JP6154219B2 - Echo signal processing device, wave radar device, echo signal processing method, and echo signal processing program - Google Patents

Description

  The present invention relates to an echo signal processing device, a wave radar device, an echo signal processing method, and an echo signal processing program for calculating information related to an echo signal received by an antenna.

  2. Description of the Related Art Conventionally, an echo signal processing apparatus configured to calculate information related to an echo signal from an echo signal received by an antenna is known. For example, Patent Document 1 discloses a radar-type wave height measuring device capable of calculating wave information (echo signal information) such as wave height and wavelength by appropriately processing a signal from an angle direction in which waves arrive. .

Japanese Patent Laid-Open No. 2-10286

  By the way, in order to calculate the echo signal information by the above-mentioned device, it is necessary to detect the angle (wave direction) at which the wave arrives with a sensor or the like. Therefore, when the wave direction cannot be detected by a sensor or the like, the echo signal information cannot be calculated. On the other hand, even if the wave direction cannot be detected, it is conceivable to calculate the echo signal information in all directions, but in this case, a large calculation load is applied to the calculation unit that calculates the echo signal information.

  The present invention is to solve the above-described problems, and an object thereof is to appropriately calculate echo signal information without imposing a large calculation load on a calculation unit that calculates echo signal information.

  (1) In order to solve the above-described problem, a signal processing device according to an aspect of the present invention generates an echo image at a plurality of timings from a wind direction detection unit that detects a wind direction and an echo signal received by an antenna. Based on the wind direction detected by the wind direction detection unit, the position of the image generation unit and an analysis region that is included in the echo image and in which echo signal information that is information related to the echo signal is calculated is determined. An analysis region determination unit; and a calculation unit that calculates the echo signal information based on echo data of the echo image in the analysis region included in each of the plurality of echo images.

  (2) Preferably, the signal processing apparatus includes a wind direction and wind speed detection unit as the wind direction detection unit that detects a wind direction and a wind speed, and the analysis region determination unit determines the position of the analysis region and the wind direction and wind speed detection unit. It is determined based on the wind direction and the wind speed detected in.

  (3) More preferably, when the wind speed is equal to or greater than a first predetermined value, the analysis region determination unit determines the position of the analysis region on the upstream side of the wind direction with respect to the wind direction detection unit, and the wind speed is When the value is less than the first predetermined value and greater than or equal to a second predetermined value set to be less than the first predetermined value, the position of the analysis region is based on echo intensity corresponding to each of a plurality of locations in the echo image. And when the wind speed is less than the second predetermined value, the position of the analysis region is determined to be a predetermined default position, and the calculation unit echoes in the analysis region determined to be the default position. The display unit displays that the accuracy of the echo signal information calculated based on the echo data of the image is low.

  (4) More preferably, when the wind speed is less than the first predetermined value and greater than or equal to the second predetermined value, the analysis region determination unit selects a plurality of candidate regions as candidates for the analysis region in the echo image. The echo intensity corresponding to each of the plurality of candidate areas is calculated, and the candidate area having the highest echo intensity is determined as the analysis area.

  (5) Preferably, when the wind speed is equal to or higher than a first predetermined value, the analysis area determination unit determines the position of the analysis area on the upstream side of the wind direction with respect to the wind direction detection unit, and the wind speed is When the value is less than the first predetermined value and greater than or equal to a second predetermined value set to be less than the first predetermined value, the position of the analysis region is determined as a predetermined position in the echo image, and the wind speed is the second If less than a predetermined value, the position of the analysis area is determined to be a predetermined default position, and the calculation unit calculates an echo calculated based on echo data of an echo image in the analysis area determined to be the default position. The fact that the accuracy of the signal information is low is displayed on the display unit.

  (6) Preferably, when the wind speed is equal to or higher than a predetermined value, the analysis area determination unit determines the position of the analysis area on the upstream side of the wind direction with respect to the wind direction detection unit, and the wind speed is less than a predetermined value. In this case, the position of the analysis region is determined based on the echo intensity corresponding to each of a plurality of locations in the echo image or at a predetermined position in the echo image.

  (7) Preferably, when the wind speed is equal to or higher than a predetermined value, the analysis area determination unit determines the position of the analysis area on the upstream side of the wind direction with respect to the wind direction detection unit, and the wind speed is less than a predetermined value. In this case, the position of the analysis region is determined as a default position determined in advance, and the calculation unit calculates echo signal information calculated based on echo data of an echo image in the analysis region determined as the default position. A message indicating that the accuracy is low is displayed on the display unit.

  (8) In order to solve the above-described problem, a wave radar device according to an aspect of the present invention is based on an echo signal from the sea surface received by the antenna and the echo signal information which is information related to the echo signal. An echo signal processing device according to any one of claims 1 to 7 that calculates wave information as a display, and a display unit that displays the wave information calculated by the echo signal processing device. ing.

