two pulses interfere with each other, resulting in a spectrum having extremely extreme unevenness. Even if it is not an extreme example so far, if there are other peaks within the range of extracting the peaks, these peaks interfere with each other, and the unevenness of the waveform becomes large.

  Therefore, after detecting the SNR for all peaks, the peak selection unit 131 leaves the peak with the largest SNR, and replaces the portion corresponding to the main lobe with 0 for the other peaks in the extraction range. This is shown in FIG. The range of the main lobe to be removed may be, for example, between the maximum value of the peak to be removed and the nearest local minimum value. At this time, the peak to be removed may be a peak detected when a peak is detected from the pulse compression waveform. In order to eliminate the influence of a smaller peak, the peak detection threshold is lowered to reduce the peak extraction range. Redetection of the peak may be performed, and all other peaks including the smaller peak detected there may be removed.

  FIG. 12D is a diagram illustrating the result of Fourier transform of the pulse compression waveform of FIG. The waveform of FIG. 12C is a waveform that is far from ideal as a pulse compression waveform of a single pulse, so the pulse spectrum of FIG. 12D is also an ideal pulse spectrum as shown in FIG. Not. However, if the shape is disturbed to such a degree, the detection accuracy of the specifications of the chirp pulse detected by the parameter extraction unit 133 is not greatly affected.

  The parameter extraction unit 133 detects the start frequency as shown in FIG. 11 based on the pulse spectrum acquired by the Fourier transform unit 132. That is, the parameter extraction unit 133 detects the maximum value of the power of the pulse spectrum, and detects the frequency at which the predetermined value is lowered. At this time, the parameter extraction unit 133 detects the lower frequency end if the chirp plate is positive, and detects the larger frequency end if the chirp plate is negative. In the simulation waveform example used here, since the case where the chirp plate is positive is assumed, the end of the smaller frequency is detected as the start frequency. The predetermined value may be a large value such as 10 dB, for example, so that the start frequency is not mistaken even if it is slightly affected by the unevenness of the spectrum. However, for example, if the frequency of 10 dB lower is detected, a slightly outside frequency is detected. In many cases, the detection accuracy is not greatly affected. However, if it is desired to detect with a higher accuracy, for example, if a frequency lowered by 10 dB is detected, the frequency at the point from which the point returns to 3 dB or 2 dB is assumed as the detection value. good.

  Note that if the purpose of detecting the chirp pulse specifications is only to obtain a pulse compressed waveform that has been pulse-compressed with higher quality, the chirp plate and the start frequency may be detected. However, the chirp pulse output from the target that the detected chirp pulse is surely to be traced by, for example, the fact that the outline of the known specifications roughly matches the specifications of the detected chirp pulse. If there is a purpose such as confirming, the specification other than the start frequency is also detected.

  For example, FIG. 11 shows that the pulse bandwidth can be easily detected along with the detection of the start frequency. The bandwidth can be obtained by detecting both the lower frequency end and the larger frequency end and calculating the difference. The bandwidth is a specification that is not necessary for generating a pulse compression filter used for pulse compression in the repulse compression unit 14. The parameter extraction unit 133 outputs such specifications to a configuration unit (not shown) that determines whether the detected chirp pulse is indeed from the target.

  The second filter generation unit 141 generates a pulse compression filter with higher accuracy from the chirp plate used for the first pulse compression and the start frequency detected by the parameter extraction unit 133. Since the start frequency is close to the correct value, the pulse compression waveform generated by the second compression waveform generation unit 142 is less likely to cause a shift in the pulse time shown in FIGS. FIG. 13 is a diagram showing a pulse compression waveform generated by a newly generated pulse compression filter. It can be seen that the peak time is almost the same as the circle mark, and the probability of mistaken the first peak is lowered.

  Next, the received signal processing procedure in the passive radar device 1 having the above configuration will be described.

  FIG. 14 is a flowchart illustrating a processing procedure of the control unit 15 of the passive radar device 1 according to the first embodiment.

  First, when reception processing is performed by the reception processing unit 112, the control unit 15 generates a pulse compression filter generated based on a highly accurate chirp plate and an accurate start frequency, that is, the second filter generation unit 141. It is determined whether or not the pulse compression filter generated in (1) exists (step S141). If present (Yes in step S141), the control unit 15 causes the second compressed waveform generation unit 142 to pulse-compress the received signal with the pulse compression filter (step S142).

  If there is no pulse compression filter in step S141 (No in step S141), the control unit 15 uses the preset chirp plate and the approximate value of the start frequency to perform pulse compression on the first filter generation unit 121. A filter is generated (step S143). The control unit 15 causes the first compressed waveform generation unit 122 to perform pulse compression of the received signal using the pulse compression filter generated by the first filter generation unit 121 (step S144).

