JP5873676B2 - Radar reference azimuth correction apparatus, radar apparatus, radar reference azimuth correction program, and radar reference azimuth correction method - Google Patents

Description

  The present invention mainly relates to a radar reference azimuth correction apparatus that corrects a reference azimuth that is a reference of a detection direction of a radar apparatus.

  When a radar device is used in a ship, a radar antenna used for transmission / reception of radio waves is installed so that the front direction of the radar antenna coincides with the bow direction. However, since the accuracy of the radar antenna mounting direction is limited, it is difficult to make the deviation between the direction in which the echo is displayed and the direction in which the target actually exists exactly zero. .

  For this reason, after the radar antenna is attached, a process for electronically correcting the reference orientation, which is the reference for the detection direction of the radar apparatus, is usually performed. Patent Documents 1 and 2 disclose specific correction methods.

  The radar apparatus of Patent Document 1 has a bow line adjustment mode. In this bow line adjustment mode, the radar antenna front direction (headline, reference azimuth) on the radar image, the actual bow direction, Is configured to be displayable. Further, in this bow line adjustment mode, the user can rotate the bow direction displayed in the radar image in order to obtain the amount of deviation between the bow line and the bow direction. The user performs an operation of rotating the heading on the radar image to match the heading with the heading line, and then presses an adjustment completion key. The radar apparatus obtains the amount of rotation of the heading when the adjustment completion key is pressed. The radar apparatus can correct the reference azimuth by rotating the echo by this rotation amount when creating the radar image.

  In the radar apparatus of Patent Document 2, when correcting the reference azimuth, first, the user finds a target (hereinafter referred to as a target target) located on the heading and instructs the radar on the target. Then, the radar apparatus obtains a direction in which an echo of the target target (hereinafter, target echo) is displayed on the radar image. Then, the radar apparatus obtains a deviation amount between the direction of the target echo and the direction of the bow line (reference azimuth) displayed in the radar image (usually directly above). Thereafter, the radar apparatus corrects the reference azimuth by rotating the echo by this amount of deviation when creating the radar image.

Japanese Patent No. 2618095 JP-A-10-96768

  However, in the configuration of Patent Document 1, it is necessary for the user to perform an operation of matching the bow direction displayed on the radar image with the bow line, which is troublesome. Further, in this configuration, since the user manually operates, it is conceivable that the accuracy of correction is low (the amount of deviation cannot be obtained with high accuracy).

  Moreover, since it is necessary to find the target target located on the bow direction, the structure of the said patent document 2 was also desired from the viewpoint of the simplicity of work. Patent Document 2 discloses a configuration in which the ship's mast is used as the target target. However, since the mast is not always disposed in front of the radar antenna, the mast is used as the target target. There is a case where it is impossible.

  The present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a radar reference azimuth correction apparatus that highly accurately corrects a reference azimuth that is a reference of a detection direction of a radar apparatus.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

According to a first aspect of the present invention, a radar reference azimuth correction apparatus having the following configuration is provided. That is, the reference azimuth, which is the reference for the detection direction of the radar device and the reference for the direction of the radar antenna , is corrected by transmitting and receiving electromagnetic waves. The radar reference azimuth correction apparatus includes a relative position acquisition unit, an absolute position acquisition unit, a calculation unit, and a correction unit. The relative position acquisition unit acquires the relative position of the target with respect to the radar apparatus acquired by detection of the radar apparatus based on the reference azimuth. The absolute position acquisition unit acquires the absolute position of the radar device and the absolute position of the target. The calculation unit is configured to determine the direction of the target with respect to the radar apparatus based on the direction of the target with respect to the radar apparatus based on the relative position acquired by the relative position acquisition part and the absolute position acquired with the absolute position acquisition part. An error angle, which is a difference between the direction and the deviation between the reference direction and the bow direction , is obtained . The correction unit corrects the reference azimuth so as to eliminate the deviation amount of the bow azimuth based on the error angle obtained by the calculation unit.

As a result, the error angle can be automatically obtained, so that the user's trouble can be reduced. In addition, since the error angle can be accurately obtained as compared with the configuration in which the error angle is obtained using the user's visual observation, the reference orientation can be corrected with high accuracy. The reference azimuth is a reference for the direction of the radar antenna, the error angle is a deviation amount between the reference azimuth and the bow azimuth, and the correction unit preferably corrects the reference azimuth so as to eliminate the deviation amount.

  In the radar reference azimuth correction apparatus, the calculation unit compares the image based on the relative position acquired by the relative position acquisition unit and the image based on the absolute position acquired by the absolute position acquisition unit. Thus, it is preferable to obtain the error angle.

  As a result, the positions of multiple targets acquired by the relative position acquisition unit and the absolute value acquisition unit can be used effectively, so that the error angle is highly accurate compared to a configuration that compares the positions of single targets. Can be requested.