  (9) In order to solve the above problem, an echo signal processing method according to an aspect of the present invention includes a step of detecting a wind direction and a step of generating echo images at a plurality of timings from an echo signal received by an antenna. Determining a position of an analysis region that is included in the echo image and in which echo signal information that is information about the echo signal is calculated based on the wind direction detected in the step of detecting the wind direction; Calculating the echo signal information based on echo data of the echo image in the analysis region included in each of the plurality of echo images.

  (10) In order to solve the above problem, an echo signal processing program according to an aspect of the present invention includes a step of detecting a wind direction and a step of generating echo images at a plurality of timings from an echo signal received by an antenna. Determining a position of an analysis region that is included in the echo image and in which echo signal information that is information about the echo signal is calculated based on the wind direction detected in the step of detecting the wind direction; Calculating the echo signal information based on echo data of the echo image in the analysis region included in each of the plurality of echo images.

  According to the present invention, echo signal information can be appropriately calculated without imposing a large calculation load on a calculation unit that calculates echo signal information.

It is a block diagram which shows the structure of the wave radar apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the example of a display of the indicator of the wave radar apparatus shown in FIG. It is a block diagram which shows the structure of an analysis area | region determination part. It is a figure which shows the horizontal area | region centering on own ship, Comprising: It is a figure for demonstrating the setting of a candidate area | region. It is a figure which shows the horizontal area | region centering on the own ship, Comprising: It is a figure for demonstrating the setting of an analysis area | region. 2 is a flowchart for explaining the operation of the echo signal processing apparatus shown in FIG. 1. FIG. 9 is a flowchart for explaining the operation of the analysis region determination unit, and is for explaining in detail the operation of step S10 in the flowchart shown in FIG. 6. It is a block diagram which shows the structure of the analysis area determination part of the wave radar apparatus which concerns on a modification. It is a flowchart for demonstrating operation | movement of the analysis area determination part of the wave radar apparatus which concerns on a modification. It is a block diagram which shows the structure of the analysis area determination part of the wave radar apparatus which concerns on a modification. It is a flowchart for demonstrating operation | movement of the analysis area determination part of the wave radar apparatus which concerns on a modification. It is a block diagram which shows the structure of the analysis area determination part of the wave radar apparatus which concerns on a modification. It is a flowchart for demonstrating operation | movement of the analysis area determination part of the wave radar apparatus which concerns on a modification. It is a flowchart for demonstrating operation | movement of the analysis area determination part of the wave radar apparatus which concerns on a modification. It is a block diagram which shows the structure of the wave radar apparatus which concerns on a modification.

  An echo signal processing apparatus 10 according to an embodiment of the present invention and a wave radar apparatus 1 including the echo signal processing apparatus 10 will be described with reference to the drawings. The wave radar device 1 according to the embodiment of the present invention is mounted on, for example, a ship. The wave radar device 1 is configured to generate a reflected wave from the sea surface as an echo image and display it. In the wave radar device 1 according to the present embodiment, the echo signal processing device 10 analyzes the reflected wave from the sea surface and calculates wave information (echo signal information) such as the direction of the wave and the height of the wave. It is configured.

[overall structure]
FIG. 1 is a block diagram showing a configuration of a wave radar device 1 according to an embodiment of the present invention. As shown in FIG. 1, the wave radar device 1 includes an antenna unit 2, an echo signal processing device 10, and a display 3.

  The antenna unit 2 includes an antenna 4, a receiving unit 5, and an A / D conversion unit 6.

  The antenna 4 is a radar antenna capable of transmitting (radiating) a pulsed radio wave having strong directivity. The antenna 4 is configured to receive an echo signal (reflected wave) from the sea surface. That is, the antenna 4 is configured to receive an echo signal that specifies the sea surface. The wave radar device 1 measures the time from when a pulsed radio wave is transmitted until the echo signal is received. Thereby, the wave radar apparatus 1 can detect the distance to the wave crest. The direction in which the ship and the wave front face each other is defined as the distance direction.

  The antenna 4 is configured to be able to rotate 360 ° on a horizontal plane, and rotates around a vertical axis. The antenna 4 is configured to repeatedly transmit and receive radio waves while changing the transmission direction of pulsed radio waves (changing the rotation angle of the antenna 4). With the above configuration, the wave radar device 1 can detect the wave front on the plane around the ship over 360 °. For example, the antenna 4 of the present embodiment rotates at 48 rpm as an example. In this case, the antenna 4 rotates once in 1.25 seconds. The antenna 4 is not limited to the antenna that rotates mechanically on the horizontal plane as described above, but has a plurality of antenna elements, and the transmission / reception direction of radio waves is rotated on the horizontal plane by controlling the phase of each antenna element. It may also be a phased array antenna configured to be The antenna 4 may be an antenna having a plurality of horn antennas and configured to search for a direction in which each horn antenna faces.

