JP6009990B2 - Radio direction of arrival measurement system - Google Patents

Description

  The present invention relates to a radio wave arrival direction measuring system that measures the arrival direction of a radio wave arriving at a mobile object.

  A method has been proposed in which an incoming radio wave is received by an array antenna, predetermined processing is performed on amplitude and phase information acquired from the received signal of the array antenna, and the arrival direction of the radio source is specified. In addition, when a high altitude platform equipped with an array antenna is swung around a predetermined range and its position is changed with time, a method for locating the target radio wave source using the change in the position has been proposed.

  For example, the radio wave arrival direction specifying system disclosed in Patent Document 1 is a high-altitude platform that flies or stops at high altitude, and an array that is installed on the high-altitude platform and receives radio waves of an arbitrary form within a predetermined frequency range and outputs the received signals. Provide an antenna. Then, predetermined signal processing is performed on the amplitude and phase information acquired from the received signal of the array antenna, and the arrival direction of the radio wave is specified within a predetermined error.

JP 2005-249629 A

  In the radio wave arrival direction specifying system of Patent Document 1, an array antenna is an essential element for specifying the arrival direction of a radio wave source. In order to specify the direction of arrival of the radio wave source using the array antenna, the aperture diameter of the array antenna corresponding to the wavelength to be collected is required. For this reason, there is a problem that the scale of the high-altitude platform is increased and the high-altitude platform is enlarged. Also in Patent Document 1, it is assumed that the high-altitude platform is large in order to obtain sufficient buoyancy or lift at high altitude, and the aperture of the array antenna is wide to specify the arrival direction of the radio wave source. Therefore, there is a problem that it cannot be a solution for radio wave source location using a low-cost, small-scale high-altitude platform.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to make it possible to measure the arrival direction of radio waves arriving at a mobile object even when a small mobile object is used. .

In order to achieve the above-described object, the radio wave arrival direction measuring system of the present invention includes a directivity antenna fixed to a moving body, an azimuth detecting unit for detecting an azimuth angle toward the moving body, and a radio wave using the antenna. A signal processing unit that calculates a radio wave arrival azimuth from an azimuth angle of the moving object and an angle of the antenna pointing direction with respect to the moving object, and a position detection unit that detects the position of the moving object . The signal processor determines the position of the radio source from the overlapping area of the antenna beam widths at two or more points where radio waves from the same radio source were captured while the moving body moved in different directions. While the body is moving at different altitudes, it is possible to see the radio wave source and capture the radio wave from the radio wave source, up to the radio wave source calculated from the position of the radio wave source located and the position of the mobile object The altitude of the radio wave source is calculated using the distance.

  According to the azimuth measuring system according to the present invention, since the radio wave arrival azimuth is measured using an antenna having directivity, the radio wave arrival azimuth can be measured even with a small-sized mobile object.

1 is a conceptual diagram of a radio wave arrival direction measuring system according to Embodiment 1 of the present invention. 1 is a block diagram illustrating a configuration example of a radio wave arrival system according to Embodiment 1. FIG. It is a figure which shows the example of the directional characteristic of the antenna which concerns on Embodiment 1. FIG. FIG. 3 is a conceptual diagram illustrating an operation of measuring the arrival direction of radio waves in the radio wave arrival direction measuring system according to Embodiment 1; FIG. 3 is a conceptual diagram illustrating an operation of performing location of a radio wave source in the radio wave arrival direction measuring system according to the first embodiment. 3 is a flow diagram illustrating an example of an operation of measuring a radio wave arrival direction in the first embodiment. It is a conceptual diagram which shows the operation | movement which estimates the height of a radio wave source in the radio wave arrival direction measuring system which concerns on Embodiment 2 of this invention. 10 is a flow diagram illustrating an example of an operation of estimating the altitude of a radio wave source according to the second embodiment. It is a conceptual diagram which shows the operation | movement which locates a radio wave source in the radio wave arrival direction measuring system which concerns on Embodiment 3 of this invention. 12 is a flow diagram illustrating an example of an operation for performing position determination of a radio wave source according to the third embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