In the radar reference azimuth correction apparatus, the calculation unit includes a vector starting from the position of the moving body as a starting point and the relative position acquired by the relative position acquisition unit as an end point, and the position of the moving body as a starting point. It is preferable that an angle formed by a vector having the absolute position acquired by the absolute position acquisition unit as an end point is obtained as the error angle.

  Thus, for example, with respect to a certain target, a vector based on a relative position and a vector based on an absolute position are obtained, and an angle formed by both vectors can be obtained to obtain an error angle.

  In the radar reference azimuth correction apparatus, it is preferable that the correction unit automatically corrects the reference azimuth.

  Thereby, compared with the structure which correct | amends according to a user's instruction | indication, a user's effort can further be reduced.

  In the radar reference azimuth correction apparatus, it is preferable that the correction unit corrects the reference azimuth according to a user instruction.

  As a result, correction can be performed only when the user determines that it is necessary, so that it is possible to prevent the reference orientation from changing automatically.

  The radar reference azimuth correction apparatus preferably has the following configuration. That is, the radar reference azimuth correction apparatus includes a determination unit that determines whether the error angle is larger than a set threshold value. When the determination unit determines that the error angle is larger than the threshold value, the correction unit corrects the reference orientation so that the error angle becomes smaller.

  Thereby, the reference azimuth can be corrected only in a situation where the necessity for correction is high, so that the processing efficiency can be improved.

  The radar reference azimuth correction apparatus is preferably mounted on a moving body.

  Thereby, the reference azimuth | direction of the radar apparatus mounted in a moving body can be correct | amended with high precision, for example so that a reference azimuth and the front (heading direction) of a moving body may correspond.

The radar reference direction correction device of above, wherein the correcting unit, when swinging of the radar antenna or the own mobile body is below a predetermined threshold, the reference azimuth correcting the so error angle becomes smaller, the radar antenna Alternatively, it is preferable that the reference azimuth is not corrected when the shaking of the moving body is larger than the predetermined threshold .

  That is, when the radar antenna or the moving body is swinging, the relative position of the target detected by the radar antenna tends to become unstable, and the error angle may not be obtained appropriately. In this regard, in the present invention, the above configuration makes it possible to correct the reference position at a timing when the relative position of the target detected by the radar antenna is stable.

  In the radar reference azimuth correction apparatus, it is preferable that the calculation unit obtains the error angle in consideration of the azimuth of the moving body acquired from the azimuth sensor.

  Thereby, since the direction of the self-moving body can be accurately grasped, an accurate error angle can be acquired.

  In the radar reference azimuth correction apparatus, it is preferable that the calculation unit obtains the error angle when the mobile body is moving toward true north.

  As a result, when an image with the true north direction as the upward direction can be displayed, the user can point the mobile body in the true north direction with high accuracy. As a result, the user can obtain an accurate error angle.

  The radar reference azimuth correction apparatus is preferably mounted on a ship.

  Thereby, the effect of the present invention can be exhibited in the radar reference azimuth correction apparatus that corrects the reference azimuth of the marine radar apparatus.

  In the radar reference azimuth correction apparatus, it is preferable that the absolute position acquisition unit acquires the absolute position of the target based on a chart.

  Thus, unlike the case of using AIS information, an error angle can be obtained based on the absolute position of land or the like even if there is no ship around.

  In the radar reference azimuth correction apparatus, it is preferable that the absolute position acquisition unit acquires the absolute position of the target based on AIS information.

  That is, the target for AIS information is a ship, but when the echo is represented by an image, the ship's echo usually appears as a simple figure that is smaller than the echo of land or the like. Therefore, the error angle can be obtained with high accuracy based on the relative position of the ship obtained from the echo and the absolute position of the ship obtained from the AIS information.

  The radar reference azimuth correction apparatus preferably has the following configuration. That is, the absolute position acquisition unit acquires the absolute positions of a plurality of targets based on the AIS information. The calculation unit obtains the error angle based on a relative position and an absolute position of a plurality of targets.

  That is, when there are a plurality of targets, the error angles obtained for each target should be equal to each other. Therefore, even if the echo of a certain ship cannot be acquired well or the AIS information transmitted by a certain ship is incorrect, the angle formed by both vectors can be determined appropriately.

  The radar reference azimuth correction apparatus preferably has the following configuration. That is, the reference azimuth is determined based on a heading signal transmitted when the radar antenna faces the front direction. The correction unit corrects the transmission timing of the heading signal based on the error angle obtained by the calculation unit.

  Thereby, the transmission timing of the heading signal can be corrected appropriately.

  According to a second aspect of the present invention, there is provided a radar device including the radar reference azimuth correcting device.

