JP6469317B2 - Radar processing equipment - Google Patents

Description

  The present invention relates to a radar processing apparatus that receives a reflected wave of a chirp signal and reproduces a synthetic aperture radar image from the received signal of the reflected wave.

  One or more antenna apertures are arranged in the traveling direction of the platform (hereinafter referred to as “along track direction”), and a signal received at each antenna aperture is subjected to synthetic aperture processing, thereby providing a high-resolution radar image. A technique for reproducing a Synthetic Aperture Radar (SAR) image is known.

Range ambiguity generated in a general HPRF (High Pulse Repetition Frequency) radar is unavoidable even in SAR that observes a pulse signal, and this range ambiguity greatly reduces the image quality of the SAR image.
The following Patent Document 1 discloses a radar processing device that emits a chirp signal whose frequency changes with time as a pulse signal.
In this radar processing device, when radiating a chirp signal, for example, the range ambiguity is suppressed by switching the chirp signal between up-chirp and down-chirp according to an autocorrelation code sequence such as a Barker code. Yes. An up-chirp chirp signal is a signal whose frequency increases with time, and a down-chirp chirp signal is a signal whose frequency decreases with time.
By switching between up-chirp and down-chirp in the chirp signal, the signal reflected at the desired observation point can be distinguished from the signal reflected at a point other than that observation point, thus suppressing range ambiguity. can do.

Japanese Patent Laid-Open No. 2003-167052

  Since the conventional radar processing apparatus is configured as described above, range ambiguity can be suppressed by switching between up-chirp and down-chirp. However, when the platform on which the radar device is mounted is moving, it is affected by Doppler. Therefore, the Doppler frequency and the rate of change in the frequency of the chirp signal (in the imaging direction in the range direction of the received signal of the radar device) ( In the following, a positional deviation corresponding to “char plate” will occur. As a result, there is a problem that the imaging position is amplitude-modulated and a false image is generated in the along track direction.

Hereinafter, the reason why the false image is generated in the along track direction will be specifically described.
When the platform on which the radar device is mounted is moving, it is affected by Doppler. Therefore, after the radar device radiates a chirp signal, the radar device receives the reflected wave of the chirp signal reflected at the observation point. However, it is known that a position shift occurs in the imaging position in the received signal of the reflected wave.
Since the amount of displacement of the imaging position depends on the Doppler frequency and the chirp plate, for example, when using an observation method that increases Doppler at the time of observation, such as spotlight mode or TOPS (Terrain Observing by Progressive Scan), a result is obtained. The positional deviation of the image position cannot be ignored.

In particular, in an observation method in which up-chirp and down-chirp are alternately switched, the imaging position changes each time switching is performed.
FIG. 13 is an explanatory diagram showing a change in the distance R between the SAR sensor, which is a radar device, and the point target.
In FIG. 13, every time the up-chirp and the down-chirp are switched, the imaging position changing is shown. The distance R between the SAR sensor and the point target has a parabolic locus with R ₀ as the minimum. The locus is represented by a broken line.
“Down” indicates that the chirp signal is modulated with down chirp, and “up” indicates that the chirp signal is modulated with up chirp.

If the SAR sensor is stationary, at each azimuth time, the distance R indicated by the received signal after range compression is located on a parabolic locus. The azimuth time is an intermediate time between the transmission time and the reception time of the chirp signal, which is a pulse signal.
Therefore, although the peak position of the distance R, which is the imaging position of the received signal, appears at the position of ◯, when the SAR sensor is moving, the distance R indicated by the received signal after the range compression is changed in the range direction due to the movement. Shift to. For this reason, the peak position of the distance R is shifted to the position of ●.
In the method of observing while alternately switching between up-chirp and down-chirp, the direction of displacement of the peak position is reversed according to the chirp sign. Further, the displacement direction is reversed as the Doppler frequency changes from positive to negative.

The absolute value of the positional deviation amount increases in proportion to the absolute value of the Doppler frequency. Although the absolute value of this positional deviation amount is usually smaller than the range sampling interval, amplitude modulation in the azimuth direction occurs in the arrangement in the azimuth direction along the path of the distance R as shown in FIG.
In the state where amplitude modulation in the azimuth direction has occurred, the SAR image reproduced from the received signal without correcting the displacement of the imaging position has ambiguity in the along track direction due to the influence of the amplitude modulation. Occur.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a radar processing apparatus that can reproduce a synthetic aperture radar image that does not have a false image in the along track direction.

The radar processing apparatus according to the present invention repeatedly emits a chirp signal to space while changing the frequency change rate of the chirp signal, receives the reflected wave of the chirp signal reflected by the target, and receives the reflected signal of the reflected wave And a signal processing unit that corrects the positional deviation of the imaging position in the received signal generated by the movement of the radar sensor and reproduces the synthetic aperture radar image from the received signal after the positional deviation correction. The signal processing unit converts the reception signal of the reflected wave into reception data on the frequency space, and uses the information on the plurality of change rates to change the position of the imaging position in the reception data on the frequency space for each change rate. After the correction, the received data is returned to the time domain signal, and the time domain signals respectively corresponding to different rates of change are combined.

  According to the present invention, the signal processing unit converts the reception signal of the reflected wave into the reception data in the frequency space, and the position shift of the imaging position in the reception data in the frequency space for each frequency change rate in the chirp signal. After the correction, the received data is returned to the time domain signal, and the time domain signal at each rate of change is combined, so that a synthetic aperture radar image without a false image in the along track direction can be reproduced. There is an effect that can be done.

It is a block diagram which shows the radar processing apparatus by Embodiment 1 of this invention. It is a block diagram which shows the signal processor 23 of the radar processing apparatus by Embodiment 1 of this invention. It is a hardware block diagram of the signal processor 23 in the radar processing apparatus by Embodiment 1 of this invention. It is a hardware block diagram of a computer in case the signal processor 23 is implement | achieved by software, firmware, etc. It is a flowchart which shows the process sequence in case the signal processor 23 is implement | achieved by software, firmware, etc. It is explanatory drawing which shows the geometry of observation by the radar processing apparatus of FIG. FIG. 7A is an explanatory diagram illustrating an example in which a signal corresponding to the chirp plate K _r ¹ of the up chirp is corrected, and FIG. 7B is an explanatory diagram illustrating an example in which a signal corresponding to the chirp plate K _r ² of the down chirp is corrected. FIG. It is a block diagram which shows the signal processor 23 of the radar processing apparatus by Embodiment 2 of this invention. It is a hardware block diagram of the signal processor 23 in the radar processing apparatus by Embodiment 2 of this invention. It is a block diagram which shows the signal processor 23 of the radar processing apparatus by Embodiment 3 of this invention. It is a hardware block diagram of the signal processor 23 in the radar processing apparatus by Embodiment 3 of this invention. It is explanatory drawing which shows the division | segmentation process of the digital received signal _Sr [(eta), (tau)] by the hit division part 47. FIG. It is explanatory drawing which shows the imaging position which changes whenever an up chirp and a down chirp switch.