Embodiment 1
FIG. 1 is a conceptual diagram of a radio wave arrival direction measuring system according to Embodiment 1 of the present invention. The radio wave arrival azimuth measurement system measures the arrival azimuth of the radio wave arriving at the mobile aircraft 11 from the radio wave source 30 as viewed from the aircraft 11. An aerial line 13 having directivity is fixed to the aircraft 11. The radio wave arrival direction measurement system calculates the arrival direction of the captured radio wave from the azimuth angle of the aircraft 11 when the radio wave is captured by the aerial line 13 and the angle of the directivity direction of the aerial line 13 with respect to the aircraft 11.

  The radio wave arrival direction measuring system according to Embodiment 1 includes an aircraft 11 and ground equipment 20. The aircraft 11 includes the above-described antenna 13, receiving unit 14, azimuth detecting unit 15, position detecting unit 16, control unit 17, and communication unit 18.

  FIG. 2 is a block diagram illustrating a configuration example of the radio wave arrival system according to the first embodiment. The ground facility 20 of the radio wave arrival direction measuring system 10 includes a body control unit 21 and a signal processing unit 23. Airframe control unit 21 and signal processing unit 23 of ground facility 20 communicate wirelessly with communication unit 18 of aircraft 11 to transmit and receive data.

  The antenna 13 having directivity is fixed to the aircraft 11 and captures radio waves arriving at the aircraft 11 from the directivity direction. The receiving unit 14 frequency-converts the RF signal of the antenna 13 that has captured the radio wave into an IF signal, and detects the signal of the incoming radio wave from the A / D converted signal. When the predetermined signal is detected by the receiving unit 14, it can be determined that the radio wave is captured by the antenna 13. The receiving unit 14 sends the detected signal to the communication unit 18.

  The azimuth detector 15 detects the azimuth angle to which the aircraft 11 is pointing. The direction detection unit 15 includes, for example, a gyro compass, a gyroscope, or a gyro sensor. The gyroscope or the gyro sensor can be any of a mechanical type, a fluid type, and an optical type. The azimuth detection unit 15 sends the detected azimuth angle to the communication unit 18.

  The position detector 16 includes, for example, a GPS (Groval Positioning System) receiver, and detects the position of the aircraft 11. The position detection unit 16 sends the detected position of the aircraft 11 to the communication unit 18. The communication unit 18 transmits the signal detected by the receiving unit 14 and the azimuth and position of the aircraft 11 to the signal processing unit 23 of the ground facility 20.

  The signal processing unit 23 calculates the radio wave arrival azimuth from the azimuth angle of the aircraft 11 when the signal is detected, that is, when the radio wave is captured by the aerial line 13, and the angle of the pointing direction of the aerial line 13 with respect to the aircraft 11. Since the aerial line 13 is fixed to the aircraft 11 and the angle of the pointing direction of the aerial line 13 with respect to the aircraft 11 is determined, the radio wave arrival direction can be calculated.

  The body control unit 21 of the ground facility 20 sets control information such as the route of the aircraft 11 and transmits it to the communication unit 18 of the aircraft 11. The communication unit 18 sets the received control information in the control unit 17. The control unit 17 performs flight control of the aircraft 11 according to control information set from the airframe control unit 21 of the ground facility 20. Hereinafter, operations related to the radio wave arrival direction measurement and the location of the radio wave source 30 according to the first embodiment will be described.

  FIG. 3 is a diagram showing an example of directivity characteristics of the antenna according to the first embodiment. In the first embodiment, it is assumed that the aerial line 13 is mounted on the aircraft 11 so that the axis X of the aircraft 11 and the center (directing direction) of the main beam M of the aerial line 13 are aligned. In addition, it is assumed that the axis X of the aircraft 11 and the direction reference obtained from the direction detection unit 15 mounted on the aircraft 11 are matched in advance. By doing so, the direction of the main beam of the aerial 13 mounted on the aircraft 11 coincides with the direction of the axis, and the direction of the aircraft 11 when the signal is detected by the main beam M becomes the radio wave arrival direction.