  Thereby, the effect of the present invention can be exhibited in the radar apparatus.

According to a third aspect of the present invention, a radar reference azimuth correction program having the following configuration is provided. In other words, this program is a program for correcting the reference azimuth, which is a reference for the detection direction of the radar device and a reference for the direction of the radar antenna, by transmitting and receiving electromagnetic waves. A procedure, a calculation procedure, and a correction procedure are executed. In the relative position acquisition procedure, the relative position of the target with respect to the radar apparatus acquired by the detection of the radar apparatus based on the reference azimuth is acquired. In the absolute position acquisition procedure, the absolute position of the radar device and the absolute position of the target are acquired. In the calculation procedure, the direction of the target relative to the radar device based on the relative position acquired in the relative position acquisition procedure and the target relative to the radar device based on the absolute position acquired in the absolute position acquisition procedure. An error angle, which is a difference between the direction and the deviation between the reference direction and the bow direction , is obtained . In the correction procedure, the reference azimuth is corrected so as to eliminate the deviation amount of the bow azimuth based on the error angle obtained in the calculation procedure.

  As a result, the error angle can be automatically obtained, so that the user's trouble can be reduced. In addition, since the error angle can be accurately obtained as compared with the configuration in which the error angle is obtained using the user's visual observation, the reference orientation can be corrected with high accuracy.

According to the fourth aspect of the present invention, the following radar reference azimuth correction method is provided. That is, this method is a method of correcting the reference azimuth which is a reference of the detection direction of the radar device and a reference of the direction of the radar antenna by transmitting and receiving electromagnetic waves, and includes a relative position acquisition step, an absolute position acquisition step, A calculation step and a correction step. In the relative position acquisition step, a relative position of the target with respect to the radar apparatus acquired by detection of the radar apparatus based on the reference azimuth is acquired. In the absolute position acquisition step, the absolute position of the radar device and the absolute position of the target are acquired. In the calculation step, the direction of the target relative to the radar device based on the relative position acquired in the relative position acquisition step and the target relative to the radar device based on the absolute position acquired in the absolute position acquisition step. An error angle, which is a difference between the direction and the deviation between the reference direction and the bow direction , is obtained . In the correction step, the reference azimuth is corrected so as to eliminate the deviation amount of the bow azimuth based on the error angle obtained in the calculation step.

  As a result, the error angle can be automatically obtained, so that the user's trouble can be reduced. In addition, since the error angle can be accurately obtained as compared with the configuration in which the error angle is obtained using the user's visual observation, the reference orientation can be corrected with high accuracy.

The block diagram which shows the whole structure of the marine equipment network system. The front view of a display apparatus. The figure explaining the difference between the echo display direction and the actual target direction. The block diagram which shows the structure for correct | amending an error angle. The figure explaining the method by which a calculating part calculates | requires an error angle. The block diagram which shows the structure for correct | amending the error angle which concerns on a modification. The figure explaining the method of comparing an image using AIS information.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of the marine equipment network system 1. FIG. 2 is a front view of the display device 11.

  The marine equipment network system 1 according to this embodiment includes a plurality of marine equipments connected to the marine network 10. The marine equipment can exchange detected information and the like via the marine network 10. As a standard of the marine network 10, for example, a LAN (Local Area Network) or a CAN (Controller Area Network) can be adopted.

  As shown in FIG. 1, a marine equipment network system 1 according to the present embodiment includes a display device 11, a GPS antenna (GNSS sensor) 12, a radar antenna 13, a fish detector (acoustic sensor) 14, and a bow direction sensor. 15 and an automatic steering device 16.

  The display device 11 is configured to create and display a video (sensor video) based on information detected by other marine equipment (sensors), and to perform processing according to a user operation. Specifically, the display device 11 includes a display unit 21, an operation unit 22, a storage unit 23, and a control unit 25. The display device 11 of the present embodiment has a configuration in which the display device 11 itself includes an operation unit. However, the display device 11 may have a configuration in which an operation unit such as a mouse or a keyboard can be externally attached. The structure which can be detected may be sufficient.

  The display unit 21 is configured by a liquid crystal display or the like, and can display a sensor image, various setting screens, and the like on the display screen as described above.

  The operation unit 22 includes, for example, a rotation key that can be rotated clockwise or counterclockwise, a menu key for calling a menu screen, and a cursor key.

  The storage unit 23 stores the contents of the program executed by the control unit 25, nautical chart information, a voyage route set by the user, and the like.

  The control unit 25 creates the sensor image (a radar image or a chart around the ship) based on the contents stored in the storage unit 23 and information received from other marine equipment, and displays it on the display unit 21. The control unit 25 receives information from a plurality of marine equipments and creates a plurality of sensor images. The control unit 25 displays a mode (full screen mode) in which only one of the plurality of sensor images is displayed on the display screen, and a mode (divided screen mode, FIG. 2) that displays the plurality of sensor images by dividing the display screen. Can be switched between.