  The receiving unit 5 detects and amplifies the echo signal received by the antenna 4. The echo signal is a reflected wave on the sea surface with respect to a transmission signal from the antenna 4 among signals received by the antenna 4. The receiving unit 5 outputs the amplified echo signal to the A / D conversion unit 6. The A / D converter 6 samples an analog echo signal and converts it into digital data (echo data) composed of a plurality of bits. Here, the value of the echo data includes data for specifying the strength (signal level) of the echo signal received by the antenna 4. The A / D converter 6 outputs the echo data to the echo signal processing device 10.

  The echo signal processing device 10 generates an echo image based on the reflected wave from the sea surface based on the echo data from the A / D converter 6. Further, the echo signal processing device 10 calculates wave information from the echo image. The configuration and operation of the echo signal processing apparatus 10 will be described later in detail.

  FIG. 2 is a diagram illustrating an example of a display example of the display 3. As shown in FIG. 2, the display 3 displays an echo image generated by the echo signal processing device 10 and wave information (wave period, wave direction, wave height, etc.) calculated by the echo signal processing device 10. To do. On the display device 3, echo images generated at every predetermined time are sequentially displayed. Thereby, the user can know the state of the waves near the ship position. In addition, although the rectangle currently displayed in the echo image of FIG. 2 is mentioned in detail later, it has shown the analysis area | region used as the object which analyzes an echo signal and calculates wave information.

[Configuration of Echo Signal Processing Device]
As shown in FIG. 1, the echo signal processing device 10 includes an image generation unit 11, an anemometer 12 (wind direction and wind speed detection unit), an analysis region determination unit 13, an analysis region image extraction unit 14, and a storage unit 15. And a calculation unit 16. The echo signal processing apparatus 10 is configured using hardware including a CPU, a RAM, a ROM (not shown), and the like. The echo signal processing apparatus 10 is configured using software including an echo signal processing program stored in the ROM.

  The echo signal processing program is a program for causing the echo signal processing apparatus 10 to execute the echo signal processing method according to the embodiment of the present invention. This program can be installed externally. For example, the installed program is distributed while being stored in a recording medium. The hardware and software are configured to operate in cooperation. Thereby, the echo signal processing device 10 can be caused to function as the image generation unit 11, the wind direction anemometer 12, the analysis region determination unit 13, the analysis region image extraction unit 14, the storage unit 15, and the calculation unit 16.

  The image generation unit 11 generates an echo image based on the reflected wave from the sea surface based on the echo data from the A / D conversion unit 6. The image generation unit 11 generates the echo image at a plurality of timings by generating one echo image each time the antenna 4 rotates once. In the present embodiment, for example, the image generation unit 11 generates one echo image every 1.25 seconds as an example. The plurality of echo images generated by the image generation unit 11 are sequentially output to the display 3 and the analysis region determination unit 13.

  The wind direction anemometer 12 is for measuring the wind direction and the wind speed. The anemometer 12 is installed in a place where there is no obstacle that blocks the wind in the ship where the wave radar device 1 according to the present embodiment is mounted.

  FIG. 3 is a block diagram illustrating a configuration of the analysis region determination unit 13. 4 and 5 are diagrams showing a horizontal region centered on the ship, and are diagrams for explaining setting of the analysis region. The analysis region determination unit 13 determines a region (analysis region) for which wave information is calculated based on the wind direction and the wind speed measured by the wind direction anemometer 12.

  As shown in FIG. 3, the analysis region determination unit 13 includes a comparison unit 13a, an echo intensity calculation unit 13b, and a determination unit 13c.

The comparison unit 13a compares the wind speed v measured by the anemometer 12 with a threshold value stored in advance. The comparison unit 13a, as a threshold value, the first predetermined value _{v 1} and the second predetermined value _{v 2} is stored. The first predetermined value v ₁ and the second predetermined value v ₂ are values set in advance by experiments or the like.

Here, the first predetermined value v ₁ and the second predetermined value v _2, will be described in detail.

When a reflected echo from a wave is received by an antenna, an echo signal having a high reflection intensity can be obtained by setting the antenna to face the traveling direction of the wave. Further, in the case of a wind speed of a certain level or more, the traveling direction of the waves substantially coincides with the wind direction. In other words, if the wind speed is above a certain level, setting the analysis area to be analyzed for the wave information upstream of the wind direction with respect to the ship makes it easy to obtain an echo signal having a sufficient intensity to calculate the wave information. In the present embodiment, the first predetermined value v ₁ is set to a certain level of the above-described wind speed (a wind speed at which the wind direction and the traveling direction of the waves substantially coincide with each other, for example, 5 m / s as an example).

On the other hand, when the wind speed falls below a certain level, the wind becomes weak, and it becomes difficult to obtain an echo signal having a sufficient strength for calculating the wave information. In this embodiment, the second predetermined value v ₂ is set to such a small wind speed values (e.g. 3m / s as an example).