  Hereinafter, in order to describe the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a radar processing apparatus according to Embodiment 1 of the present invention.
2 is a block diagram showing the signal processor 23 of the radar processing apparatus according to the first embodiment of the present invention, and FIG. 3 is a hardware block diagram of the signal processor 23 in the radar processing apparatus according to the first embodiment of the present invention. It is.
1 to 3, the radar sensor 1 repeatedly radiates the chirp signal to the space while changing the rate of change of the frequency of the chirp signal (hereinafter referred to as “chirp plate”), and the chirp signal reflected by the target. A radar device that receives a reflected wave and outputs a received signal of the reflected wave.
The signal processing unit 2 corrects the positional deviation of the imaging position in the reception signal generated with the movement of the radar sensor 1, and performs a process of reproducing the SAR image (synthetic aperture radar image) from the reception signal after the positional deviation correction. To do.
In the first embodiment, it is assumed that the total number of char plates to be switched by the radar sensor 1 is N.

The excitation unit 11 generates a chirp signal whose frequency changes with time as a pulse signal used for target observation, and repeatedly outputs the chirp signal to the amplification unit 12.
The chirp signal generated by the excitation unit 11 is a chirp signal of a chirp plate indicated by a control signal output from the controller 21 described later.
In a simple example, an up-chirp chirp signal whose frequency increases with time and a down-chirp chirp signal whose frequency decreases with time can be generated alternately. The chirp signal of the chirp signal output from the unit 11 may be switched, and the chirp signal of the up chirp and the down chirp signal of the chirp signal are not limited to those alternately output.
Moreover, it is not necessary to switch alternately, and the chirp signals having different chirp plates may be continuously emitted a plurality of times. Alternatively, an up-chirp chirp signal and a down-chirp chirp signal may be output simultaneously.

The amplifying unit 12 amplifies the signal level of the chirp signal output from the excitation unit 11 to a desired signal level, and outputs the amplified chirp signal to the transmission / reception switch 13.
The transmission / reception switch 13 is a switch that switches between the transmission state and the reception state of the transmission / reception antenna 14 and outputs the chirp signal output from the amplification unit 12 to the transmission / reception antenna 14, while the reflected wave signal output from the transmission / reception antenna 14. Is output to the receiver 15.

The transmission / reception antenna 14 radiates the chirp signal output from the transmission / reception switch 13 into space.
The chirp signal radiated into the space from the transmitting / receiving antenna 14 is irradiated and scattered on a scatterer (target) such as an airplane or the ground surface. A part of the chirp signal scattered by the scatterer returns to the transmitting / receiving antenna 14 as a reflected wave of the chirp signal.
The transmission / reception antenna 14 receives the reflected wave of the chirp signal scattered and returned by the scatterer, and outputs an RF (Radio Frequency) signal, which is a signal of the reflected wave, to the transmission / reception switch 13.
Although FIG. 1 shows an example in which one transmission / reception antenna 14 serves as both a transmission antenna and a reception antenna, a transmission antenna and a reception antenna may be provided separately.
Further, a plurality of transmission / reception antennas 14 may be provided.

The receiving unit 15 performs reception processing of the RF signal output from the transmission / reception switcher 13, converts the received RF signal into a baseband signal, and outputs the baseband signal to the data recording unit 16.
The data recording unit 16 includes an A / D (Analog to Digital) converter 16a, and the baseband signal output from the receiving unit 15 by the A / D converter 16a at every predetermined sampling rate is converted from an analog signal. When converted into a digital signal, a digital reception signal which is the digital signal is output to the signal processing unit 2.
When a plurality of transmission / reception antennas 14 are mounted, it is assumed that the reception unit 15 and the data recording unit 16 have a function of simultaneously processing signals for the number of reception channels.

The motion measurement unit 17 is a measurement device that measures motion information of the platform on which the radar sensor 1 is mounted.
That is, the motion measurement unit 17 includes an IMU (Internal Measurement Unit) that measures three-axis angles or angular velocities and accelerations that control the platform motion, a GPS (Global Positioning System) receiver that outputs platform position information, and direction information. It is equipped with measuring instruments that measure the platform position and posture angle, such as an output magnetic compass.
The platform motion information measured by the motion measuring unit 17 is output to the signal processing unit 2. In order to perform observation with higher accuracy, it is desirable to measure the position, speed, posture, etc. of the platform.

The controller 21 is a control circuit that performs a synthetic aperture process by outputting, for example, a control signal indicating a char plate to the radar sensor 1 and the signal processor 23.
The storage device 22 is configured by a hard disk, for example, and stores a digital reception signal output from the data recording unit 16 of the radar sensor 1, platform motion information output from the motion measurement unit 17 of the radar sensor 1, and the like. Device.
The signal processor 23 corrects the misalignment of the imaging position in the digital reception signal stored in the storage device 22 and performs a process of reproducing the SAR image from the received signal after the misalignment correction.
The display device 24 includes, for example, a GPU (Graphics Processing Unit) and displays the SAR image reproduced by the signal processor 23 on the display.

The frequency domain conversion unit 31 of the signal processor 23 includes an azimuth Fourier transform unit 32 and a range Fourier transform unit 33, and performs a process of converting a digital reception signal stored in the storage device 22 into frequency domain reception data. To do.
The azimuth Fourier transform unit 32 is realized by, for example, the azimuth Fourier transform circuit 51 of FIG. 3, and performs a Fourier transform on the digital reception signal stored in the storage device 22 in the azimuth direction, and the received data after the Fourier transform is ranged. A process of outputting to the Fourier transform unit 33 is performed.

The range Fourier transform unit 33 is realized by, for example, the range Fourier transform circuit 52 of FIG. 3, and performs Fourier transform on the received data after the Fourier transform output from the azimuth Fourier transform unit 32 in the range direction, and after the Fourier transform. The received data is output to the misalignment correction unit 34.
FIG. 2 shows an example in which the azimuth Fourier transform unit 32 performs Fourier transform on the digital received signal in the azimuth direction, and then the range Fourier transform unit 33 performs Fourier transform in the range direction. After the signal is Fourier-transformed in the range direction, the azimuth Fourier transform unit 32 may perform Fourier transform in the azimuth direction.

Positional deviation correcting unit 34 is intended to be realized in the positional deviation correction circuit 53 of FIG. 3, for example, char chirp signal plate ^{_{K r n (n = 1,2,}} ···, N) for each, the chirp K _r correction coefficient of the displacement corresponding to _{^{n C n (f τ, f}} η) is calculated and multiplied by the correction coefficient _{^{C n (f τ, f η}} ) received data output from the range Fourier transform unit 33 As a result, a process for correcting the displacement of the imaging position in the received data is performed.
Correction coefficient calculating unit 35-n (n = 1,2, ···, N) carries out a process of calculating a correction coefficient of the displacement corresponding to the chirp _{^{K r n C n (f τ}} , f η) .
The correction coefficient multiplication unit 36-n (n = 1, 2,..., N) receives the correction coefficient C ⁿ (f _τ , f _η ) calculated by the correction coefficient calculation unit 35-n from the range Fourier transform unit 33. By multiplying the output reception data, a process for correcting the positional deviation of the imaging position in the reception data is performed.
In Figure 2, the correction coefficient of misalignment correction coefficient calculating unit 35-n corresponding to the chirp _{^{K r n C n (f τ}} , f η) is shown an example of calculating the advance chirp _{K r} ^A misalignment correction coefficient C ⁿ (f _τ , f _η ) corresponding to ⁿ may be held.