  The GPS antenna 12 receives a positioning signal from a GPS satellite (GNSS satellite) and outputs it to the display device 11 or the like via the marine network 10. The control unit 25 of the display device 11 obtains the position of the ship (specifically, the position of the GPS antenna, the absolute position of the earth reference) based on the positioning signal. In addition, the structure which performs the calculation which calculates | requires a position from a positioning signal by the GPS antenna 12 side, and outputs the position of the own ship to the display apparatus 11 may be sufficient.

  The display device 11 can exhibit a function as a navigation device based on the obtained position of the ship and the chart information stored in the storage unit 23. Specifically, the control unit 25 superimposes and displays the position of the own ship on the chart based on the acquired position of the own ship and the chart information stored in the storage unit 23. (See the first sensor image 31 in FIG. 2). In addition, the control unit 25 can obtain the speed of the ground ship or obtain the track of the ship by using the position of the ship that changes according to the time and can display it on the display unit 21.

  The radar antenna 13 transmits microwaves and receives reflected waves from the target. The reflected wave is output to the display device 11 after appropriate signal processing. The display device 11 creates a radar image based on this reflected wave. Specifically, the control unit 25 of the display device 11 obtains the distance of the target from the time from when the microwave is transmitted until the reflected wave is received. Moreover, the control part 25 calculates | requires the direction in which the target exists based on the direction which transmitted the microwave. The control unit 25 creates the radar image in this way and displays it on the display unit 21 (see the second sensor image 32 shown in FIG. 2).

  The fish finder 14 includes a transducer and an analysis unit. The vibrator is installed on the bottom of the ship and emits an ultrasonic wave in a direction directly below the sea and receives a reflected wave from the sea floor or a school of fish. The analysis unit creates fish finder data (data obtained by a fish finder, fish school and seabed data) based on the reflected wave. Further, the fish finder 14 of the present embodiment has a function of determining the state of the seabed (bottom quality) based on the acquired fish finder data. Specifically, the analysis unit can determine whether the seabed is likely to be a rock, gravel (stone), sand, or mud by analyzing the received reflected wave. The fish finder data and the determined bottom sediment are output to the display device 11. And the control part 25 of the display apparatus 11 produces the 3rd sensor image | video 33 based on the received data (refer FIG. 2), and displays it on the display part 21. FIG. In the third sensor image 33, the vertical axis indicates the fish finder data, and the horizontal axis indicates the time when the fish finder data is acquired (which becomes older as it goes to the left end of the screen).

  The bow direction sensor 15 is configured to detect the bow direction of the own ship (the direction in which the bow is facing) with an absolute orientation based on the earth. Generally, a ship advances toward the bow direction. Therefore, it can be said that the heading sensor 15 detects the heading in the forward direction of the hull. The bow direction sensor 15 can utilize a magnetic direction sensor, a GPS compass, etc., for example.

  The automatic steering device 16 is a device that automatically performs a rudder operation so that the ship moves along a set sailing route. Specifically, the automatic steering device 16 determines how much the bow of its own ship should be changed based on the heading obtained from the heading sensor 15 and the navigation route obtained from the display device 11. Ask. Then, the automatic steering device 16 changes the steering angle in accordance with the obtained value, thereby matching the course of the ship with the voyage route.

  The marine equipment network system 1 according to the present embodiment is configured as described above. In addition, the marine equipment which comprises the marine equipment network system 1 is arbitrary, The structure by which marine equipment other than having been demonstrated above may be connected, and it is the structure by which the same kind of marine equipment is connected. Also good. Moreover, the structure performed by the said marine equipment may be sufficient as the process of the data which the marine equipment acquired, and the structure performed by the control part 25 of the display apparatus 11 may be sufficient.

  Next, a detailed description will be given of a correction process for correcting the reference azimuth that is the reference of the radar detection direction after the radar antenna 13 is attached. FIG. 3 is a diagram for explaining the difference between the echo display direction and the actual target direction. FIG. 4 is a block diagram showing a configuration for correcting the error angle. FIG. 5 is a diagram illustrating a method by which the calculation unit 53 obtains the error angle.

  FIG. 4 shows a radar reference azimuth correction device 50 in addition to the GPS antenna 12, radar antenna 13, bow direction sensor 15, and storage unit 23 of the display device 11 described above. The radar reference azimuth correction device 50 is a device that corrects a reference azimuth that is a reference of a radar detection direction. The radar reference azimuth correction device 50 may be an independent device, or may be incorporated in another marine equipment (for example, the display device 11). Further, in the case of an independent device, it may be directly connected to the radar antenna 13 or the like, or may be connected via the marine network 10.