Echo intensity calculating unit 13b, the wind speed v measured by the anemometer 12, the comparison result of the first predetermined value _{v 1} and less than the second predetermined value _{v 2} or more when (comparison unit 13a is _{v 2} ≦ v < v in the case of _1), the following processing is performed. Specifically, the echo intensity calculation unit 13b sets the candidate areas A _{1 to} A ₈ at predetermined angle (for example, 45 degrees) intervals at positions separated by a predetermined distance with respect to the own ship (FIG. 4). reference). Then, the level (intensity) of the echo signal is derived in each of the plurality of candidate areas A _{1 to} A ₈ . For example, this echo intensity can be an average value of the level of the echo signal at all points in each of the candidate areas A _{1 to} A ₈ . However, the echo intensity is not limited to this, and may be an average value of levels of echo signals in a predetermined range in each of the candidate areas A _{1 to} A ₈ . Note that the interval between the candidate regions described above may not be 45 degrees, but may be another angle, for example, 90 degrees. Thereby, the calculation load of the echo intensity calculation part 13b can be reduced.

The determination unit 13c determines the analysis region A according to the comparison result in the comparison unit 13a. Specifically, when the comparison result in the comparison unit 13a is v ₁ ≦ v, the determination unit 13c determines a predetermined area on the windward side (upstream side of the wind direction with respect to the own ship) that is a predetermined distance away from the own ship as an analysis area. A is determined (see FIG. 5). Further, when the comparison result in the comparison unit 13a is v ₂ ≦ v <v ₁ , the determination unit 13c determines the candidate region having the highest echo intensity calculated by the echo intensity calculation unit 13b as the analysis region A. Further, determination unit 13c, when the comparison result of the comparing portion 13a v of <v _2, is preset at the factory of wave radar device 1, or the user the default position, which is a region of a predetermined position predetermined And set as analysis area A. As the default position, for example, a position away from the ship by a predetermined distance in a predetermined direction is set as an example.

The analysis region image extraction unit 14 converts the echo image in the analysis region A determined by the analysis region determination unit 13 from the plurality of echo images sequentially output from the image generation unit 11 to the analysis region image A (t _a ) (a = 1, 2,...) The analysis region image extraction unit 14 sequentially outputs the plurality of analysis region images A (t _a ) extracted in this way to the storage unit 15.

The storage unit 15 stores a plurality of analysis region images A (t ₁ ), A (t ₂ ),... In each analysis region A, which are sequentially extracted by the analysis region image extraction unit 14. When the number of stored analysis area images reaches a predetermined number (for example, 32), the storage unit 15 outputs all these images to the calculation unit 16.

The calculation unit 16 calculates wave information in the analysis region A based on the echo data of a predetermined number of analysis region images A (t ₁ ), A (t ₂ ),... Output from the storage unit 15. Specifically, the calculation unit 16 applies a three-dimensional FFT to echo data of a predetermined number of analysis region images A (t ₁ ), A (t ₂ ),. Then, information such as wave height is calculated as wave information. In this embodiment, the wave information is calculated by using a three-dimensional FFT, but the present invention is not limited to this, and other methods may be used. For example, the wave information may be calculated using a two-dimensional FFT or a MUSIC method. In addition, since specific wave information calculation using each of the above-described methods is known, detailed description thereof is omitted.

[Echo signal processor operation]
FIG. 6 is a flowchart for explaining the operation of the echo signal processing apparatus 10. With reference to FIG. 6, the process at the time of calculating wave information is demonstrated.

  First, in step S1, the image generation unit 11 generates an echo image within a predetermined range around the ship every time the antenna 4 rotates once. The plurality of echo images generated in this way are sequentially output to the analysis region image extraction unit 14 (step S2).

  On the other hand, at step S9, the wind direction anemometer 12 measures the wind direction and the wind speed.

  Next, in step S10, the analysis region determination unit 13 determines the analysis region A based on the wind direction and the wind speed detected in step S9. This step S10 will be described later in detail.

Further, in step S3, the analysis area image extracting unit 14, the echo images sequentially output in step S2, an echo image in the analysis region A determined in step S10, successively as the analysis area image A (t _a) ,Extract.

Next, in step S4, the analysis region image extraction unit 14 sequentially outputs the analysis region image A (t _a ) extracted in step S3 to the storage unit 15 (step S4).

The storage unit 15 stores an analysis area image A _{(t a)} sequentially output from the analysis area image extracting unit 14 (step S5). Then, the storage unit 15 outputs the analysis area images A (t ₁ ), A (t ₂ ),..., A (t ₃₂ ) that have reached a predetermined number (for example, ₃₂ ) to the calculation unit 16 (step) S6).

In step S7, the calculation unit 16 performs a three-dimensional FFT based on a predetermined number of analysis area images A (t ₁ ), A (t ₂ ),..., A (t ₃₂ ) output from the storage unit 15. To calculate wave information. As shown in FIG. 2, the wave information calculated in this way is displayed on the display 3 together with an echo image and an analysis area that are updated with new information as needed (step S8).

  When the analysis area A is determined at the default position described above, the display 3 also displays that the accuracy of the displayed wave information is low (step S8a).