The time domain conversion unit 37 includes range inverse Fourier transform units 38-1 to 38 -N and azimuth inverse Fourier transform units 39-1 to 39-N, and the received data whose positional deviation has been corrected by the positional deviation correction unit 34. Is converted into a time domain signal.
The range inverse Fourier transform unit 38-n (n = 1, 2,..., N) is realized by, for example, the range inverse Fourier transform circuit 54 of FIG. The reception data whose position shift is corrected by 35-n is subjected to inverse Fourier transform in the range direction, and the received data after the inverse Fourier transform is output to the azimuth inverse Fourier transform unit 39-n.
The azimuth inverse Fourier transform unit 39-n (n = 1, 2,..., N) is realized by, for example, the azimuth inverse Fourier transform circuit 55 of FIG. 3, and is output from the range inverse Fourier transform unit 38-n. The received data is subjected to inverse Fourier transform in the azimuth direction, and the received data after the inverse Fourier transform is output to the extraction / combining unit 40 as a time domain signal.
FIG. 2 illustrates an example in which the range inverse Fourier transform unit 38-n performs inverse Fourier transform on the received data in the range direction and then the azimuth inverse Fourier transform unit 39-n performs inverse Fourier transform in the azimuth direction. After the inverse Fourier transform unit 39-n performs inverse Fourier transform on the received data in the azimuth direction, the range inverse Fourier transform unit 38-n may perform inverse Fourier transform in the range direction.

The extraction / combining unit 40 is realized by, for example, the extraction / combining circuit 56 of FIG. 3, and chirps the time domain signal converted by the azimuth inverse Fourier transform units 39-1 to 39-N of the time domain conversion unit 37. signal chirp ^{_{K r n (n = 1,2,}} ···, n) a signal corresponding to the respectively extracted, char respectively extracted plate ^{_{K r n (n = 1,2,}} ···, n) A process of combining the signals corresponding to is performed.
The image reproduction unit 41 is realized by, for example, the image reproduction circuit 57 of FIG. 3, and performs a process of reproducing the SAR image from the signal combined by the extraction combination unit 40.

In FIG. 2, the azimuth Fourier transform unit 32, the range Fourier transform unit 33, the position shift correction unit 34, the range inverse Fourier transform units 38-1 to 38 -N, and the azimuth inverse Fourier transform unit 39 which are components of the signal processor 23. -3 to 39-N, the extraction / combining unit 40, and the image reproduction unit 41 are respectively dedicated hardware as shown in FIG. 3, that is, an azimuth Fourier transform circuit 51, a range Fourier transform circuit 52, and a positional deviation correction circuit 53. It is assumed that the circuit is realized by a range inverse Fourier transform circuit 54, an azimuth inverse Fourier transform circuit 55, an extraction / coupling circuit 56, and an image reproduction circuit 57.
Here, the azimuth Fourier transform circuit 51, the range Fourier transform circuit 52, the misalignment correction circuit 53, the range inverse Fourier transform circuit 54, the azimuth inverse Fourier transform circuit 55, the extraction coupling circuit 56, and the image reproduction circuit 57 are, for example, a single unit. A circuit, a composite circuit, a programmed processor, a processor programmed in parallel, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof is applicable.

However, the components of the signal processor 23 are not limited to those realized by dedicated hardware, and the signal processor 23 is realized by software, firmware, or a combination of software and firmware. Also good.
Software and firmware are stored as programs in the memory of the computer. The computer means hardware that executes a program, and includes, for example, a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, a DSP (Digital Signal Processor), and the like. .
The memory of the computer is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Promable Memory). This includes a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and the like.

FIG. 4 is a hardware configuration diagram of a computer when the signal processor 23 is realized by software, firmware, or the like.
When the signal processor 23 is realized by software, firmware, or the like, the azimuth Fourier transform unit 32, the range Fourier transform unit 33, the positional deviation correction unit 34, the range inverse Fourier transform units 38-1 to 38-N, the azimuth inverse Fourier transform. A program for causing the computer to execute the processing procedures of the units 39-1 to 39-N, the extraction / combining unit 40, and the image reproduction unit 41 is stored in the memory 71, and the program stored in the memory 71 by the processor 72 of the computer It should be executed.
FIG. 5 is a flowchart showing a processing procedure when the signal processor 23 is realized by software, firmware, or the like.

  3 shows an example in which each component of the signal processor 23 is realized by dedicated hardware, and FIG. 4 shows an example in which the signal processor 23 is realized by software, firmware, or the like. Alternatively, some components in the signal processor 23 may be realized by dedicated hardware, and the remaining components may be realized by software, firmware, or the like.

FIG. 6 is an explanatory diagram showing the geometry of observation by the radar processing apparatus of FIG.
With reference to FIG. 6, the positional deviation of the imaging position accompanying the movement of the radar sensor 1 will be described, and the principle of correction processing related to the positional deviation of the imaging position will be described.

FIG. 6 shows the geometrical arrangement of the radar sensor 1 and the point target 100 to be observed, and the along-track direction that is the traveling direction of the platform, that is, the radar sensor 1 mounted on the platform. The velocity in the azimuth direction is V _r , the beam steering angle that is the angle formed between the cross track direction that is orthogonal to the along track direction and the beam pointing direction of the radar sensor 1 is θ, and the beam steering angle that is directly below the platform and the cross track direction is formed. The off-nadir angle, which is an angle, is θ _off .
The distance between the radar sensor 1 and the point target 100 is R, and the closest distance between the radar sensor 1 and the point target 100 is R ₀ .
In FIG. 6, the footprint of the radar beam by the chirp signal radiated from the radar sensor 1 is represented by an ellipse, and the direction orthogonal to the azimuth direction is represented by a broken line.

Here, the position of the transmission / reception antenna 14 of the radar sensor 1 at the azimuth time η = 0 is the origin O, the platform traveling direction is the x-axis, the horizontal plane is orthogonal to the x-axis, and the platform is traveling leftward A coordinate system is defined in which the y axis is the positive axis and the z axis is the upward vertical direction.
Further, it is assumed that the altitude of the platform is h and the ground surface is parallel to the xy plane and at a height of z = −h [m].

式（１）において、ηはアジマス時刻、τはレンジ方向の時刻、ｆ_０はレーダセンサ１から放射されたチャープ信号の中心周波数である。
また、Ｋ_ｒ［η］はアジマス時刻ηにおけるチャープ信号のチャープレート、ｃは光速、Ｔはチャープ信号のパルス幅である。In this case, assuming that the slant range change of the point target 100 is R [η, τ], the baseband digital reception signal S _r [output from the data recording unit 16 after being received by the transmission / reception antenna 14 of the radar sensor 1. [eta], [tau]] is expressed by the following equation (1).

In equation (1), η is the azimuth time, τ is the time in the range direction, and f ₀ is the center frequency of the chirp signal radiated from the radar sensor 1.
K _r [η] is the chirp signal of the chirp signal at the azimuth time η, c is the speed of light, and T is the pulse width of the chirp signal.