  The radar antenna 13 of the present embodiment is configured to scan 360 degrees around the ship in the horizontal plane by repeatedly transmitting and receiving radio waves while rotating at a predetermined rotational speed. In addition, the radar antenna 13 transmits a signal called a heading signal to the radar reference azimuth correction device 50 every time it faces the front (that is, every rotation) in order to notify the direction of the radar antenna 13. In the present embodiment, the reference orientation is determined based on this heading signal.

  Ideally, the transmission timing of the heading signal preferably coincides perfectly with the timing at which the radar antenna 13 faces the heading. However, since the accuracy of the mounting direction of the radar antenna 13 is also limited, it is difficult to make the timings of the two strictly coincide. Therefore, the radar reference azimuth correction apparatus 50 according to the present embodiment automatically calculates an error in the mounting direction of the radar antenna 13 and creates a radar image in which the reference azimuth is electronically corrected based on the error. It has become.

  For example, as shown in FIG. 3A, when the direction of the radar antenna 13 and the heading at the moment the heading signal is transmitted are shifted by an error angle θ, the direction in which the target actually exists There is a deviation of the error angle θ between the direction in which the echo of the target on the radar image is displayed (see FIG. 3B). This display misalignment can be eliminated by obtaining the above error angle θ and creating a radar image in which the whole is rotated so as to cancel the error angle θ.

  Next, processing for obtaining the error angle θ by the radar reference azimuth correction apparatus 50 and processing performed by the radar reference azimuth correction apparatus 50 based on the obtained error angle θ will be described. In the present embodiment, since the correction process is performed based on the position information output from the GPS antenna 12, when the GPS antenna 12 and the radar antenna 13 are separated from each other, the positions match. It is necessary to set beforehand.

  As shown in FIG. 4, the radar reference azimuth correction apparatus 50 includes a relative position acquisition unit 51, an absolute position acquisition unit 52, a calculation unit 53, a determination unit 54, and a correction unit 55.

  The relative position acquisition unit 51 acquires the distance from the radar antenna 13 to the target and the direction in which the target exists. Specifically, the relative position acquisition unit 51 acquires the distance to the target from the time difference between the timing at which the radar antenna 13 transmits the microwave and the timing at which the radar echo is received. Further, the relative position acquisition unit 51 acquires the direction in which the target is present according to the direction of the radar antenna 13 when the radar echo is received. In addition, since the position of the target obtained in this way is a relative position with respect to the ship, it is referred to as a relative position below.

  If there is an error in the mounting direction of the radar antenna 13, the direction of the target acquired by the relative position acquisition unit 51 is deviated from the direction in which the target actually exists. The relative position of the target will also shift. The relative position acquisition unit 51 outputs the relative position of the target acquired in this way to the calculation unit 53.

  The absolute position acquisition unit 52 acquires the absolute position (position determined by the earth reference position, latitude and longitude) of the target (specifically, land, island, etc.) based on the chart information stored in the storage unit 23. To do. The absolute position acquisition unit 52 acquires the absolute position of the ship obtained based on the positioning signal received by the GPS antenna 12. The absolute position acquisition unit 52 outputs the target thus acquired and the absolute position of the ship to the calculation unit 53.

  In addition to the relative position and the absolute position, the heading obtained by the heading sensor 15 is input to the calculation unit 53. The calculation unit 53 obtains the error angle θ based on the input information. Hereinafter, an example of a method for calculating the error angle will be described.

  In the present embodiment, the calculation unit 53 creates an image indicating the position of the echo and an image indicating the actual position of the target based on the input information, and performs matching processing on these images to obtain an error angle. θ is obtained.

  Specifically, based on the relative position, the calculation unit 53 is centered on the position of the ship so that the radar antenna 13 is oriented right above the image when the heading signal is generated. An image indicating the position of the echo is created (see FIG. 5A).

  The calculation unit 53 further centers the position of the ship so that the heading obtained from the heading sensor 15 is directly above the image based on the difference between the absolute position of the ship and the absolute position of the target. An image showing the actual position of the target is created (see FIG. 5B).

  Here, it is assumed that the heading sensor 15 is adjusted in advance so that the error of the output direction is sufficiently small. However, the heading sensor 15 can be omitted if the calculation unit 53 can acquire the heading of the ship with other means with high accuracy. For example, if the user operates the rudder while referring to the ground course, etc., and sets the procedure so that the correction process is started in a state where the ship is directed in a predetermined direction (for example, true north direction) Since it is known in advance that the ship is facing the direction, the image shown in FIG. 5B may be created using this fact.