  In step S9, the wind direction anemometer 12 measures the wind direction and the wind speed at any time, and the analysis region determination unit 13 determines the analysis region A based on these in step S10. In step S3 to step S7, the wave information is calculated from the analysis region determined as needed. In step S8, the wave information calculated in this way is displayed on the display unit every time it is calculated. Thereby, the user can know the latest wave information.

  Note that even if the position of the analysis region has changed due to a change in the wind direction or the wind speed before the predetermined number of analysis region images are stored in the storage unit 15, the predetermined number of analysis region images in the analysis region before the position change The analysis area images are extracted until the number of analysis area images is stored.

[Echo signal processor operation when setting analysis area]
FIG. 7 is a flowchart for explaining the operation of the echo signal processing apparatus 10 in step S10.

  First, in step S <b> 11, the analysis region determination unit 13 determines processing to be performed later according to the wind speed measured by the anemometer 12.

Specifically, when the wind speed v is greater than or equal to the first predetermined value v ₁ in step S11 (when v ₁ ≦ v in FIG. 7), the analysis region determination unit 13 determines a predetermined value on the windward side that is a predetermined distance away from the ship. The region is determined as the analysis region A (step S12). Specifically, for example, as an example, the analysis region determination unit 13 sets the analysis region A in the direction in which the wind blows, which is measured by the wind direction anemometer 12.

On the other hand, (in the case of v ≦ _{v 2} in FIG. 7) the wind speed v is the second predetermined value _{v 2} than in the case in step S11, the analysis region determining unit 13 determines a default position as the analysis region (step S16).

Further, in step S11, (the case of _{v 2} ≦ v _{<v 1} in FIG. 7) wind speed first predetermined value _{v 1} and less than the second predetermined value _{v 2} or more case, then, in step S13, calculates the echo intensity The unit 13b sets the candidate areas A _{1 to} A ₈ at predetermined angular intervals at positions separated by a predetermined distance with reference to the ship (see FIG. 4).

Next, the echo intensity calculation unit 13b calculates the average value of echo signals at all points in each of the candidate areas A _{1 to} A ₈ (step S14), and determines the candidate area having the highest average value as the analysis area A. (Step S15).

  After the analysis area A is determined as described above (step S12, step S15, or step S16), the wave information is calculated by the processing after step S3.

  By the way, when trying to obtain more accurate wave information in the vicinity of the ship, it is preferable to calculate the wave information over the entire region in the vicinity of the ship. However, in this case, a large calculation load is applied to the calculation unit for calculating the wave information, which is not realistic. Therefore, in order to obtain appropriate wave information while reducing the calculation load of the calculation unit, in an appropriate position relative to the own ship position, specifically, a position where an echo signal having a reflection intensity as strong as possible can be obtained. The analysis area may be set.

  When a reflected echo from a wave is received by an antenna, an echo signal having a high reflection intensity can be obtained by setting the antenna to face the traveling direction of the wave. On the other hand, waves include a wind component that travels in the direction in which the wind blows. That is, when the analysis area A to be analyzed for the wave information is set according to the wind direction, the reflection is compared with the case where the analysis area is set regardless of the wind direction (for example, when the analysis area is set in the bow direction as an example). A strong echo signal can be obtained.

  Therefore, like the echo signal processing apparatus 10 according to the present embodiment, the calculation unit 16 determines the analysis region A that is a target of calculation of wave information (wave speed, wave direction, etc.) according to the wind direction. The analysis region A can be appropriately determined without imposing a large calculation load.

[effect]
As described above, in the echo signal processing apparatus 10 according to the present embodiment, the analysis region A, which is a target region for calculating wave information (wave velocity, wave direction, etc.) according to the wind direction measured by the wind direction anemometer 12. Is determined. Thereby, the analysis region A can be appropriately determined without imposing a large calculation load on the calculation unit.

  Therefore, according to the echo signal processing apparatus 10, it is possible to appropriately calculate the wave information without imposing a large calculation load on the calculation unit 16.

  In the echo signal processing apparatus 10, the analysis region A is determined based not only on the wind direction but also on the wind speed. As described above, when the wind speed increases to a certain extent, the traveling direction of the waves and the wind direction generally coincide. Therefore, the analysis region A can be set more appropriately by setting the analysis region A based not only on the wind direction but also on the wind speed.

  Further, in the echo signal processing device 10, when the wind speed is equal to or higher than the first predetermined value, the position of the analysis region A is determined on the upstream side of the wind direction with respect to the ship.

  When a reflected echo from a wave is received by an antenna, an echo signal having a high reflection intensity can be obtained by setting the antenna to face the traveling direction of the wave. Further, in the case of a wind speed of a certain level or more, the traveling direction of the waves substantially coincides with the wind direction. Therefore, when the wave traveling direction and the wind direction are equal to or higher than the first predetermined value set as the wind speed that approximately matches the wave direction, the position of the analysis region A is determined upstream of the wind direction with respect to the ship. It is possible to obtain an echo signal having a sufficient intensity to analyze.