  Subsequently, the control unit 15 causes the peak selection unit 131 to detect one or more peaks exceeding the threshold from the pulse compression waveform from the pulse compression unit 12. The control unit 15 causes the peak selection unit 131 to calculate the SNR of the detected peak (step S145). And the control part 15 makes the peak selection part 131 select the peak with the highest SNR, and makes the periphery of the selected peak extract (step S146).

  The control unit 15 causes the Fourier transform unit 132 to perform the Fourier transform of the peak extracted by the peak selection unit 131 (step S147). Then, the control unit 15 causes the parameter extraction unit 133 to detect the start frequency based on the pulse spectrum after the Fourier transform (step S148).

  Subsequently, the control unit 15 causes the second filter generation unit 141 to generate the pulse compression filter again using the preset chirp plate and the detected start frequency (step S149), and the process is performed in step S142. Migrate to

  As described above, in the first embodiment, the peak selection unit 131 extracts a predetermined peak from the pulse compression waveform, and the Fourier transform unit 132 performs FFT processing on the extracted peak. Then, the start frequency is detected based on the pulse spectrum from the Fourier transform unit 132. In this manner, the peak selection unit 131 and the Fourier transform unit 132 can obtain a spectrum close to a single pulse from which noise and interference waves are removed. This makes it possible to obtain the start frequency with high accuracy.

  Further, at the beginning of the stage where the passive radar device 1 searches for a target, only the outline of the specifications of the received signal is known, and a pulse compression filter necessary for highly accurate pulse compression cannot be generated. Therefore, the passive radar device 1 uses the detected start frequency to generate a pulse compression filter again with the second filter generation unit 141 and performs pulse compression with the second compression waveform generation unit 142. Once a highly accurate pulse compression filter can be generated, the received signal is directly compressed by the pulse compression filter. As a result, the passive radar device 1 can perform pulse compression using a highly accurate start frequency.

  Therefore, according to the passive radar device 1 according to the first embodiment, the start frequency of the radar wave from the target can be detected with high accuracy, and pulse compression can be performed using the start frequency.

  In the first embodiment, the case where a chirp plate for generating an appropriate pulse compression filter is set in advance has been described as an example. However, the chirp plate may be detected from the received signal.

  FIG. 15 is a diagram illustrating a functional configuration of the pulse compression unit 16 of the passive radar device 1 according to the first embodiment. The pulse compression unit 16 illustrated in FIG. 15 includes a chirp plate detection unit 161, a first filter generation unit 121, and a first compressed waveform generation unit 122.

  A reception signal input from the reception unit 11 is branched into two in the pulse compression unit 16. One is output to the chirp plate detector 161 and the other is output to the first compressed waveform generator 122.

  The chirp plate detection unit 161 detects a high-precision chirp plate from the acquired reception signal, and outputs the detected chirp plate to the first filter generation unit 121. In addition, the chirp plate detection unit 161 outputs the detected chirp plate to the re-pulse compression unit 14.

  The filter generation unit 121 generates a pulse compression filter using the detected chirp plate. The first compressed waveform generation unit 122 performs pulse compression on the received signal using the generated pulse compression filter.

  Below, some concrete chirp plate detection methods will be described.

  First, the first method is the Wigner distribution method (W. Li, “Wigner distribution method equivalent to dechirp method for detecting a chirp signal,” IEEE Trans. Acoustics, Speech, and Signal Processing, Vol. ASSP-35, No. .8, pp.1210-1211, 1987).

  The Wigner distribution method is a method in which a time-frequency map of an instantaneous frequency is created by Wigner transformation, and a slope of a straight line related to a chirp pulse appearing on the map is detected as a chirp plate. Here, the time-frequency map is obtained by observing the transition of main frequency components at a time when a significant range of the window exists by sliding the central time of the Gaussian window (filter). The Wigner transform is one of the methods for detecting the instantaneous frequency, and although details are omitted, since it is a non-linear process, there are a large number of multipaths as assumed in the first embodiment. Under certain circumstances, a chirp pulse that should not exist is output. Therefore, here, a time-frequency map by Gabor transformation, which is linear processing, is used although it is slightly inaccurate. Hereinafter, the Wigner distribution method will be described using a Gabor transform time-frequency map.

  FIG. 16 is a diagram illustrating an example of a time-frequency map by Gabor transformation. The Gabor transform is a method of performing a Fourier transform on a received signal by applying a Gaussian window whose effective length is sufficiently shorter than the length of the time waveform. In FIG. 16, there are five straight line groups having the same inclination, two straight line groups, a number of weak vertical stripe-like straight lines, and a weak component that gently spreads in the horizontal direction only within a certain time range. It can be seen. Since a chirp pulse appears as a component whose frequency changes with time, that is, as an obliquely inclined straight line, a group of five straight lines and a group of two straight lines are chirp pulses.