  Then, the calculation unit 53 compares the image indicating the position of the echo with the image indicating the position of the target. FIG. 5 (c) shows a state in which the images of FIGS. 5 (a) and 5 (b) are overlaid with reference to the position of the ship. As shown in FIG. 5, there is a rotational deviation between the two images by an error in the mounting direction of the radar antenna 13 (error angle θ).

  As can be seen from FIG. 5C, the error angle θ is based on the direction A1 based on the echo position (relative position), the difference between the absolute positions of the ship and the target, and the heading of the same target. It can be expressed that there is a difference between the direction B1 created in this way. Both direction A1 and direction B1 are common in that they indicate the direction of the target relative to the ship, but one is created based on radar echo (relative position), and the other is used for absolute position information, etc. It is different in that it is created based on. In FIG. 5C, the direction A1, the direction B1, and the error angle θ are illustrated by taking one (smallest island) as an example from among a plurality of targets, but other targets are also illustrated. Two directions and an error angle θ can be grasped.

  In the present embodiment, the calculation unit 53 does not actually calculate the above two vectors, but calculates the error angle θ by image processing. Specifically, for example, the calculation unit 53 calculates the distance (similarity) between the images while rotating the image indicating the position of the echo by a predetermined angle in small increments, Obtained as the angle θ. The calculation unit 53 outputs the error angle θ obtained as described above to the determination unit 54.

  A threshold value is set in the determination unit 54 in advance. The determination unit 54 determines whether or not the error angle θ received from the calculation unit 53 is larger than this threshold value.

  When the determination unit 54 determines that the error angle θ is larger than the threshold value, the correction unit 55 corrects the reference orientation so that the error angle θ becomes zero. That is, when the radar image is created, a process of rotating the image so as to shift the position of the echo by the error angle θ is performed. On the other hand, when the determination unit 54 determines that the error angle θ is smaller than the threshold value, the correction unit 55 does not perform any particular processing. Thereby, the reference orientation can be corrected only when necessary.

  Thus, in this embodiment, when the error angle is larger than the threshold value, the reference azimuth is automatically corrected. On the other hand, for example, the error angle obtained by the calculation unit 53 may be displayed on the display device 11, and the correction unit 55 may correct the reference orientation according to a user instruction.

  Two vectors can be created by adding the concept of the distance to the target to the direction A1 and the direction B1. The error angle θ can also be expressed as an angle formed by these two vectors. Therefore, for example, with respect to a certain target, a vector based on a relative position and a vector based on an absolute position are calculated, and an angle formed by the two vectors is obtained, whereby the error angle θ can be obtained.

  As described above, the radar reference azimuth correction apparatus 50 according to the present embodiment includes the relative position acquisition unit 51, the absolute position acquisition unit 52, the calculation unit 53, and the correction unit 55. The relative position acquisition unit 51 acquires the relative position of the target with respect to the radar device (radar antenna 13). The absolute position acquisition unit 52 acquires the absolute position of the radar device and the absolute position of the target. The calculation unit 53 obtains an error angle that is a difference between the direction of the target with respect to the radar apparatus based on the relative position and the direction of the target with respect to the radar apparatus based on the absolute position. The correction unit 55 corrects the reference orientation based on the error angle obtained by the calculation unit.

  As a result, the error angle can be automatically obtained, so that the user's trouble can be reduced. In addition, since the error angle can be accurately obtained, the reference orientation can be corrected with high accuracy.

  Next, a modification of the above embodiment will be described. FIG. 6 is a block diagram illustrating a configuration for correcting an error angle according to a modification. FIG. 7 is a diagram for explaining a method of comparing images using AIS information. In the description of this modification, the same or similar members as those in the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  As shown in FIG. 6, the configuration of this modification includes an AIS receiver 17 and a tilt angle sensor 18 in addition to the configuration of the above embodiment.

  The AIS receiver 17 receives AIS information output from an AIS (Automatic Identification System) mounted on another ship. The AIS signal includes information such as the position of the other ship, ship speed, and course. The position of the other ship included in the AIS signal is absolute information based on the earth standard. The AIS receiver 17 outputs the acquired absolute position of the other ship to the absolute position acquisition unit 52.

  Based on the absolute position of the other ship acquired from the absolute position acquisition unit 52, the calculation unit 53 creates an image indicating the actual position of the target (AIS symbol 41 in FIG. 7), as in the above embodiment. Further, the calculation unit 53 creates an image indicating the position of the ship based on the relative position of the other ship acquired by the relative position acquisition unit 51 based on the radar echo from the radar antenna 13 (showing the ship of FIG. 7). (See Echo 42). And the calculating part 53 calculates | requires error angle (theta) by comparing two images similarly to the said embodiment.

  In general, when an image is created from radar echoes, a ship's echo tends to appear as a simple figure smaller than an echo of land or the like. Moreover, the absolute position of the ship corresponding to several echoes can be easily acquired by using AIS information. Therefore, the calculation unit 53 can accurately perform the matching process between the two images, and thus can obtain an accurate error angle θ.