In the equation (1), rect [•] is a rectangular function and is expressed as the following equation (2).

Further, in order to consider the change between the radar sensor 1 and the point target 100 during pulse reception, if the range of the point target 100 at the nominal pulse reception position is R [η], the point target in equation (1) The slant range change R [η, τ] of 100 is expressed by the following equation (3).

Assuming that the slant range change R [η, τ] of the point target 100 is expressed by equation (3), the phase of the digital received signal S _r [η, τ] of equation (1) is expressed by the following equation (4): It is expressed as

In the expanded expression of Expression (4), the first and second terms represent the phase of the received signal when the movement of the platform is not considered.
The third and subsequent items represent phase changes accompanying the movement of the platform.

Next, of the digital reception signal S _r [η, τ], a reference signal S _ref [τ] used for range compression of S _r [τ], which is a signal in the range direction, is given by the following equation (5). Shall.

By range compression by correlation processing between the signal S _r [τ] in the range direction and the reference signal S _ref [τ], the signal S _out [τ] after the range compression is expressed as the following Expression (6).

In the derivation of the signal S _out [τ] after range compression, the pulse round-trip time when the movement of the platform is not considered is τ _0, and sinc [•] in the equation (6) is defined by the following equation (7): Sinc function.

式（８）において、ｆ_ｄ（η）はドップラー周波数である。From the equation (6), the peak position τ _peak [η] in the correlation output is expressed as the following equation (8). Accordingly, the position of the peak position τ _peak [η] in the correlation output is shifted by f _d (η) / K _r [η] compared to the peak position when the movement of the platform is not considered.

In equation (8), f _d (η) is the Doppler frequency.

As can be seen from the equation (8), the positional deviation of the imaging position depends on the char plate K _r [η] and the Doppler frequency f _d (η), and when the char plate K _r [η] is small, When the Doppler frequency f _d (η) is large, the positional deviation amount becomes large.
The positional deviation f _d (η) / K _r [η] of the imaging position shown in Expression (8) is the Doppler frequency f _d (η) of the point target 100 at each azimuth time η being observed and the azimuth time. This can be eliminated by calculating the correction amount from the char plate K _r [η] of η.
Since the chirp plate K _r [η] is given from the controller 21 when the excitation unit 11 generates a chirp signal, it can be handled as known information.
On the other hand, since the position of the point target 100 is unknown, the Doppler frequency f _d (η) includes indefiniteness corresponding to the beam width and is generally an unknown number. For this reason, it is necessary to estimate from the received data.
The Doppler frequency f _d (η) can be estimated by subjecting the digital reception signal S _r [η, τ] output from the data recording unit 16 of the radar sensor 1 to Fourier transform processing.

Here, the following Non-Patent Document 1 shows a method for correcting the positional deviation of the imaging position in a two-dimensional frequency space composed of an azimuth frequency space and a range frequency space under the condition that the chirp plate is fixed. Has been.
[Non-Patent Document 1] Pau Prats-Iraola et al. “On the processing of very high-resolution space-borne SAR data,” IEEE Trans. Geosci. Remote Sens. Vol. 52, no. 10, pp. 6003-6016, Oct. 2014.
However, an up-down modulation received signal in which up-chirp and down-chirp are switched alternately contains an up-modulation signal and a down-modulation signal at the same azimuth frequency, and is therefore disclosed in Non-Patent Document 1. In this method, the char plate K _r [η] is not determined and the correction amount cannot be calculated.

Therefore, in the first embodiment, the chirp K _{r n} ^[η] be used as inter-pulse modulation (n = 1,2, ···, N ) each, correcting the positional deviation of the imaging position in the received data and, by combining the received data corrected in each chirp K _{r n} ^[η], chirp is to accommodate even for different observations.

この補正係数Ｃ^ｎ（ｆ_τ，ｆ_η）（ｎ＝１，２，・・・，Ｎ）を２次元周波数空間上に変換した信号Ｓ_ｆ（ｆ_τ，ｆ_η）に乗算することで、各々のチャープレートＫ_ｒ ^ｎに対応する結像位置の位置ずれが補正された信号Ｓ_ｆ ^ｎ（ｆ_τ，ｆ_η）（ｎ＝１，２，・・・，Ｎ）が得られる。この処理によりＮ個の補正された信号が得られる。Digital received signal _{S r [η, τ]} of formula (1) a signal converted into two-dimensional frequency space _{S f (f τ, f η} ) When, azimuth frequency of the _{S f (f τ, f η} ) the component signal chirp K _{r n} ^[η] used in inter-pulse modulation are mixed. f _τ is the range frequency and f _η is the azimuth frequency.
_{S f (f τ, f η} ) signal chirp _K ^{r n} _[η] mixed in the azimuth frequency components is dependent chirp _{K r} [eta] and the Doppler frequency _{f d} (eta) Therefore, as shown in the following equation (9), for each chirp _K ^{r n,} the correction coefficient for correcting the positional deviation of the imaging position _{^{C n (f τ, f η}} ) (n = 1,2, .., N) can be calculated. The char plate K _r ⁿ in the equation (9) corresponds to K _r [η].

By multiplying the correction coefficient C ⁿ (f _τ , f _η ) (n = 1, 2,..., N) by the signal S _f (f _τ , f _η ) converted into the two-dimensional frequency space, each chirp _K ^r signal positional deviation of the imaging position is corrected corresponding to _{^{n S f n (f τ,}} f η) (n = 1,2, ···, n) is obtained. By this process, N corrected signals are obtained.

Signal after each of the corrected ^{_{S f n (f τ, f}} η) (n = 1,2, ···, N) is the correction has been made of the signals corresponding to the chirp _K ^{r n,} other since the signal corresponding to the chirp compensation is not performed, from each of the corrected signal, it is necessary to signal extracting corresponding to the chirp K _r ^n.
Therefore, each of the corrected signals S _f ⁿ (f _τ , f _η ) (n = 1, 2,..., N) is converted into a time domain signal, so that N time domain signals are obtained. A correction signal S _cmp ⁿ (τ, η) (n = 1, 2,..., N) is obtained.

FIG. 7 is an explanatory diagram showing changes in the distance R between the radar sensor 1 and the point target 100.
In FIG. 7, it is assumed that a chirp signal is emitted when the chirp plate is up-chirp and a chirp signal is emitted when the chirp plate is down-chirp.
FIG. 7A shows an example in which the signal corresponding to the chirp plate K _r ¹ of the up chirp is corrected, and FIG. 7B shows an example in which the signal corresponding to the chirp plate K _r ² of the down chirp is corrected.