  FIG. 4 is a conceptual diagram showing an operation of measuring the arrival direction of a radio wave in the radio wave arrival direction measuring system according to the first embodiment. The aircraft 11 flies while changing its direction. For example, when flying along the route P like the position A, the position B, and the position C in FIG. 4, the direction of the axis X changes in a direction circumscribing the route P of the aircraft 11, and the direction of the antenna 13 is changed accordingly. Change. The direction of the aircraft 11 at the position of the aircraft 11 (position B in FIG. 4) when the signal from the radio wave source 30 is detected is the arrival direction of the radio waves.

  FIG. 5 is a conceptual diagram showing an operation of positioning a radio wave source in the radio wave arrival direction measuring system according to the first embodiment. FIG. 5 shows a case where radio waves from the radio wave source 30 can be collected when the aircraft 11 makes a turn flight and the position of the aircraft 11 is at the position D and the position E. In this case, the area where the beam width when the aircraft 11 is at position D and the beam width when it is at position E overlaps is an area R that can be collected from both positions D and E.

  Since the aerial line 13 has a width to the main beam M, there may be an area R where the main beam M overlaps even if the axis X at different positions does not intersect. If the aircraft 11 continues to turn, the approximate position of the radio wave source 30 can be determined from the overlap of the main beams M at a plurality of positions where radio waves coming from one radio wave source 30 are captured.

  The beam width of the aircraft 11 is θb, and in FIG. 5, the azimuth angle of the aircraft 11 when the aircraft 11 is at position D is θD, and the azimuth angle of the aircraft 11 when it is at position E is θE.

  When the aircraft 11 is turned to the right, the overlapping range of beam widths at positions D and E is as shown in FIG. 5 as an area R that can be collected from both positions D and E. This is an area where the right side of the beam width and the left side of the beam width at position E overlap. Therefore, these ranges can be obtained by the following procedure.

  The angle from the starboard reference azimuth of the beam width when the aircraft 11 is at position D is θD + θb. The angle of the beam width from the reference azimuth on the port side when the aircraft 11 is at the position E is θE−θb. Accordingly, the area R that can be collected from both the positions D and E is based on the intersection of the azimuth line of θD + θb at the position D of the aircraft 11 and the azimuth line of θE−θb at the position E of the aircraft 11. The range is from -θb to θD + θb. By calculating these, the area where the radio wave source 30 exists is estimated.

  The position detection unit 16 can detect the position D and the position E. The azimuth angles θD and θE of the aircraft 11 at the respective positions can be detected by the azimuth detector 15. The beam width θb is known. Therefore, the area where the radio wave source 30 exists can be calculated from these values.

  FIG. 6 is a flow diagram illustrating an example of an operation of measuring a radio wave arrival direction according to the first embodiment. In FIG. 6, the azimuth detection unit 15 and the position detection unit 16 are combined into one and represented by the azimuth / position detection units 15 and 16.

  The operator sets, in the signal processing unit 23, the specifications of the radio waves desired to be collected by this system as the collection specifications. The signal processing unit 23 wirelessly transmits the set collection parameters, and sets the data in the reception unit 14 through the communication unit 18 mounted on the aircraft 11 (step S01). In addition, the operator sets information related to airframe control such as the route P on which the aircraft 11 flies in the airframe control unit 21. The aircraft control unit 21 wirelessly transmits information related to aircraft control, and sets the information in the control unit 17 through the communication unit 18 mounted on the aircraft 11 (step S02). Based on the set aircraft control information, the control unit 17 causes the aircraft 11 to fly on a predetermined route P, for example, turn flight (step S03).