  The tilt angle sensor 18 is configured to detect the tilt angle of the hull of the ship. The tilt angle detected by the tilt angle sensor 18 is output to the determination unit 54. The determination unit 54 determines whether or not the ship's sway is small based on the inclination angle. As a determination method, for example, it is conceivable to use whether or not the maximum value of the change amount of the tilt angle in the past few seconds is smaller than a predetermined threshold.

  In this modification, whether or not the correction unit 55 actually corrects the error angle θ is determined based on the determination result of whether the error angle θ is larger than the threshold value or the determination result of the magnitude of the shaking. Affected. That is, when the radar antenna 13 or the own ship is oscillating, the relative position of the target acquired by the radar antenna 13 is not accurate, and the error angle θ may not be obtained appropriately. In consideration of this point, in the present modification, the correction unit 55 is configured to correct the error angle θ only when the determination unit 54 determines that the shake of the ship is small. As a result, the error angle θ can be corrected under an appropriate situation, so that a more accurate radar image can be provided.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  The target acquired based on the chart information is not limited to the land as long as the radar antenna 13 can be acquired and included in the chart information. For example, a navigation buoy may be used.

  The present invention is not limited to a marine radar device, and may be configured to be mounted on another moving body such as an aircraft. Further, the present invention can also be applied to a radar device that is arranged in a lighthouse or the like and detects surrounding conditions. In this case, for example, the reference orientation can be corrected so that the reference orientation of the radar apparatus is true north.

  The radar reference azimuth correction apparatus 50 according to the present embodiment is configured to be incorporated in a general-purpose display device 11 that receives information from a large number of sensors, but includes a radar antenna 13, a display unit that can display a radar image, The structure built in the radar apparatus comprised by may be sufficient.

  The method of calculating the error angle θ is not limited to the method of comparing two images. For example, in the above modification, the direction A1 (or vector) is actually calculated based on the relative position, and the direction B1 (or vector) is actually calculated based on the AIS information and the absolute position of the ship. What is necessary is just to obtain | require an error angle based on two directions. As mentioned above, since the echoes of a ship often appear as small simple figures, the exact position of each echo (for example, the center of the figure of the echo or the position of the center of gravity can be considered) is easy. Can be calculated. According to this method, the image generation processing and image matching processing based on the absolute position of the target can be omitted, so that the load on the radar reference azimuth correction apparatus 50 can be reduced.

  When there are a plurality of targets, the error angles obtained for each target should be equal to each other. Therefore, when the error angle θ is calculated by actually obtaining the two directions for the target as described above, for example, when the error angle θ obtained for each target includes an extreme value. A process for calculating the average of the error angles θ can be adopted after removing this. Thereby, even when it is a case where the echo of a certain ship cannot be acquired correctly, or when the AIS information which a certain ship transmits is incorrect, it can make it difficult to receive the influence.

DESCRIPTION OF SYMBOLS 1 Marine equipment network system 10 Marine network 11 Display apparatus 12 GPS antenna (GNSS sensor)
DESCRIPTION OF SYMBOLS 13 Radar antenna 14 Fish detector 15 Bow direction sensor 16 Automatic steering apparatus 50 Radar reference direction correction apparatus 51 Relative position acquisition part 52 Absolute position acquisition part 53 Calculation part 54 Determination part 55 Correction part

Claims (18)