When the image position misalignment is not corrected, the distance R indicated by the received signal after range compression shifts in the range direction, as shown in FIG. Therefore, although the peak position of the distance R is shifted to the position of ●, when the signal corresponding to the up-chirp chirp plate K _r ¹ is corrected, as shown in FIG. 7A, the up-chirp chirp plate K the signal corresponding to _r ^1, peaks appear at a distance R.
However, even if the signal corresponding to the chirp plate K _r ¹ of the up chirp is corrected, the signal corresponding to the chirp plate K _r ² of the down chirp is not an appropriate correction amount, and as shown in FIG. Image position misalignment has not been eliminated.
On the other hand, when the signal corresponding to the chirp plate K _r ² for the down chirp is corrected, a peak appears at the position of the distance R for the signal corresponding to the chirp plate K _r ² for the down chirp as shown in FIG. 7B. ing.
However, even if the signal corresponding to the chirp plate K _r ² for the down chirp is corrected, the signal corresponding to the chirp plate K _r ¹ for the up chirp is not an appropriate correction amount. Image position misalignment has not been eliminated.

Correction signal N time-domain ^{_{S cmp n (τ, η)}} (n = 1,2, ···, N) in, the N chirp are mixed in azimuth frequency space _K ^r n (n = 1, 2, since it is possible to separate a signal corresponding to n), a correction signal _{S cmp} ⁿ of n time-domain (tau, eta), corresponding to the chirp _K ^{r n} Each signal is extracted.
That is, the correction signal _{S cmp} ¹ in the time domain (tau, eta) from extracts a signal corresponding to the chirp _K ^{r 1,} the correction signal _{S cmp} ² in the time domain (tau, eta) char from the plate _K ^{r 2} And a signal corresponding to the _chirp plate K _r ^N is extracted from the correction signal S _cmp ^N (τ, η) in the time domain. Since the chirp signal of the chirp signal used at the azimuth time η is controlled by the controller 21, it is known in the time domain.
Finally, by combining the signals corresponding to the correction signal ^{_{S cmp n (τ, η)}} N pieces of char from the extracted respective plate K _r ⁿ of N time-domain in all azimuth time eta, sintered It is possible to obtain a signal in which the positional deviation of the image position is eliminated.
The above is the principle of the correction process related to the positional deviation of the imaging position.

Next, the operation will be described.
The controller 21 of the signal processing unit 2 outputs a control signal indicating the char plate at each azimuth time η to the excitation unit 11 and the signal processor 23.
In the first embodiment, it is assumed that the use of N chirp ^{_{K r n (n = 1,2,}} ···, N) a. Accordingly, the controller 21, for example, outputs a control signal in the azimuth time eta = 1 illustrates a chirp K _r ¹ to the excitation unit 11, a control signal in the azimuth time eta = 2 shows a chirp K _r ² exciter 11 and outputs a control signal indicating the chirp plate K _r ^N to the excitation unit 11 at the azimuth time η = N.

Exciter 11, each receiving a control signal from the controller 21 to generate a chirp signal chirp K _r ⁿ indicated by the control signal, and outputs the chirp signal to the amplifier 12.
Upon receiving the chirp signal from the excitation unit 11, the amplifying unit 12 amplifies the signal level of the chirp signal to a desired signal level and outputs the amplified chirp signal to the transmission / reception switch 13.
When the transmission / reception switch 13 receives the chirp signal from the amplifying unit 12, it outputs the chirp signal to the transmission / reception antenna 14.
Thereby, a chirp signal is radiated | emitted to space from the transmission / reception antenna 14. FIG. The chirp signal radiated to the space from the transmitting / receiving antenna 14 is irradiated and scattered on a scatterer such as an airplane or the ground surface. A part of the chirp signal scattered by the scatterer returns to the transmitting / receiving antenna 14 as a reflected wave of the chirp signal.
The transmitting / receiving antenna 14 receives the reflected wave of the chirp signal returned by being scattered by the scatterer, and outputs an RF signal, which is a signal of the reflected wave, to the transmission / reception switch 13.

When the transmission / reception switch 13 receives the RF signal from the transmission / reception antenna 14, the transmission / reception switch 13 outputs the RF signal to the reception unit 15.
When receiving the RF signal from the duplexer 13, the receiving unit 15 performs reception processing of the RF signal, converts the received RF signal into a baseband signal, and converts the baseband signal to the data recording unit 16. Output.
The A / D converter 16a of the data recording unit 16 converts the baseband signal output from the receiving unit 15 from an analog signal to a digital signal at every predetermined sampling rate.
The data recording unit 16 records the digital reception signal S _r [η, τ] of Expression (1), which is a digital signal converted by the A / D converter 16 a, in the storage device 22 of the signal processing unit 2.
The motion measuring unit 17 measures, for example, the platform position, speed, and posture as the motion information of the platform on which the radar sensor 1 is mounted, and records the motion information in the storage device 22 of the signal processing unit 2. This exercise information is used in Embodiment 3 to be described later.

Signal processor 23 refers to the chirp K _r ⁿ which control signal indicates output from the controller 21, the digital reception signal stored in the storage device 22 S _{r [η,} τ] correspond to It recognizes the chirp rate _K ^{r n} of the chirp signal.
When the signal processor 23 recognizes the chirp signal K _r ⁿ of the chirp signal corresponding to the digital received signal S _r [η, τ] stored in the storage device 22, the signal processor 23 based on the chirp plate K _r ^n. The position shift of the imaging position in the digital reception signal S _r [η, τ] is corrected, and the SAR image is reproduced from the reception signal after the position shift correction.
Hereinafter, the processing content of the signal processor 23 will be specifically described.

The frequency domain conversion unit 31 converts the digital reception signal S _r [η, τ] stored in the storage device 22 into reception data S _f (f _τ , f _η ) that is a signal in a two-dimensional frequency space, The received data S _f (f _τ , f _η ) is output to the misalignment correction unit 34.
That is, the azimuth Fourier transform unit 32 of the frequency domain converter 31, the digital reception signal S _{r [η,} τ] stored in the storage device 22 acquires the, the digital reception signal S _{r [η,} τ] and The Fourier transform is performed in the azimuth direction, and the received data after the Fourier transform is output to the range Fourier transform unit 33 (step ST1 in FIG. 5).
When receiving the received data after the Fourier transform from the azimuth Fourier transform unit 32, the range Fourier transform unit 33 of the frequency domain transform unit 31 performs a Fourier transform on the received data in the range direction, and the received data S _f (f after the Fourier transform) _{(τ 1} , f _η ) is output to the misalignment correction unit 34 (step ST2 in FIG. 5).

Positional deviation correcting unit 34 of the correction coefficient calculating unit 35-n (n = 1,2, ···, N) , the controller 21 char indicated by the output control signal from the plate _K ^r n (n = 1,2 , ..., for each n), the chirp _K ^{r n} by substituting the above equation (9), the correction coefficient ^C n (f _tau positional deviation corresponding to the chirp _K ^{r n,} f _η ) is calculated (step ST3 in FIG. 5).
The correction coefficient multiplying unit 36-n (n = 1, 2,..., N) of the positional deviation correction unit 34 has a correction coefficient calculation unit 35-n that corrects the positional deviation correction coefficient C ⁿ (f _τ , f _η ). Is calculated by multiplying the received data S _f (f _τ , f _η ) output from the range Fourier transform unit 33 by the correction coefficient C ⁿ (f _τ , f _η ), thereby obtaining the received data S _f (f The position shift of the imaging position at _τ , f _η ) is corrected, and the signal S _f ⁿ (f _τ , f _η ) (n = 1, 2,..., N) after the position shift correction is converted into a time domain converter. 37 (step ST4 in FIG. 5).
That is, the correction coefficient multiplication unit 36-1 multiplies the reception data S _f (f _τ , f _η ) by the correction coefficient C ¹ (f _τ , f _η ), thereby correcting the signal S _f ¹ ( f _τ , f _η ) is output to the range inverse Fourier transform unit 38-1, and the correction coefficient multiplication unit 36-2 converts the correction coefficient C ² (f _τ , f _η ) into the received data S _f (f _τ , f _η). ) To output the signal S _f ² (f _τ , f _η ) after the positional deviation correction to the range inverse Fourier transform unit 38-2. Further, the correction coefficient multiplication unit 36-N multiplies the reception data S _f (f _τ , f _η ) by the correction coefficient C ^N (f _τ , f _η ), thereby correcting the signal S _f ^N ( _fτ , _fη ) are output to the range inverse Fourier transform unit 38-N.