  The azimuth detection unit 15 and the position detection unit 16 detect the azimuth and position of the aircraft at a constant cycle during the flight, and transmit them to the signal processing unit 23 and the aircraft control unit 21 through the communication unit 18 (step S04). The azimuth detection unit 15 and the position detection unit 16 transmit the detected azimuth and position to the signal processing unit 23 and the airframe control unit 21 regardless of the presence or absence of incoming radio waves.

  For example, when an incoming radio wave from the radio wave source 30 is captured by the aerial line 13 of the aircraft 11 performing a turning flight based on information related to the aircraft control, the aerial line 13 transmits an incoming signal to the receiving unit 14 (step S05). Then, after frequency conversion and A-D conversion, signal detection suitable for the collected data is performed (step S06). When the reception unit 14 detects a signal suitable for the collection specifications, the reception unit 14 transmits the detection signal to the signal processing unit 23 through the communication unit 18.

  The signal processing unit 23 calculates the arrival direction of radio waves from the azimuth of the aircraft 11 when a signal conforming to the collected specifications is detected, and the position of the aircraft 11 and the radio wave arrival azimuth (azimuth measurement result) are displayed as, for example, a screen display. Output (step S07). Further, the signal processing unit 23 performs location processing on the position of the radio wave source 30 from a plurality of azimuth measurement results, and outputs the orientation results (screen display) (step S08).

  In the first embodiment, the case where the pointing direction of the antenna 13 coincides with the axis X of the aircraft 11 has been described. If the angle of the pointing direction of the aerial 13 with respect to the aircraft 11 is constant, the pointing direction may not coincide with the axis X of the aircraft 11. Furthermore, if the angle of the pointing direction with respect to the aircraft 11 is known, the angle may not be constant. Therefore, a plurality of antennas 13 fixed at different angles with respect to the aircraft 11 (moving body) are provided, and the radio wave arrival direction is calculated from the angle of the antenna 13 that captured the radio waves with respect to the aircraft 11 (moving body). can do. Alternatively, one antenna having directivity can be rotatably attached to the aircraft 11 (moving body) so that the angle of the antenna 13 can be detected.

  When a plurality of antennas 13 are provided, or when the antennas 13 are rotatably attached, the radio wave arrival azimuth can be measured within the range of the aerial resolution without turning the aircraft 11. However, since the aircraft 11 moves at the time of detecting the signal, the accuracy of the radio wave arrival direction measurement is the highest when the pointing direction of the antenna 13 matches the axis X (matches the traveling direction).

  The moving body of the radio wave arrival direction measuring system 10 may be other than an aircraft. The moving body may be, for example, a ship or a vehicle. When the moving body is a vehicle, the azimuth detecting unit 15 can detect the azimuth using, for example, a GPS receiver and an acceleration sensor without using a gyroscope or the like. In addition, two GPS receivers can be separated and attached to the moving body, and the orientation of the moving body can be detected from the two positions.

  In the first embodiment, the case where the moving body and the ground facility 20 are separated has been described. The airframe control unit 21 and the signal processing unit 23 of the ground facility 20 can be mounted on a moving body, and the radio wave arrival direction measuring system 10 can be completed only by the moving body.

Embodiment 2
FIG. 7 is a conceptual diagram showing an operation of estimating the altitude of the radio wave source in the radio wave arrival direction measuring system according to Embodiment 2 of the present invention. The radio wave arrival direction measuring system according to the second embodiment is the same as the configuration of FIG. In the second embodiment, the radio wave arrival direction measuring system 10 estimates the altitude of the radio wave source 30 in addition to the radio wave arrival direction and the position of the radio wave source 30. FIG. 7 illustrates a method for estimating the altitude of the radio wave source 30 from the aircraft 11 in a state where the position of the radio wave source 30 is known. Here, it is assumed that the aerial line 13 shown in FIG. 3 has directivity characteristics also in the elevation direction, and it is possible to capture the ground or sea level target from a high altitude.