Further, the echo signal processor 10, when the wind speed is and the second predetermined value or more than the first predetermined value, from among the plurality of candidate areas A ₁ to A _8, to determine an analysis area A in response to the echo intensity Yes. In this way, even in an environment where the wave height is relatively low and it is difficult to obtain a sufficiently strong echo signal, an appropriate analysis area A corresponding to the echo intensity is selected from the plurality of candidate areas A _{1 to} A _8. Can be determined.

Further, the echo signal processor 10, when the wind speed is and the second predetermined value or more than the first predetermined value, from among the plurality of candidate areas A ₁ to A _8, analyzes the highest area average value of the echo intensity region Since it is determined as A, a more appropriate analysis region A can be determined.

  In the echo signal processing device 10, when the wind speed is less than the second predetermined value, the analysis region determination unit 13 calculates the wave information of the analysis region A with the analysis region A as the default position, and the wave information is displayed on the display 3. Some kind of warning is displayed indicating that the accuracy of the error is low.

  When the wind speed becomes light, ripples that are irregularities that cause microwave scattering from the wavefront disappear, and it is very difficult to obtain an echo having the intensity necessary to calculate the wave information. On the other hand, when the wind speed is light and the height of the waves is low, the ship is not easily affected by the waves (such as capsizing). That is, the danger is low when the sea is light. Therefore, as described above, when the accuracy of the wave information is low, as in the case where the wind speed is less than the second predetermined value set to a wind speed of about a slight wind, there is some indication that the accuracy of the wave information by the calculation unit is low. By displaying the warning on the display 3, the user can appropriately recognize that the accuracy of the wave information is low.

  Moreover, in the wave radar apparatus 1 according to the present embodiment, it is possible to provide a wave radar apparatus including the echo signal processing apparatus 10 that can appropriately calculate the wave information without imposing a large calculation load on the calculation unit 16. Further, in the wave radar device 1, the wave speed and the wave height calculated by the echo signal processing device 10 are displayed on the display 3, so that the user can appropriately recognize the wave information.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to these, A various change is possible unless it deviates from the meaning of this invention.

[Modification]
(1) FIG. 8 is a block diagram illustrating a configuration of the analysis region determination unit 17 of the wave radar device according to the modification. FIG. 9 is a flowchart for explaining the operation of the analysis region determination unit 17. Below, with reference to FIG.8 and FIG.9, the structure and operation | movement of the analysis area | region determination part 17 are demonstrated.

  As shown in FIG. 8, the analysis region determination unit 17 of the wave radar apparatus according to this modification has a configuration in which the echo intensity calculation unit 13b is omitted compared to the analysis region determination unit 13 of the above embodiment. . That is, the analysis region determination unit 17 of the present modification includes a comparison unit 13a and a determination unit 17c.

Comparing unit 13a, as in the comparative portion 13a of the above embodiment, the wind speed v measured by the anemometer 12, compares the first predetermined value v ₁ and the second predetermined value v ₂ stored in advance. The values of the first predetermined value v ₁ and the second predetermined value v ₂ are the same as those in the above embodiment, and are set to 5 m / s and 3 m / s, respectively.

The determination unit 17c determines or does not determine the analysis region A, as in the case of the above embodiment, when the comparison result in the comparison unit 13a is v ₁ ≦ v and v <v ₂ . Specifically, when v ₁ ≦ v, the determination unit 17c determines a predetermined area on the windward side (upstream side of the wind direction with respect to the own ship) away from the own ship as the analysis area A (see FIG. 9). Step S12). On the other hand, determination unit 17c, when v of _{<v 2,} to determine a default position as the analysis area A (step S16 in FIG. 9).

When the comparison result in the comparison unit 13a is v ₂ ≦ v <v ₁ , the determination unit 17c determines the analysis region A by an approach different from that of the above embodiment. Specifically, when v ₂ ≦ v <v ₁ , the determination unit 17c determines the analysis region A in a predetermined direction that is a predetermined distance away from the ship (step S15a). For example, as an example, the determination unit 17c determines the analysis region A at a position away from the ship by a predetermined distance in the traveling direction of the ship. Thus, in the case of v ₂ ≦ v <v ₁ , unlike the above embodiment, the echo intensity calculation unit 13b is determined by determining the analysis region A at a predetermined position with respect to the ship (a predetermined position with respect to the echo image). Can be omitted. Thereby, the calculation load concerning the analysis area | region determination part 17 can be reduced.

  (2) FIG. 10 is a block diagram illustrating a configuration of the analysis region determination unit 18 of the wave radar device according to the modification. FIG. 11 is a flowchart for explaining the operation of the analysis region determination unit 18. Below, with reference to FIG.10 and FIG.11, the structure and operation | movement of the analysis area | region determination part 18 are demonstrated.