The time domain conversion unit 37 receives signals S _f ¹ (f _τ , f _η ) to S _f ^N (f _τ , f after correction of the position shift from the correction coefficient multiplication units 36-1 to 36 -N of the position shift correction unit 34. _η ), the signals S _f ¹ (f _τ , f _η ) to S _f ^N (f _τ , f _η ) after positional deviation correction are converted into time domain signals, and the converted signals are converted into time domain signals. The correction signals S _cmp ¹ (τ, η) to S _cmp ^N (τ, η) are output to the extraction coupling unit 40.
That is, the range inverse Fourier transform unit 38-n (n = 1, 2,..., N) of the time domain transform unit 37 outputs the signal S _f after the positional deviation correction output from the correction coefficient multiplication unit 36-n. ^N (f _τ , f _η ) is subjected to inverse Fourier transform in the range direction, and the signal after inverse Fourier transform is output to the azimuth inverse Fourier transform unit 39-n (step ST5 in FIG. 5).
When the azimuth inverse Fourier transform unit 39-n (n = 1, 2,..., N) of the time domain transform unit 37 receives the signal after the inverse Fourier transform from the range inverse Fourier transform unit 38-n, the inverse Fourier transform is performed. the signal after the conversion and inverse Fourier transform in the azimuthal direction, inverse Fourier correction signal converted signal time domain of S _{cmp n} ^(τ, η) and outputs the extracted coupling section 40 as (step ST6 in FIG. 5).

Extracting coupling unit 40, with reference to chirp K _r ⁿ indicated by the output control signal from the controller 21, the time output from the azimuth inverse Fourier transform unit 39-1~39-N time-domain converter 37 correction signal _{S cmp} ¹ region ^{_{(τ, η) ~S cmp n}} (τ, η) recognizes chirp _K ^{r n} of the chirp signal corresponds to.
Extracting coupling unit 40, the correction signal _{S cmp} ¹ _{(τ, η)} in the time domain _{~S cmp} ^N _{(τ, η)} recognizes the chirp _K ^{r n} of chirp signals corresponding to the correction signal in the time domain ^{_{S cmp 1 (τ, η)}} ~S cmp n (τ, η) from extracts a signal corresponding to the chirp _K ^{r n} of chirp signals, respectively (step ST7 in FIG. 5).
That is, the extraction and coupling unit 40 extracts a signal corresponding to the chirp plate K _r ¹ from the time domain correction signal S _cmp ¹ (τ, η), and then extracts the char from the time domain correction signal S _cmp ² (τ, η). A signal corresponding to the plate K _r ² is extracted, and a signal corresponding to the char plate K _r ^N is extracted from the correction signal S _cmp ^N (τ, η) in the time domain.
Then, when the extraction and coupling unit 40 extracts signals corresponding to the chirp signals K _r ^{1 to} K _r ^N , the extraction and coupling unit 40 combines all the azimuths by combining the signals corresponding to the chirp plates K _r ^{1 to} K _r ^N. At time η, a signal in which the displacement of the imaging position is eliminated is obtained (step ST8 in FIG. 5).

When the image reproduction unit 41 receives a signal from which the position shift of the imaging position has been eliminated from the extraction and coupling unit 40, the image reproduction unit 41 performs a known image reproduction process such as range compression or azimuth compression on the signal, The SAR image is reproduced (step ST9 in FIG. 5).
The display 24 displays the SAR image reproduced by the image reproduction unit 41 of the signal processor 23 on the display.
Further, the SAR image reproduced by the image reproduction unit 41 is recorded in the storage device 22.

  As is apparent from the above, according to the first embodiment, the signal processing unit 2 converts the reception signal of the reflected wave into reception data on the frequency space, and for each frequency change rate in the chirp signal, the frequency space After correcting the misalignment of the imaging position in the received data above, the received data is returned to the time domain signal, and the time domain signal at each change rate is combined, so the false image in the along track direction There is an effect that it is possible to reproduce a synthetic aperture radar image having no image.

In the first embodiment, the displacement of the imaging position is compensated by multiplying the correction coefficient C ⁿ (f _τ , f _η ), which is the correction value of the complex function, in the two-dimensional frequency space. It is possible to correct the points within the observation range at once. For this reason, it is easy to incorporate into existing synthetic aperture radar processing. In addition, the occurrence of azimuth ambiguity can be prevented without substantially increasing the computation load.
Further, in the first embodiment, it is possible to cope with switching of the range plate at each azimuth time due to inter-pulse modulation.

In the first embodiment, before the image reproduction unit 41 performs the image reproduction process, the positional deviation correction unit 34 corrects the positional deviation of the imaging position in the reception data S _f (f _τ , f _η ). Although the image reproducing unit 41 has a function of executing the processing contents of the frequency domain converting unit 31, the positional deviation correcting unit 34, the time domain converting unit 37, and the extraction / combining unit 40, the image reproducing process is illustrated. In the process of performing the above, the displacement of the imaging position may be corrected.

Embodiment 2. FIG.
In the first embodiment, the frequency domain conversion unit 31 converts the digital reception signal S _r [η, τ] into the reception data S _f (f _τ , f _η ) in the two-dimensional frequency space, and the positional deviation correction unit. 34, the chirp _K correction coefficient of the displacement corresponding to _{^{r n C n (f τ,}} f η) received data _S on the 2-dimensional frequency space _f (f _τ, f η) is multiplied, the formation In the second embodiment, the digital position of the image position in the received data after the Fourier transform is obtained by Fourier transforming the digital received signal S _r [η, τ] in the azimuth direction. What corrects misregistration will be described.
That is, in the second embodiment, a description will be given of correcting the positional deviation of the imaging position in the range direction on the time axis without performing Fourier transform in the range direction.

FIG. 8 is a block diagram showing a signal processor 23 of a radar processing apparatus according to Embodiment 2 of the present invention, and FIG. 9 is a hardware block diagram of the signal processor 23 in the radar processing apparatus according to Embodiment 2 of the present invention. It is.
8 and 9, the same reference numerals as those in FIGS. 2 and 3 indicate the same or corresponding parts, and the description thereof will be omitted.
In the second embodiment, the frequency domain transform unit 31 includes the azimuth Fourier transform unit 32 but does not include the range Fourier transform unit 33.
In addition, the time domain transform unit 37 includes the azimuth inverse Fourier transform unit 39-n (n = 1, 2,..., N), but does not include the range inverse Fourier transform unit 38-n.