  In the Wigner distribution method, Radon transformation is performed on such a time-frequency map. The Radon transform is a transform that defines a straight line passing through one point on the map and integrates the map values on the line. Here, the amplitude or power of the spectrum of the time-frequency map is integrated. As shown in FIG. 17, while changing various points through which a straight line passes on the map, a plurality of straight lines having different inclinations are defined at each point, and the Radon transform is calculated. When Radon transform is performed on a straight line that overlaps well with the chirp pulse, the value of the result increases. The presence or absence of a significant chirp plate can be detected by performing threshold determination on the Radon transform values obtained for various passing points and inclinations. If a significant chirp plate exists, its value can be determined. What is necessary is just to determine the threshold value utilized for a threshold-value determination in the wind of how many times it is based on a noise level.

  Since the approximate value of the chirp plate is known, other ranges of chirp pulses that are completely unrelated can be detected by keeping the range of the slope of the straight line within the range of errors expected from the approximate value. Can be prevented. In the example of FIG. 17, if a group of five straight lines is a radar wave from a target, the range of the straight line inclination is limited to the vicinity of the known approximate value as indicated by an arrow. Thus, it is possible to prevent detection of the chirp plate of the group of two straight lines. For example, if the error of the approximate value is predicted to be about 10%, it is preferable to narrow the range from the approximate value to about ± 20% at most with some margin.

  If there is a margin in the calculation amount, it is sufficient to comprehensively scan the points along the straight line. If the amount of calculation is too large, it is preferable to select several points as the points where the straight line passes through the maximum value of power on the map.

  The second method is Radon-Ambiguity transformation (Minsheng Wang; Chan, AK; Chui, CK, “Linear frequency-modulated signal detection using Radon-ambiguity transform,” IEEE Transactions on Signal Processing, Vol.46, No.3. , pp.571-586, 1998). In the Wigner distribution method, a time-frequency map which is a Wigner conversion result (Gabor conversion result in the above example) is used. In the Radon-Ambiguity conversion, an Ambiguity function is used instead of the Wigner conversion result.

The Ambiguity function is a function like the following formula.

Here, r is an input signal, t is time, τ is delay, and ω is frequency. The autocorrelation around the delay τ of the input signal is calculated, and this is Fourier transformed to calculate the frequency spectrum of the autocorrelation. At that time, the delay is varied and the spectrum for each delay is calculated and mapped in the same manner as the time-frequency map.

  When a chirp pulse is substituted for r in equation (1), the frequency of the chirp pulse changes every moment, but the rate of change is constant in the chirp plate. Therefore, when a certain delay is determined, the autocorrelation spectrum has a line spectrum having a substantially constant frequency, and the frequency of the line spectrum is a frequency difference determined by the chirp plate before and after the delay. Therefore, when the Ambiguity function is mapped to the delay, it becomes a delay amount-frequency difference map as shown in FIG. FIG. 18 is a delay amount-frequency difference map obtained by performing Radon-Ambiguity conversion on the same signal as that used to obtain FIG.

  In Radon-Ambiguity conversion, Radon conversion is performed on such a delay amount-frequency map. However, as is apparent from the equation (1), since the Ambiguity function is a non-linear function, when many multipaths and other interference waves are included, a large number of chirp pulses that do not originally exist are output. However, the biggest feature of the Ambiguity function is that when the delay is zero, the autocorrelation spectrum is a spectrum obtained by simply Fourier transforming the power, and always has a peak at frequency 0. Because of this property, in the Radon-Ambiguity conversion, only the straight line passing through the origin needs to be scanned during the Radon conversion. Except for scanning only the slope of the straight line passing through the origin, the processing after the Radon transformation in the Radon-Ambiguity transformation is the same as the Wigner distribution method. Similarly, the determination may be made by setting the range of the chirp plate and the determination threshold.

  In the third method, the received signal from the receiving unit 11 is pulse-compressed by a plurality of pulse compression filters in which the chirp plate is changed by several values near the approximate value, and the peak height after the pulse compression is the highest. This is a method for detecting a rising chirp plate.

  19 to 21 show pulse compression waveforms obtained by pulse-compressing received signals with several pulse compression filters having different chirp plates. FIG. 19 shows a pulse compression waveform acquired based on a char plate shifted by 20% with respect to the correct char plate, and FIG. 20 shows a pulse compression waveform acquired based on a char plate shifted by 10% with respect to the correct char plate. FIG. 21 shows an example of a pulse compression waveform acquired based on the correct chirp plate. Thus, only when the chirp plate is very close to the correct value, the peak of the pulse compression waveform is clearly higher. Therefore, a pulse compression filter is generated by finely shaking the chirp plate around the approximate value, a pulse compression waveform is generated for each, and the maximum amplitude value of the waveform is acquired. A large chirp plate is detected as a highly accurate chirp plate. The range in which the chirp plate is shaken may be a range with a margin for the expected error range of the approximate value, as in the Wigner distribution method and the Radon-Ambiguity transformation.