  In FIG. 7, the altitudes at positions I, H, G, and F of the aircraft 11 are altitudes i, h, g, and f, respectively. By controlling the control unit 17 of the aircraft 11 through the airframe control unit 21 shown in FIG. 2, the aircraft 11 is gradually raised from a low altitude (for example, altitude i) to an altitude of the aircraft 11 from a high altitude (for example, altitude f). Let it fly. At the same time, while changing the direction of the aircraft 11, for example, the route P that turns spirally is caused to fly.

  Even if the radio wave is at a distance that the transmission source and the aircraft 11 reach in terms of electric field strength, it is difficult to receive the radio wave if a line of sight cannot be obtained between them. In the second embodiment, by utilizing this property, the altitude of the aircraft 11 at the time when the radio wave from the radio wave source 30 can be received is measured by gradually raising the altitude while changing the direction of the aircraft 11. . The altitude of the aircraft 11 when radio waves can be received for the first time after gradually increasing the altitude is the altitude at which a line of sight can be obtained.

  The altitude of the aircraft 11 can be detected by the GPS receiver of the position detector 16. In addition, you may detect using a barometric altimeter or a radio altimeter.

At the altitude at which the radio wave source 30 can be seen from the aircraft 11, the altitude of the radio wave source 30 is ALT1 [m], the altitude of the aircraft 11 is ALT2 [m], and the distance between the radio wave source 30 and the aircraft 11 is d [m]. Then, the relationship of Formula (1) is materialized between these. It is possible to calculate ALT1, which is the altitude of the radio wave source 30, from Equation (2) obtained by modifying this.
d = 4121 × (√ (ALT1) + √ (ALT2)) (1)
ALT1 = ((d / 4121) −√ (ALT2)) ² (2)

  FIG. 8 is a flow diagram illustrating an example of an operation of estimating the altitude of the radio wave source according to the second embodiment. In FIG. 8, the azimuth detection unit 15 and the position detection unit 16 are combined into one and represented by the azimuth / position detection units 15 and 16.

  The operator sets, in the signal processing unit 23, the specifications of the radio waves desired to be collected by this system as the collection specifications. The signal processing unit 23 wirelessly transmits the set collection specifications, and sets the collected data in the reception unit 14 through the communication unit 18 mounted on the aircraft 11 (step S11). In addition, the operator sets information related to airframe control for causing the aircraft 11 to fly in a different direction while changing the altitude, in the airframe control unit 21. The aircraft control unit 21 wirelessly transmits information related to aircraft control and sets the information in the control unit 17 through the communication unit 18 mounted on the aircraft 11 (step S12). Based on the set aircraft control information, the control unit 17 causes the aircraft 11 to perform, for example, a turning operation while changing the altitude (step S13).

  The azimuth detection unit 15 and the position detection unit 16 detect the position, azimuth, and altitude of the aircraft at regular intervals during the flight, and transmit them to the signal processing unit 23 and the aircraft control unit 21 through the communication unit 18 (step S14). The azimuth detection unit 15 and the position detection unit 16 transmit the detected position, azimuth, and altitude to the signal processing unit 23 and the aircraft control unit 21 regardless of the presence or absence of incoming radio waves.

  When the arrival signal from the radio wave source 30 is received in the aerial line 13 of the aircraft 11 that makes a turning flight while changing the altitude based on the information related to the airframe control, the aerial line 13 transmits the arrival signal to the receiving unit 14 (step S15). The receiving unit 14 performs signal detection suitable for the collected data after frequency conversion and A-D conversion. When the receiving unit 14 detects a signal suitable for the collection specifications, the receiving unit 14 transmits the detection signal to the signal processing unit 23 through the communication unit 18 (step S16).

  The signal processing unit 23 calculates the arrival direction of radio waves from the azimuth of the aircraft 11 when a signal conforming to the collected specifications is detected, and the position of the aircraft 11 and the radio wave arrival azimuth (azimuth measurement result) are displayed as, for example, a screen display. Output (step S17). When a signal is detected for the first time, the signal processing unit 23 estimates the altitude of the radio wave source 30 from the position and altitude of the aircraft 11 at the time of signal detection (step S17). The signal processing unit 23 outputs the estimated altitude of the radio wave source 30 together with the direction measurement result.