The comparison unit 18a compares the wind speed v measured by the anemometer 12 with a threshold value stored in advance, as in the case of the above embodiment. In the present modification, unlike the case of the above embodiment, one predetermined value v _th is stored as a threshold value in the comparison unit 18a. The predetermined value v _th may be determined as the first predetermined value v ₁ of the above embodiment or may be determined as the second predetermined value v ₂ .

When the comparison result in the comparison unit 18a is v <v _th , the echo intensity calculation unit 18b sets the candidate regions A _{1 to} A ₈ at predetermined angular intervals at positions separated by a predetermined distance with respect to the ship. It is set (step S13 in FIG. 11), and the echo intensity is derived in each of the plurality of candidate areas A _{1 to} A ₈ (step S14 in FIG. 11).

When the comparison result in the comparison unit 13a is v _th ≦ v, the determination unit 18c determines, as the analysis region A, a predetermined region on the windward side (upstream side of the wind direction with respect to the ship) that is a predetermined distance away from the ship. Step S12 in FIG. 11). On the other hand, when the comparison result in the comparison unit 18a is v <v _th , the determination unit 18c determines the candidate region having the highest echo intensity calculated by the echo intensity calculation unit 18b as the analysis region A (FIG. 11). Step S15).

  (3) FIG. 12 is a block diagram illustrating a configuration of the analysis region determination unit 19 of the wave radar device according to the modification. FIG. 13 is a flowchart for explaining the operation of the analysis region determination unit 19. Below, with reference to FIG.12 and FIG.13, the structure and operation | movement of the analysis area | region determination part 19 are demonstrated.

The comparison unit 19a compares the wind speed v measured by the anemometer 12 with a threshold value stored in advance, as in the case of the above embodiment. In the present modification, unlike the case of the above embodiment, one predetermined value _vth is stored in the comparison unit 19a as a threshold value.

When the comparison result in the comparison unit 19a is v _th ≦ v, the determination unit 19c determines, as the analysis region A, a predetermined region on the windward side (upstream side of the wind direction with respect to the own ship) that is a predetermined distance away from the own ship. Step S12 in FIG. 13). On the other hand, when the comparison result in the comparison unit 19a is v <v _th , the determination unit 19c determines the analysis region A in a predetermined direction that is a predetermined distance away from the ship (step S15a in FIG. 13).

In this modification, the determination unit 19c may determine the default position as the analysis region A when the comparison result in the comparison unit 19a is v <v _th (see FIG. 14).

(4) In the wave radar device according to the above-described embodiment and the above-described modifications, the analysis region A is configured to be set over all directions of the ship, but is not limited thereto. Specifically, when the analysis region A as set in the aft direction of the ship (for example, if the wind speed is the first predetermined value v ₁ or more wind has been blowing from aft), an analysis area A The wave radar device may be configured so as to be shifted from the stern direction (as an example, shifted by 90 degrees).

  In the stern direction of the navigating ship, bubbles generated by the screw of the ship, pulling waves, and the like are generated. Therefore, even if the analysis region A is set in the stern direction, it may be difficult to calculate accurate wave information.

  On the other hand, as in the present modification, the wave radar device is configured such that the analysis region A is set to be shifted from the stern direction, thereby reducing the influence of the bubbles and pulling waves generated in the stern direction. This makes it possible to calculate more accurate wave information.

  (5) FIG. 15 is a block diagram showing a configuration of a wave radar device 1a according to a modification. The wave radar device 1a according to this modification includes an anemometer 12a (wind direction detection unit) instead of the anemometer 12 in the above embodiment. The anemometer 12a is configured to detect the wind direction. Further, the wave radar apparatus 1a according to the present modification is different in the configuration of the analysis region determination unit 20 from the case of the above embodiment.

  The analysis area determination unit 20 of this modification is configured to determine the analysis area A according to the wind direction regardless of the wind speed. Specifically, the analysis region determination unit 20 determines the analysis region A on the upstream side of the wind direction with respect to the ship. Thus, even if the analysis region A is determined according to the wind speed regardless of the wind speed, the analysis region A in which the wave information can be appropriately calculated can be determined without imposing a large calculation load on the calculation unit 16.

  (6) In the above embodiment, the analysis region A is determined based on the wind direction and the wind speed, but more preferably, the analysis region is determined based on the Ekman blowing flow (Ekman flow). In general, in the open ocean far enough from the land, the surface current is shifted to the right by about 45 degrees (in the northern hemisphere, to the left in the southern hemisphere by about 45 degrees) due to the effects of the Ekman inflow. . For this reason, it is desirable to set the analysis region to the right about 45 degrees with respect to the wind direction when viewed from the ship.

  The present invention can be widely applied to an echo signal processing device, a wave radar device, an echo signal processing method, and an echo signal processing program for calculating information related to an echo signal received by an antenna.