  FIG. 22 shows the result of applying the third method to the three types of conditions A, B, and C. The center 0 of the horizontal axis indicates the approximate value of the chirp plate, and the horizontal axis indicates the deviation from the approximate value of the applied char plate of the pulse compression filter. The vertical axis indicates the height of the maximum amplitude of each pulse compression waveform. In conditions A and B, a peak clearly appears in a certain chirp plate. However, in condition C, the change in height of the maximum amplitude with respect to the chirp plate is small. When the threshold value is determined by detecting the threshold value in the form of how many times the average value of the lowest values of each line with respect to the results obtained in this way, a significant chirp plate is detected under conditions A and B. Yes, but not under condition C. Therefore, the chirp plate detection unit 161 outputs a chirp plate having the largest maximum amplitude as the high-precision chirp plate under the conditions A and B, and determines that no significant chirp plate is included under the condition C. .

  In the first and second methods, there is a limit to the accuracy that can be obtained even if the scan is made fine due to the problem of the line width on the map. However, in the third method, the detection accuracy of the chirp plate can be increased to the noise limit by making the scan unit of the chirp plate finer. This is because the third method is the same as the demodulation by the matched filter with respect to the chirp pulse, and the demodulation by the matched filter outputs the maximum output when the specification exactly matches the input signal. .

  Note that the Wigner distribution method and the Radon-Ambiguity conversion may be insufficient in the accuracy of the char plate. In such a case, the third method may be performed within a narrow range around the resulting chirp plate to obtain a chirp plate with higher accuracy.

  FIG. 23 is a flowchart illustrating a processing procedure of the control unit 15 when the passive radar device 1 according to the first embodiment includes the pulse compression unit 16.

  First, when reception processing is performed by the reception processing unit 112, the control unit 15 generates a pulse compression filter generated based on a highly accurate chirp plate and an accurate start frequency, that is, the second filter generation unit 141. It is determined whether or not the pulse compression filter generated in (1) exists (step S231). If present (Yes in step S231), the control unit 15 causes the second compressed waveform generation unit 142 to compress the received signal with the pulse compression filter (step S232).

  When there is no pulse compression filter in step S231 (No in step S231), the control unit 15 causes the chirp plate detection unit 161 to perform detailed chirp plate detection (step S233). The control unit 15 causes the first filter generation unit 121 to generate a pulse compression filter using the detected chirp plate and the approximate value of the start frequency (step S234). The control unit 15 causes the first compressed waveform generation unit 122 to perform pulse compression of the received signal using the pulse compression filter generated by the first filter generation unit 121 (step S235).

  Subsequently, the control unit 15 causes the peak selection unit 131 to detect one or more peaks exceeding the threshold from the pulse compression waveform from the pulse compression unit 16. The control unit 15 causes the peak selection unit 131 to calculate the SNR of the detected peak (step S236). And the control part 15 makes the peak selection part 131 select the peak with the highest SNR, and makes the periphery of the selected peak extract (step S237).

  The control unit 15 causes the Fourier transform unit 132 to perform a Fourier transform of the peak extracted by the peak selection unit 131 (step S238). And the control part 15 makes the parameter extraction part 133 detect a start frequency based on a Fourier-transform result (step S239).

  Subsequently, the control unit 15 causes the second filter generation unit 141 to generate a pulse compression filter again using the detected chirp plate and the detected start frequency (step S2310), and the process proceeds to step S232. To do.

  As described above, by providing the chirp plate detection unit 161, it is possible to detect the chirp plate with high accuracy based on the reception signal even if the chirp plate with high accuracy is not set in advance. This makes it possible to perform highly accurate pulse compression even when the detailed specifications of the radar wave from the target are unknown.

  In addition, the chirp plate detection unit 161 determines whether or not a significant chirp plate that is expected to sufficiently compress the received signal within the predicted value range can be detected, and the chirp pulse presence / absence determination result is determined. You may make it output outside. Referring to FIG. 22 as an example, when the conditions are A and B, the chirp plate detection unit 161 determines that a significant chirp plate can be detected. When the condition C is satisfied, the chirp plate detection unit 161 determines that a significant chirp plate cannot be detected.

  When it is determined by the chirp plate detection unit 161 that a significant chirp plate cannot be detected, the component member that has received this determination result can be handled as a chirp pulse to be detected is not included in the received signal. . The reason why the chirp pulse to be detected is not included is that the antenna directivity of the passive radar device 1 is wrong and the radar wave from the target is not received, or the time gate when the received signal is formed There may be cases where the position of is not correct. In such a case, the constituent member controls the antenna directivity, the time gate position, or the like with respect to the control unit 15 so that the received signal includes a chirp pulse to be detected. Instructions can be given.