Positional deviation correcting unit 42 is intended to be realized in the positional deviation correction circuit 58 of FIG. 9 for example, char chirp signal plate ^{_{K r n (n = 1,2,}} ···, N) for each, the chirp K correction coefficient corresponding positional deviation _{^{r n C t n (f η}} ) was calculated, by multiplying the correction coefficient _C ^t n a (f _eta) in the received data output from the azimuth Fourier transform unit 32, A process for correcting the displacement of the imaging position in the received data is performed.
Correction coefficient calculating unit 43-n (n = 1,2, ···, N) carries out a process of calculating a correction coefficient of the displacement corresponding to the chirp _{^{K r n C t n (f}} η).
The correction coefficient multiplication unit 44-n (n = 1, 2,..., N) outputs the correction coefficient C _t ⁿ (f _η ) calculated by the correction coefficient calculation unit 43-n from the azimuth Fourier transform unit 32. By multiplying the received data, a process of correcting the positional deviation of the imaging position in the range direction on the time axis is performed.
In Figure 8, there is shown an example of calculating the correction coefficient misalignment correction coefficient calculating unit 43-n corresponding to the chirp _{^{K r n C t n (f}} η), previously, in the chirp _K ^{r n} A corresponding misalignment correction coefficient C _t ⁿ (f _η ) may be held.

In FIG. 8, each of the azimuth Fourier transform unit 32, the positional deviation correction unit 42, the azimuth inverse Fourier transform units 39-1 to 39-N, the extraction / combining unit 40, and the image reproduction unit 41, which are components of the signal processor 23. 9, it is assumed that dedicated hardware as shown in FIG. 9, that is, what is realized by the azimuth Fourier transform circuit 51, the positional deviation correction circuit 58, the azimuth inverse Fourier transform circuit 55, the extraction / coupling circuit 56, and the image reproduction circuit 57. ing.
However, the components of the signal processor 23 are not limited to those realized by dedicated hardware, and the signal processor 23 is realized by software, firmware, or a combination of software and firmware. Also good.
When the signal processor 23 is realized by software, firmware, or the like, the azimuth Fourier transform unit 32, the positional deviation correction unit 42, the azimuth inverse Fourier transform units 39-1 to 39-N, the extraction / combining unit 40, and the image reproduction unit 41 A program for causing the computer to execute the processing procedure may be stored in the memory 71 shown in FIG. 4, and the processor 72 of the computer may execute the program stored in the memory 71.

Next, the operation will be described.
Azimuth Fourier transform unit 32 of the frequency domain converter 31, the digital reception signal S _{r [η,} τ] stored in the storage device 22 acquires the azimuth direction and the digital reception signal S _{r [η,} τ] And the received data after the Fourier transform is output to the misalignment correction unit 42.

The correction coefficient calculation unit 43-n (n = 1, 2,..., N) of the positional deviation correction unit 42 is indicated by the control signal output from the controller 21 as shown in the following equation (10). chirp ^{_{K r n (n = 1,2,}} ···, n) for each chirp rate _K ^r correction coefficient of the displacement corresponding to _{ⁿ C} ^{t n} (f ^η) is calculated, and the correction coefficient _{C t} ⁿ (f _η ) is output to the correction coefficient multiplier 44-n.

When the correction coefficient multiplication unit 44-n (n = 1, 2,..., N) of the positional deviation correction unit 42 receives the correction coefficient C _t ⁿ (f _η ) from the correction coefficient calculation unit 43-n, By multiplying the reception data output from the azimuth Fourier transform unit 32 by the correction coefficient C _t ⁿ (f _η ), the positional deviation of the imaging position in the range direction is corrected on the time axis, and the signal after the positional deviation correction is performed. Is output to the time domain conversion unit 37.
That is, the correction coefficient multiplication unit 44-1 multiplies the reception data output from the azimuth Fourier transform unit 32 by the correction coefficient C _t ¹ (f _η ), and thereby the signal after the positional deviation correction is the azimuth inverse Fourier transform unit. The correction coefficient multiplication unit 44-2 multiplies the reception data output from the azimuth Fourier transform unit 32 by multiplying the reception data output from the azimuth Fourier transform unit 32 with the correction coefficient C _t ² (f _η ). It outputs to the azimuth inverse Fourier transform part 39-2. Further, the correction coefficient multiplying unit 44-N multiplies the reception data output from the azimuth Fourier transform unit 32 by the correction coefficient C _t ^N (f _η ), so that the signal after positional deviation correction is the azimuth inverse Fourier transform unit. 39-N.

The azimuth inverse Fourier transform unit 39-n (n = 1, 2,..., N) of the time domain transform unit 37 outputs the signal after the positional deviation correction output from the correction coefficient multiplication unit 44-n in the azimuth direction. and inverse Fourier transform, and outputs the extracted coupling section 40 as the correction signal S _{cmp n} of the signal after inverse Fourier transform the time domain ^{(τ, η).}

  As apparent from the above, according to the second embodiment, the signal processing unit 2 converts the reception signal of the reflected wave into reception data on the frequency space, and for each frequency change rate of the chirp signal, the frequency space After correcting the misalignment of the imaging position in the received data above, the received data is returned to the time domain signal, and the time domain signal at each change rate is combined, so the false image in the along track direction There is an effect that it is possible to reproduce a synthetic aperture radar image having no image.

Further, according to the second embodiment, by multiplying the reception data output from the azimuth Fourier transform unit 32 by the correction coefficient C _t ⁿ (f _η ), the positional deviation of the imaging position in the range direction is time axis. Since it was comprised so that it may correct | amend above, it is possible to abbreviate | omit the range Fourier-transform part 33 and the range inverse Fourier-transform parts 38-1 to 38-N. Therefore, the calculation load can be reduced and the configuration can be simplified as compared with the first embodiment.

Embodiment 3 FIG.
In the first and second embodiments, it is assumed that the Doppler band observed by the radar sensor 1 is equal to or lower than a pulse repetition frequency (PRF) at the time of observation.
However, in observation methods that perform beam scanning, such as spotlight mode, sliding spotlight mode, and TOPS, observing with a PRF above the Doppler frequency in the observation region leads to an increase in the amount of data. Specifically, the observation is made so that the instantaneous Doppler band is below the PRF.
In the third embodiment, a description will be given of the correction of the displacement of the imaging position when the radar sensor 1 employs an observation method in which beam scanning is performed.

10 is a block diagram showing a signal processor 23 of a radar processor according to Embodiment 3 of the present invention, and FIG. 11 is a hardware block diagram of the signal processor 23 in the radar processor according to Embodiment 3 of the present invention. It is.
10 and 11, the same reference numerals as those in FIGS. 2 and 3 indicate the same or corresponding parts, and thus the description thereof is omitted.
The Doppler frequency calculation unit 45 is realized by, for example, the Doppler frequency calculation circuit 59 illustrated in FIG. 11, and the platform position, speed, and posture indicated by the motion information stored in the storage device 22, and transmission / reception of the radar sensor 1. A process of calculating the Doppler frequency included in the received signal of the radar sensor 1 from the directivity direction of the chirp signal radiated from the antenna 14 is performed.
In the third embodiment, it is assumed that a chirp signal is radiated from the transmission / reception antenna 14 of the radar sensor 1 while changing the directivity direction.