  The radio wave arrival azimuth measuring system 10 continues to make a turn flight after the altitude of the radio wave source 30 is estimated by the signal processing unit 23 (step S18). As in the first embodiment, the signal processing unit 23 includes a plurality of signals. By performing the orientation processing from the azimuth measurement result, the position of the radio wave source 30 estimated at an altitude is located, and the orientation result is output.

  According to the radio wave arrival direction measuring system 10 according to the second embodiment, the altitude of the radio wave source 30 is measured from the altitude of the aircraft 11 when the radio wave from the radio wave source 30 can be captured while flying at different altitudes. be able to.

  Also in the second embodiment, the moving body is not limited to the aircraft 11. The altitude of the radio wave source 30 can be measured from the altitude at which the vehicle with the aerial line is run while changing the altitude on a slope or the like and the radio wave can be captured during that time. In this case, since the direction of the moving body (vehicle) cannot be freely changed, it is desirable to provide a plurality of antennas 13 or to change the direction of the antenna 13 having directivity with respect to the vehicle.

Embodiment 3
FIG. 9 is a conceptual diagram showing an operation of positioning the radio wave source in the radio wave arrival direction measuring system according to Embodiment 3 of the present invention. In the third embodiment, two aircrafts are turned in opposite directions, the radio wave arrival directions are respectively measured, and the position of the radio wave source 30 is determined from the two radio wave arrival directions.

  FIG. 9 shows a case where the radio wave from the radio wave source 30 is simultaneously captured by the two aircrafts 11 and 12 and the position of the radio wave source 30 is determined. When the two aircrafts 11 and 12 are turned in opposite directions, as shown in FIG. 9, the main beam M of the aerial 13 of the aircraft 11 and the main beam M of the aerial 13 of the aircraft 12 intersect each other with respect to the radio wave source 30. There can be. At this time, the coordinates of the position J and the direction of the radio wave source 30 at the position J are obtained in the aircraft 11. Similarly, in the aircraft 12, the coordinates of the position K and the direction of the radio wave source 30 at the position K are obtained.

If the arrival directions with respect to the radio wave source 30 from two or more different points whose positions can be specified are known, the position of the radio wave source 30 can be determined from the intersection of the arrival directions at these points. The position of the radio wave source 30 is determined using this concept. In FIG. 9, it is assumed that radio waves from the radio wave source 30 are captured at the position J of the aircraft 11 and the position K of the aircraft 12 and the arrival direction can be calculated. In this case, the coordinate of the position J is J (XJ, YJ), the arrival direction of the radio wave source 30 is θJ, the coordinate of the position K is K (XK, YK), and the arrival direction of the radio wave source 30 is θK. When the position of the radio wave source 30 is T (XT, YT), the following equations (3) and (4) are obtained. Here, the unknown variable is the position T (XT, YT) of the radio wave source 30, and the variables θJ, XJ, YJ, θK, XK and YK in the equations (3) and (4) are known. With these simultaneous equations, the value of the position T (XT, YT) of the radio wave source 30 can be calculated, and the position of the radio wave source 30 can be determined.
tan (θJ) = | XT-XJ | / | YT-YJ | (3)
tan (θK) = | XT−XK | / | YT−YK | (4)

  Even when radio waves from the radio wave source 30 are captured at three or more positions, the position of the radio wave source 30 can be obtained by solving simultaneous equations of three or more types. Since the radio wave arrival azimuth includes an error in the beam width of the aerial line 13 and a position and azimuth detection error, the radio wave arrival azimuth lines from three or more points do not always intersect at one point. By obtaining measurement data at many points, the error in the location of the radio wave source 30 can be reduced.