  If it is determined that a significant chirp plate can be detected, the control unit 15 notifies the control unit 15 of the determination result, so that the control unit 15 confirms that the antenna directivity and the time gate position are correct. It becomes possible to judge.

  In the first embodiment, the case where the parameter extraction unit 133 detects the start frequency and the bandwidth has been described as an example. However, the present invention is not limited to this. For example, the parameter extraction unit may detect the pulse width.

  FIG. 24 is a block diagram illustrating a functional configuration of the pulse parameter detection unit 17 capable of detecting a pulse width. The pulse parameter detection unit 17 illustrated in FIG. 24 includes a peak selection unit 131, a Fourier transform unit 132, a parameter extraction unit 171, an inverse Fourier transform unit 172, and an inverse filter generation unit 173.

  The pulse spectrum output from the Fourier transform unit 132 is branched into two, one is supplied to the parameter extraction unit 171 and the other is supplied to the inverse Fourier transform unit 172.

  The inverse filter generation unit 173 is supplied from the pulse compression unit 12 with information on a pulse compression filter when the received signal is first pulse compressed, or specifications for generating it. Based on the supplied data, the inverse filter generation unit 173 generates a filter having a reverse characteristic of the pulse compression filter when the pulse compression is first performed. The inverse characteristic filter is a filter having the complex conjugate of the first filter as a component.

  The inverse Fourier transform unit 172 multiplies each component of the pulse spectrum from the Fourier transform unit 132 by an inverse characteristic filter. The inverse Fourier transform unit 172 performs inverse Fourier transform on the pulse spectrum multiplied by the inverse characteristic filter, and converts it to the dimension of the time waveform before pulse compression. The inverse Fourier transform unit 172 outputs the acquired time waveform to the parameter extraction unit 171.

  The parameter extraction unit 171 detects the pulse width based on the time waveform from the inverse Fourier transform unit 172. FIG. 25 is a diagram illustrating a result of inverse Fourier transform by multiplying the pulse spectrum of FIG. 10 by a filter having an inverse characteristic. In addition, the vertical axis | shaft of FIG. 25 is a logarithmic axis. Compared to FIG. 2, it can be seen that a clear pulse shape can be observed. This is because only the periphery of one peak having a high SNR is extracted, and thus other interference wave components are suppressed.

  The parameter extraction unit 171 outputs the detected pulse width to a configuration unit (not shown) that determines whether the detected chirp pulse is indeed from the target.

  Further, the parameter extraction unit may detect other specifications.

  FIG. 26 is a block diagram showing a functional configuration of the pulse parameter detection unit 18 and the repulse compression unit 14 that can detect other parameters. The second compressed waveform generation unit 142 illustrated in FIG. 26 further outputs the pulse compression waveform generated by the repulse compression to the parameter extraction unit 181 of the pulse parameter detection unit 18.

  The parameter extraction unit 181 detects the peak time when the amplitude exceeds the threshold and is first generated based on the repulse compression waveform from the second compression waveform generation unit 142. Moreover, the delay difference of the some peak exceeding the threshold value or the intensity | strength of each peak is detected as needed. The parameter extraction unit 181 outputs the detected parameters to the outside for confirmation of the specifications of the radar wave from the target.

  In this way, by adopting the forms as shown in FIGS. 24 and 26, the passive radar device 1 can acquire the specifications of the radar wave in more detail.

  15, 24, and 26 can be used together in the form of FIG. 1. Further, various detailed specifications of the radar wave collected in each part are used together for confirming the specifications of the radar wave.

  In the first embodiment, the window waveform is often referred to, but in the first embodiment, Fourier transform and inverse Fourier transform are repeatedly applied. Depending on the window shape, part of the information on the pulse waveform and spectrum waveform will be removed, and the waveform obtained by Fourier transform and inverse Fourier transform will be deformed by the influence of the window applied in the previous step. there is a possibility. When a window is hung, it is necessary to hung a window with the reverse characteristics of the window so that the effect of the window hung before that is removed at each conversion. It is difficult to restore completely because it is missing. For this reason, the most desirable window in the first embodiment is a rectangular window. That is, it is most desirable to carry out the process without actually putting a window.

  Note that the second compressed waveform generation unit 142 is the last process, and the waveform obtained here is not re-converted. In order to detect a peak due to a plurality of multipaths with a high dynamic range, an appropriate window such as a Taylor window may be applied.

(Second Embodiment)
FIG. 27 is a block diagram illustrating a functional configuration of the passive radar device 2 according to the second embodiment. In FIG. 27, parts common to those in FIG. The passive radar device 2 illustrated in FIG. 27 includes a receiving unit 21, a pulse compression unit 12, a pulse parameter detection unit 22, a repulse compression unit 23, an angle detection unit 24, and a control unit 15.