A radar reference azimuth correction device that corrects a reference azimuth that is a reference of a radar device detection direction and a reference of a radar antenna direction by transmitting and receiving electromagnetic waves,
A relative position acquisition unit that acquires a relative position of a target with respect to the radar apparatus, acquired by detection of the radar apparatus based on the reference azimuth;
An absolute position acquisition unit for acquiring an absolute position of the radar device and an absolute position of the target;
The difference between the direction of the target relative to the radar device based on the relative position acquired by the relative position acquisition unit and the direction of the target relative to the radar device based on the absolute position acquired by the absolute position acquisition unit. And a calculation unit for obtaining an error angle which is a deviation amount between the reference direction and the heading ,
Based on the error angle obtained by the calculation unit, a correction unit that corrects the reference direction so as to eliminate the deviation amount of the bow direction ,
A radar reference azimuth correction apparatus comprising: The radar reference azimuth correction apparatus according to claim 1 ,
The calculation unit obtains the error angle by comparing the image based on the relative position acquired by the relative position acquisition unit and the image based on the absolute position acquired by the absolute position acquisition unit. Radar reference azimuth correction device characterized. The radar reference azimuth correction apparatus according to claim 1 or 2 ,
The calculation unit includes a vector starting from the position of the moving body as a starting point and the relative position acquired by the relative position acquisition unit as an end point, and the absolute position acquired by the absolute position acquiring unit from the position of the moving body as a starting point. A radar reference azimuth correction apparatus, characterized in that an angle formed by a vector having the end point as an end point is obtained as the error angle. The radar reference azimuth correction apparatus according to claim 1,
The radar reference azimuth correction apparatus, wherein the correction unit automatically corrects the reference azimuth. The radar reference azimuth correction apparatus according to claim 1,
The radar reference azimuth correction apparatus, wherein the correction unit corrects the reference azimuth according to a user instruction. The radar reference azimuth correction apparatus according to any one of claims 1 to 5 ,
A determination unit that determines whether the error angle is larger than a set threshold;
The radar reference azimuth correction apparatus, wherein the correction unit corrects the reference azimuth so that the error angle becomes small when the determination unit determines that the error angle is larger than the threshold value. The radar reference azimuth correction apparatus according to any one of claims 1 to 6 ,
A radar reference azimuth correction apparatus mounted on a moving body. The radar reference azimuth correction apparatus according to claim 7 ,
The correction unit corrects the reference azimuth so that the error angle is small when the shake of the radar antenna or the mobile object is equal to or less than a predetermined threshold, and the shake of the radar antenna or the mobile object is A radar reference azimuth correction apparatus, wherein the reference azimuth is not corrected when larger than a threshold value. The radar reference azimuth correction apparatus according to claim 7 or 8 ,
The radar reference azimuth correction apparatus characterized in that the calculation unit obtains the error angle in consideration of the azimuth of the moving body acquired from the azimuth sensor. The radar reference azimuth correction apparatus according to any one of claims 7 to 9 ,
The radar reference azimuth correction apparatus according to claim 1, wherein the calculation unit obtains the error angle when the mobile body is moving toward true north. The radar reference azimuth correction apparatus according to any one of claims 7 to 10 ,
A radar reference azimuth correction device mounted on a ship. The radar reference azimuth correction apparatus according to claim 11 ,
The radar reference azimuth correction apparatus, wherein the absolute position acquisition unit acquires an absolute position of the target based on a chart. The radar reference azimuth correction apparatus according to claim 11 or 12 ,
The radar reference azimuth correction apparatus, wherein the absolute position acquisition unit acquires an absolute position of the target based on AIS information. The radar reference azimuth correction apparatus according to claim 13 ,
The absolute position acquisition unit acquires the absolute positions of a plurality of targets based on AIS information,
The radar reference azimuth correction apparatus, wherein the calculation unit obtains the error angle based on a relative position and an absolute position of a plurality of targets. The radar reference azimuth correction apparatus according to any one of claims 1 to 14 ,
The reference azimuth is determined based on a heading signal to be transmitted when the radar antenna faces the front direction.
The radar reference azimuth correction apparatus, wherein the correction unit corrects the transmission timing of the heading signal based on the error angle obtained by the calculation unit. A radar apparatus comprising the radar reference azimuth correction apparatus according to any one of claims 1 to 15 . A radar reference azimuth correction program for correcting a reference azimuth that is a reference of a radar device detection direction and a reference of a radar antenna direction by transmitting and receiving electromagnetic waves,
On the computer,
A relative position acquisition procedure for acquiring a relative position of the target with respect to the radar apparatus, acquired by detection of the radar apparatus based on the reference azimuth;
An absolute position acquisition procedure for acquiring the absolute position of the radar device and the absolute position of the target;
The difference between the direction of the target relative to the radar device based on the relative position acquired in the relative position acquisition procedure and the direction of the target relative to the radar device based on the absolute position acquired in the absolute position acquisition procedure. A calculation procedure for obtaining an error angle that is a deviation amount between the reference bearing and the heading ,
A correction procedure for correcting the reference azimuth so as to eliminate the deviation amount of the bow azimuth based on the error angle obtained in the calculation procedure;
Radar reference azimuth correction program. A radar reference azimuth correction method for correcting a reference azimuth that is a reference of a radar device detection direction and a reference of a radar antenna direction by transmitting and receiving electromagnetic waves,
A relative position acquisition step of acquiring a relative position of the target with respect to the radar apparatus, acquired by detection of the radar apparatus based on the reference azimuth;
An absolute position acquisition step of acquiring an absolute position of the radar device and an absolute position of the target;
The difference between the direction of the target relative to the radar device based on the relative position acquired in the relative position acquisition step and the direction of the target relative to the radar device based on the absolute position acquired in the absolute position acquisition step. And a calculation step for obtaining an error angle which is a deviation amount between the reference direction and the heading ,
A correction step of correcting the reference azimuth so as to eliminate the deviation amount of the bow azimuth based on the error angle obtained in the calculation step;
A radar reference azimuth correction method comprising:

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