  FIG. 10 is a flow diagram illustrating an example of an operation of performing position location of a radio wave source according to the third embodiment. In FIG. 10, exchange of signals or data among the aerial line 13, the reception unit 14, the direction detection unit 15, the position detection unit 16, the control unit 17, and the communication unit 18 inside the aircrafts 11 and 12 is omitted. Although omitted in FIG. 10, the positions and orientations of aircrafts 11 and 12 are obtained in the same manner as in the first embodiment.

  In the present embodiment, the operator sets collection parameters for the two aircrafts 11 and 12 through the signal processing unit 23 and the signal processing unit 24 associated with the aircrafts 11 and 12 (steps S21 and S22). ). Further, the operator sets different turning directions for the right turn and the left turn for the two aircrafts 11 and 12 through the aircraft control unit 21 and the aircraft control unit 22 associated with the aircrafts 11 and 12, respectively. (Steps S23 and S24). The aircraft 11 and the aircraft 12 set with different turning directions travel independently (steps S25 and S26), and when an arrival signal suitable for the collection specifications is received, the same processing as that described in the first embodiment is performed. The process is performed (steps S27 and S28). Each of the signal processing unit 23 and the signal processing unit 24 calculates the arrival direction of the radio wave source 30 (steps S29 and S30).

  The arrival direction detected by the aircraft 12 and the position and direction of the aircraft 12 at that time are transmitted from the signal processing unit 24 associated with the aircraft 12 to the signal processing unit 23 associated with the aircraft 11 (step S31). In the signal processing unit 23, the position of the radio wave source 30 is determined by performing orientation processing based on the orientation detected by the signal processing unit 23 and the orientation transmitted from the signal processing unit 24, and the orientation result is notified to the operator ( Screen display) (step S32).

  According to the radio wave arrival direction measuring system 10 of the third embodiment, radio waves arriving from the same radio wave source 30 can be received at two distant points, so that the accuracy of locating the radio wave source 30 is improved.

  DESCRIPTION OF SYMBOLS 10 Radio wave arrival direction measuring system 11, 12 Aircraft, 13 Aerial, 14 Reception part, 15 Direction detection part, 16 Position detection part, 17 Control part, 18 Communication part, 20 Ground equipment, 21, 22 Airframe control part, 23, 24 signal processing unit, 30 radio wave source.

Claims (4)

An antenna with directivity fixed to the moving body;
An azimuth detector that detects an azimuth angle of the moving body;
A signal processing unit for calculating a radio wave arrival azimuth from an azimuth angle of the moving body and an angle of a directing direction of the antenna with respect to the moving body when radio waves are captured by the antenna;
A position detector for detecting the position of the moving body;
Equipped with a,
The signal processing unit determines a position of the radio wave source from an overlapping area of beam widths of the antennas at two or more points where radio waves from the same radio wave source are captured while the moving body moves while changing a traveling direction. Orientation,
The signal processing unit is configured to view the radio wave source while the mobile body moves at a different altitude and capture the radio wave from the radio wave source, and the position of the radio wave source that has been located. And using the distance to the radio wave source calculated from the position of the mobile object, the altitude of the radio wave source is calculated.
Radio direction of arrival measurement system. A plurality of antennas each having a directivity fixed at a different angle with respect to the moving body;
The signal processing unit calculates a radio wave arrival azimuth from an angle with respect to the moving body of a directivity direction of the antenna that has captured the radio wave among the plurality of antennas.
The radio wave arrival direction measuring system according to claim 1.   The radio wave arrival direction measuring system according to claim 1 or 2, wherein a directivity direction of one of the antennas coincides with a traveling direction of the moving body. The radio wave arrival direction measuring system includes at least two moving bodies each having an antenna having the directivity fixed thereto,
Each of the moving bodies includes an azimuth detecting unit that detects an azimuth angle of the moving body, and a position detecting unit that detects the position of the moving body,
The signal processing unit is configured to measure each azimuth measurement line for the radio wave source when the two mobile bodies capture radio waves from the same radio wave source when the two mobile bodies rotate in opposite directions. The position of the radio wave source is determined from the intersection of
The radio wave arrival direction measuring system according to any one of claims 1 to 3 .

Images