  The receiving unit 21 includes a plurality of antennas and a reception processing unit 212 in order to perform angle measurement. In the present embodiment, an angle is measured by monopulse, and an example having two antennas 211-1 and 211-2 per direction is shown. Originally, a plurality of antennas are required for each of the two directions of the azimuth and the elevation angle. Further, when the angle is measured by the super-resolution method or the like using a larger number of antennas instead of the monopulse, the number of systems that are two systems in FIG. 27 may be increased to the number of systems used by the method.

  In the case of monopulse angle measurement, the reception processing unit 212 generates a Σ signal that is an addition of radio waves received by the two antennas 211-1 and 211-2 and a Δ signal that is a subtraction. The reception processing unit 212 performs amplification, baseband conversion, and analog-digital conversion on the Σ signal and the Δ signal, and generates a Σ reception signal and a Δ reception signal. In addition, when the reception processing unit 212 adopts an angle measurement method other than monopulse angle measurement, a plurality of systems of reception signals are generated in a similar manner by performing processing for each antenna or appropriately combining them. Anyway.

  The reception processing unit 212 outputs the acquired Σ reception signal and Δ reception signal to the repulse compression unit 23, respectively. However, one of the Σ received signal and the Δ received signal is branched and supplied to the pulse compression unit 12. Which is to be branched may be selected from the direction in which the radar wave power is predicted to be included more strongly from the direction in which the radar wave from the target is predicted to arrive.

  The processing of the pulse compression unit 12 is the same as that in FIG.

  The pulse parameter detection unit 22 includes a peak selection unit 131, a Fourier transform unit 132, and a parameter extraction unit 221.

  The parameter extraction unit 221 is supplied with the pulse spectrum from the Fourier transform unit 132 and the signal from the second compressed waveform generation unit 231. At this time, the signal supplied from the second compressed waveform generation unit 231 is a pulse compression waveform of the system output to the pulse compression unit 12 or a pulse compression waveform of all systems. When pulse compression waveforms of all systems are supplied, the parameter extraction unit 221 may detect peaks from waveforms obtained by synthesizing these by non-coherent integration.

  The parameter extraction unit 221 detects the start frequency based on the pulse spectrum from the Fourier transform unit 132. The parameter extraction unit 221 outputs the detected start frequency to the repulse compression unit 23.

  The parameter extraction unit 221 detects the time of the first peak based on the signal from the second compressed waveform generation unit 231. The parameter extraction unit 221 outputs the time of the first peak to the angle detection unit 24.

  The repulse compression unit 23 includes a second filter generation unit 141 and a second compressed waveform generation unit 231.

  The second compressed waveform generation unit 231 generates a pulse compression waveform for each of the Σ received signal and Δ received signal supplied from the receiving unit 21. The second compressed waveform generation unit 231 outputs both generated pulse compression waveforms to the angle detection unit 24. Further, the second compressed waveform generation unit 231 outputs either or both of the generated pulse compression waveforms to the parameter extraction unit 221.

  The angle detection unit 24 includes a leading peak extraction unit 241 and an angle measurement unit 242.

  The leading peak extraction unit 241 extracts the complex amplitude of the leading peak in the pulse compression waveform of each system from the second compressed waveform generation unit 231. At this time, the head peak extraction unit 241 determines the position of the head peak based on the time of the head peak notified from the parameter extraction unit 221. The leading peak extraction unit 241 outputs the complex amplitude of the leading peak extracted for each system to the angle measurement unit 242.

  The angle measurement unit 242 detects the direction in which the pulse corresponding to the head peak has arrived based on the complex amplitude from the head peak extraction unit 241 and outputs the detected direction information to the subsequent stage.

  As described above, in the second embodiment, a plurality of antennas for angle measurement are installed in the receiving unit 21, and the repulse compression unit 23 applies pulses to each of a plurality of received signals after reception processing. Perform compression. The pulse compression filter at this time is generated based on a high-precision chirp plate and a high-precision start frequency. Then, the angle detection unit 24 extracts the first pulse of the pulse compression waveform from the re-pulse compression unit 23, and acquires angle information for the target based on the extracted amplitude of the first pulse. Thereby, even if the detailed specifications of the radar wave from the target are unknown, it is possible to correctly demodulate the chirp pulse of the radar wave and correctly identify the leading pulse. Since the leading pulse can be identified correctly, it is possible to identify the direct wave from the target and correctly know the target direction.

  When the target is followed, it is necessary to continuously measure the angle to the target with reference to the first pulse of the repulse compression waveform. For this reason, in the form of FIG. 27, the parameter extraction unit 221 of the pulse parameter detection unit 22 performs the re-pulse compression waveform even after high values of parameters necessary for pulse compression such as the chirp plate and the start frequency are obtained. The process of detecting the top peak time from is continued.