DESCRIPTION OF SYMBOLS 1,1a Wave radar apparatus 4 Antenna 10, 10a Echo signal processing apparatus 11 Image generation part 12 Wind direction anemometer (wind direction wind speed detection part)
12a Anemometer (wind direction detector)
13, 17, 18, 19, 20 Analysis region determination unit 16 Calculation unit

Claims (6)

A wind direction and a wind speed detection unit for detecting the wind direction and the wind speed;
An image generator that generates echo images at a plurality of timings from an echo signal received by an antenna;
An analysis area that is included in the echo image and determines the position of an analysis area that is an area in which echo signal information that is information related to the echo signal is calculated based on the wind direction and the wind speed detected by the wind direction and wind speed detection unit A decision unit;
A calculation unit that calculates the echo signal information based on echo data of the echo image in the analysis region included in each of the plurality of echo images;
With
The analysis region determination unit
If the wind speed is greater than or equal to a first predetermined value, the position of the analysis region is determined upstream of the wind direction with respect to the wind direction wind speed detection unit,
When the wind speed is less than the first predetermined value and greater than or equal to a second predetermined value set to be less than the first predetermined value, the position of the analysis region is set to an echo intensity corresponding to each of a plurality of locations in the echo image. Based on
When the wind speed is less than the second predetermined value, the position of the analysis region is determined to be a predetermined default position, and the calculation unit is configured to determine an echo of an echo image in the analysis region determined to be the default position. An echo signal processing apparatus that displays on the display section that the accuracy of echo signal information calculated based on data is low. In the echo signal processing apparatus according to claim 1 ,
The analysis region determination unit determines candidate regions that are candidates for the analysis region in a plurality of locations in the echo image when the wind speed is less than the first predetermined value and greater than or equal to the second predetermined value. An echo signal processing apparatus, wherein an echo intensity corresponding to each of the candidate areas is calculated, and a candidate area having the highest echo intensity is determined as the analysis area. A wind direction and a wind speed detection unit for detecting the wind direction and the wind speed;
An image generator that generates echo images at a plurality of timings from an echo signal received by an antenna;
An analysis area that is included in the echo image and determines the position of an analysis area that is an area in which echo signal information that is information related to the echo signal is calculated based on the wind direction and the wind speed detected by the wind direction and wind speed detection unit A decision unit;
A calculation unit that calculates the echo signal information based on echo data of the echo image in the analysis region included in each of the plurality of echo images;
With
The analysis region determination unit
If the wind speed is greater than or equal to a first predetermined value, the position of the analysis region is determined upstream of the wind direction with respect to the wind direction wind speed detection unit,
If the wind speed is less than the first predetermined value and greater than or equal to a second predetermined value set to be less than the first predetermined value, the position of the analysis region is determined as a predetermined position in the echo image;
When the wind speed is less than the second predetermined value, the position of the analysis region is determined to be a predetermined default position, and the calculation unit is configured to determine an echo of an echo image in the analysis region determined to be the default position. An echo signal processing apparatus that displays on the display section that the accuracy of echo signal information calculated based on data is low. A wind direction and a wind speed detection unit for detecting the wind direction and the wind speed;
An image generator that generates echo images at a plurality of timings from an echo signal received by an antenna;
An analysis area that is included in the echo image and determines the position of an analysis area that is an area in which echo signal information that is information related to the echo signal is calculated based on the wind direction and the wind speed detected by the wind direction and wind speed detection unit A decision unit;
A calculation unit that calculates the echo signal information based on echo data of the echo image in the analysis region included in each of the plurality of echo images;
With
The analysis region determination unit
If the wind speed is greater than or equal to a predetermined value, the position of the analysis region is determined upstream of the wind direction with respect to the wind direction wind speed detection unit,
When the wind speed is less than a predetermined value, the position of the analysis region is determined based on an echo intensity corresponding to each of a plurality of locations in the echo image or a predetermined position in the echo image. Echo signal processing device. A wind direction and a wind speed detection unit for detecting the wind direction and the wind speed;
An image generator that generates echo images at a plurality of timings from an echo signal received by an antenna;
An analysis area that is included in the echo image and determines the position of an analysis area that is an area in which echo signal information that is information related to the echo signal is calculated based on the wind direction and the wind speed detected by the wind direction and wind speed detection unit A decision unit;
A calculation unit that calculates the echo signal information based on echo data of the echo image in the analysis region included in each of the plurality of echo images;
With
The analysis region determination unit
If the wind speed is greater than or equal to a predetermined value, the position of the analysis region is determined upstream of the wind direction with respect to the wind direction wind speed detection unit,
When the wind speed is less than a predetermined value, the position of the analysis region is determined as a predetermined default position, and the calculation unit is based on echo data of an echo image in the analysis region determined as the default position. An echo signal processing apparatus that displays on the display section that the accuracy of the calculated echo signal information is low. An antenna,
Based on the echo signal from the received sea by the antenna, and calculates the wave data as an echo signal information which is information on the echo signal, the echo signal processing as claimed in any one of claims 5 Equipment,
A display unit for displaying the wave information calculated by the echo signal processing device;
A wave radar device comprising:

Images