  Note that the passive radar device 2 according to the second embodiment is not limited to the above embodiment. For example, the pulse compression unit and the pulse parameter detection unit included in the passive radar device 2 may be configured as shown in FIGS.

  FIG. 28 is a block diagram showing a functional configuration of a guidance device having the passive radar devices 1 and 2 according to the first and second embodiments.

  The guidance device includes passive radar devices 1 and 2 and a guidance signal generation unit 3.

  When the guidance device includes the passive radar device 1 and the guidance signal generation unit 3, the guidance signal generation unit 3 receives a pulse compression waveform, detailed specifications of the radar wave, determination of presence / absence of a chirp pulse, and the like from the passive radar device 1 To do.

  The induction signal generation unit 3 processes the pulse compression waveform and generates an induction signal for inducing the flying object by a drive unit (not shown). Further, the guidance signal generation unit 3 uses information such as detailed specifications of the radar wave and determination of the presence / absence of a chirp pulse to determine whether the guidance direction is correct.

  In addition, when the guidance device includes the passive radar device 2 and the guidance signal generation unit 3, the guidance signal generation unit 3 performs angle information, detailed specifications of the radar wave, determination of the presence / absence of a chirp pulse, and the like from the passive radar device 2. Receive.

  The induction signal generation unit 3 mainly uses angle information for generation of induction signals. Further, the guidance signal generation unit 3 uses information such as detailed specifications of the radar wave and determination of the presence / absence of a chirp pulse to determine whether the guidance direction is correct.

  By using the signals from the passive radar devices 1 and 2 as described above, the guidance device can correctly detect the target direction and generate a guidance signal for guiding the flying object.

  Although several embodiments have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1, 2 ... Passive radar apparatus 11, 21 ... Reception part 111, 211-1, 211-2 ... Antenna 112, 212 ... Reception processing part 12, 16 ... Pulse compression part 121, 162 ... 1st filter production | generation part 122 ... First compressed waveform generation unit 13, 17, 18, 22 ... pulse parameter detection unit 131 ... peak selection unit 132 ... Fourier transform unit 133, 171, 181, 221 ... parameter extraction unit 14, 23 ... repulse compression unit 141 ... Second filter generation unit 142, 231 ... second compressed waveform generation unit 15 ... control unit 161 ... chirp plate detection unit 172 ... inverse Fourier transform unit 173 ... inverse filter generation unit 24 ... angle detection unit 241 ... leading peak extraction unit 242 ... Angle measuring unit 3 ... Guidance signal generator

Claims (17)

Receiving a radio wave that is expected to include a chirp pulse to be detected, receiving the radio wave and performing reception processing to convert the radio wave into a received signal;
A first pulse compression filter is generated based on the set chirp plate and an approximate value of the start frequency of the chirp pulse, and a Fourier transform and an inverse Fourier transform are performed on the received signal using the first pulse compression filter. A pulse compression unit that performs pulse compression using
A peak selection unit that extracts, from one or more peaks included in the pulse compression waveform generated by the pulse compression, a peak with the least noise power included in a predetermined range around the peak with respect to the peak power;
A Fourier transform unit for performing a Fourier transform on the extracted peak;
A parameter extraction unit for detecting a start frequency of the chirp pulse based on a pulse spectrum obtained by the Fourier transform;
A second pulse compression filter is generated based on the detected start frequency and the set chirp plate, and the received signal is subjected to pulse compression again using the second pulse compression filter. A passive radar device comprising a pulse compression unit.   The re-pulse compression unit performs pulse compression on the received signal using the second pulse compression filter once the second pulse compression filter is generated. Passive radar equipment.   The pulse compression unit detects a chirp plate from the received signal, and generates a first pulse compression filter based on the detected chirp plate and an approximate value of the start frequency. The passive radar device described in 1.   The passive radar device according to claim 3, wherein the pulse compression unit detects a chirp plate from the received signal by a Wigner distribution method.   The passive radar device according to claim 3, wherein the pulse compression unit detects a chirp plate from the received signal by Radon-Ambiguity conversion. The pulse compression unit pulse-compresses the received signal by a plurality of pulse compression filters in which the chirp plate is changed by several values in the vicinity of the approximate value, and the chirp plate having the highest peak height after the pulse compression is obtained. passive radar apparatus according to claim 3 Symbol mounting and detecting.   The pulse compression unit determines whether or not a significant chirp plate can be detected from the received signal within a predicted value range, and outputs the determination result. The passive radar device according to any one of the above.   The peak selection unit extracts a peak having a maximum ratio of energy in the main lobe of each peak included in the pulse compression waveform to energy in a predetermined range outside the main lobe of the peak. The passive radar device according to any one of claims 1 to 7, wherein   9. The peak selection unit according to claim 1, wherein when the peak is extracted, the amplitude of a predetermined range around another peak existing in a predetermined range around the peak is changed to zero. The passive radar device according to any one of the above.   The passive radar device according to claim 1, wherein the parameter extraction unit further detects a bandwidth of the chirp pulse based on the pulse spectrum. An inverse characteristic filter generation unit for generating an inverse characteristic filter of the first pulse compression filter;
An inverse Fourier transform unit that generates a time-domain signal by multiplying the pulse spectrum by the inverse characteristic filter and performing an inverse Fourier transform on the multiplication result;
The passive radar device according to claim 1, wherein the parameter extraction unit further detects a pulse width based on the signal in the time domain.   The said parameter extraction part receives a pulse compression waveform from the said re-pulse compression part, and further detects the generation | occurrence | production time of the head pulse based on the said pulse compression waveform. Passive radar equipment.   The parameter extraction unit receives a pulse compression waveform from the re-pulse compression unit, and further detects a delay difference between a plurality of pulses based on the pulse compression waveform. The passive radar device described in 1. The receiving unit includes a plurality of antennas, performs reception processing on radio waves received by the plurality of antennas, and converts them into a plurality of received signals,
The repulse compression unit performs repulse compression on the plurality of received signals using the second pulse compression filter, and outputs a plurality of repulse compression waveforms,
The passive radar device further includes an angle detection unit that detects an angle at which the radio wave arrives from a complex amplitude of a leading pulse of the plurality of repulse compression waveforms. A passive radar device according to claim 1. In a guidance device comprising a passive radar device and a guidance signal generator,
The passive radar device is:
Receiving a radio wave that is expected to include a chirp pulse to be detected, receiving the radio wave and performing reception processing to convert the radio wave into a received signal;
A first pulse compression filter is generated based on the set chirp plate and an approximate value of the start frequency of the chirp pulse, and a Fourier transform and an inverse Fourier transform are performed on the received signal using the first pulse compression filter. A pulse compression unit that performs pulse compression using
A peak selection unit that extracts, from one or more peaks included in the pulse compression waveform generated by the pulse compression, a peak with the least noise power included in a predetermined range around the peak with respect to the peak power;
A Fourier transform unit for performing a Fourier transform on the extracted peak;
A parameter extraction unit for detecting a start frequency of the chirp pulse based on a pulse spectrum obtained by the Fourier transform;
Generating a second pulse compression filter based on the detected start frequency and the set chirp plate, performing a second pulse compression on the received signal using the second pulse compression filter; A repulse compression unit that outputs the generated repulse compression waveform to the induction signal generation unit,
The guidance device, wherein the guidance signal generator generates a guidance signal based on the repulse compression waveform from the passive radar device. In a guidance device comprising a passive radar device and a guidance signal generator,
The passive radar device is:
Reception comprising a plurality of antennas, receiving a radio wave expected to include a chirp pulse to be detected by the plurality of antennas, and performing reception processing on the radio waves received by the plurality of antennas to convert to a plurality of reception signals And
A first pulse compression filter is generated based on the set chirp plate and an approximate value of the start frequency of the chirp pulse, and at least one of the plurality of received signals is generated using the first pulse compression filter. A pulse compression unit that performs pulse compression using Fourier transform and inverse Fourier transform ;
A peak selection unit that extracts, from one or more peaks included in the pulse compression waveform generated by the pulse compression, a peak with the least noise power included in a predetermined range around the peak with respect to the peak power;
A Fourier transform unit for performing a Fourier transform on the extracted peak;
A parameter extraction unit for detecting a start frequency of the chirp pulse based on a pulse spectrum obtained by the Fourier transform;
A second pulse compression filter is generated based on the detected start frequency and the set chirp plate, and the second pulse compression filter is used to perform pulse compression again on the plurality of received signals. And a repulse compression unit that outputs a plurality of repulse compression waveforms,
An angle detection unit for detecting an angle at which the radio wave arrives from a complex amplitude of a leading pulse of the plurality of repulse compression waveforms;
The guidance device, wherein the guidance signal generator generates a guidance signal based on the angle from the passive radar device. Receive radio waves that are expected to contain chirp pulses to be detected,
The radio wave is subjected to reception processing and converted into a reception signal,
Generating a first pulse compression filter based on a set chirp plate and an approximate value of the starting frequency of the chirp pulse;
Performing pulse compression using Fourier transform and inverse Fourier transform on the received signal using the first pulse compression filter;
From one or more peaks included in the pulse compression waveform generated by the pulse compression, a peak with the least noise power included in a predetermined range around the peak is extracted with respect to the peak power,
Perform Fourier transform on the extracted peak,
Based on the pulse spectrum obtained by the Fourier transform, detect the start frequency of the chirp pulse,
Generating a second pulse compression filter based on the detected starting frequency and the set chirp rate;
A radio wave detection method comprising performing second pulse compression on the received signal using the second pulse compression filter.

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