The frequency shift unit 46 includes a hit division unit 47 and a Doppler shift unit 48.
The hit division unit 47 is realized by, for example, the hit division circuit 60 shown in FIG. 11, and performs a process of dividing the digital reception signal S _r [η, τ] stored in the storage device 22 in the hit direction. .
The Doppler shift unit 48 is realized by, for example, the Doppler shift circuit 61 shown in FIG. 11, shifts the Doppler frequency of each reception signal divided by the hit division unit 47, and sets each reception signal after the frequency shift to a frequency. Processing to be output to the area conversion unit 31 is performed.

The frequency restoring unit 49 includes a Doppler shift returning unit 49a and a hit combining unit 49b.
The Doppler shift returning unit 49a is realized by, for example, the Doppler shift returning circuit 62 shown in FIG. 11, and the Doppler frequency in each signal combined by the extraction combining unit 40 is changed to the Doppler frequency before the shift by the Doppler shift unit 48. Perform the process of returning each.
The hit combining unit 49b is realized by, for example, the hit combining circuit 63 shown in FIG. 11, and performs a process of combining each signal whose Doppler frequency is returned to the original Doppler frequency by the Doppler shift returning unit 49a in the hit direction. To do.
The signal processor 23 of FIG. 10 shows an example in which the Doppler frequency calculation unit 45, the frequency shift unit 46, and the frequency restoration unit 49 are applied to the signal processor 23 of FIG. 2 in the first embodiment. You may make it apply the Doppler frequency calculating part 45, the frequency shift part 46, and the frequency restoration part 49 to the signal processor 23 of FIG. 8 in the said Embodiment 2. FIG.

  In FIG. 10, the Doppler frequency calculation unit 45, the hit division unit 47, the Doppler shift unit 48, the azimuth Fourier transform unit 32, the range Fourier transform unit 33, the position shift correction unit 34, and the range inverse Fourier which are components of the signal processor 23. The conversion units 38-1 to 38-N, the azimuth inverse Fourier transform units 39-1 to 39-N, the extraction combination unit 40, the Doppler shift return unit 49a, the hit combination unit 49b, and the image reproduction unit 41 are illustrated in FIG. Dedicated hardware as shown, that is, Doppler frequency calculation circuit 59, hit division circuit 60, Doppler shift circuit 61, azimuth Fourier transform circuit 51, range Fourier transform circuit 52, misalignment correction circuit 53, range inverse Fourier transform circuit 54 , Azimuth inverse Fourier transform circuit 55, extraction and coupling circuit 56, Doppler shift return Circuit 62, it is assumed that achieved by the hit combining circuit 63 and the image reproducing circuit 57.

However, the constituent elements of the signal processor 23 are not limited to those realized by dedicated hardware, and the signal processor may be realized by software, firmware, or a combination of software and firmware. Good.
When the signal processor 23 is realized by software, firmware, or the like, a Doppler frequency calculation unit 45, a hit division unit 47, a Doppler shift unit 48, an azimuth Fourier transform unit 32, a range Fourier transform unit 33, a positional deviation correction unit 34, a range Processing procedures of the inverse Fourier transform units 38-1 to 38-N, the azimuth inverse Fourier transform units 39-1 to 39-N, the extraction combining unit 40, the Doppler shift returning unit 49a, the hit combining unit 49b, and the image reproducing unit 41 are computerized. A program to be executed by the computer may be stored in the memory 71 shown in FIG. 4, and the processor 72 of the computer may execute the program stored in the memory 71.

Next, the operation will be described.
Except for the Doppler frequency calculation unit 45, the frequency shift unit 46, and the frequency restoration unit 49, the configuration is the same as in the first and second embodiments. Therefore, here, the Doppler frequency calculation unit 45, the frequency shift unit 46, and the frequency restoration unit 49 Processing contents will be described.

  The Doppler frequency calculation unit 45 calculates the radar sensor 1 based on the position, speed, and posture of the platform indicated by the motion information stored in the storage device 22 and the direction of the chirp signal emitted from the transmission / reception antenna 14 of the radar sensor 1. The Doppler frequency included in the received signal is calculated. Since the Doppler frequency calculation process itself is a known technique, a detailed description thereof will be omitted.

Hit dividing unit 47 of the frequency shift unit 46, storage unit 22 a digital received signal S _{r [η,} τ] are stored in the acquired and Doppler its digital received signal S _{r [η,} τ] are included in the The digital reception signal S _r [η, τ] is divided in the hit direction so that the band is equal to or less than the PRF. That is, the digital received signal S _r [η, τ] is divided into a plurality of sub-apertures.
Here, FIG. 12 is an explanatory diagram showing the division processing of the digital reception signal S _r [η, τ] by the hit division unit 47.
In FIG. 12, the azimuth time η on the horizontal axis is a time (slow time) representing the axis in the azimuth direction.
Hit dividing unit 47, a digital received signal S _{r [η,} τ] from a range of the signal that is surrounded by a broken line that cut out as sub-aperture, the digital reception signal S _{r [η,} τ] divides the.

The size cut out by the sub-aperture is, for example, in a range in which the Doppler band included in the digital reception signal S _r [η, τ] is equal to or less than PRF as disclosed in Non-Patent Document 2 below.
[Non-Patent Document 2]
J. Mittermayer, A. Moreira, O. Loffeld: “Spotlight SAR Data Processing Using the Frequency Scaling Algorithm,” IEEE Trans. On Geosc. And Remote Sensing, Vol. 37, No. 5, Sept. 1999, pp. 2198- 2214.

ただし、Ｎ_ｓｕｂは各サブアパーチャにおけるアジマス方向の点数、Ｎ_ｓｐはサブアパーチャ数である。The sub-aperture signal divided by the hit division unit 47 is expressed by the following equation (11).

Here, N _sub is the number of points in the azimuth direction in each sub-aperture, and N _sp is the number of sub-apertures.

In the example of FIG. 12, the cutout ranges of the sub-apertures are not overlapped, but the cutout ranges of the sub-apertures may partially overlap.
In the example of FIG. 12, each sub-aperture is cut out so that the size of each sub-aperture is uniform. However, the size of each sub-aperture is not uniform as long as the Doppler band after cutting is equal to or less than the PRF. It may be cut out.

The Doppler shift unit 48 shifts the signal of the sub-aperture divided by the hit division unit 47 from the center frequency f _dc ^nsub of the Doppler frequency calculated by the Doppler frequency calculation unit 45 as shown in the following equation (12). The shift coefficient H _nsub ⁰ [nΔη] used in the above is calculated.

Doppler shift unit 48, calculating the shift factor _{H nsub} ⁰ _[nΔη], signal _{S nsub} sub-apertures divided by the hit dividing unit 47 (mΔτ, nΔη) relative to the shift factor _{H nsub} ⁰ _[nΔη] By multiplying, the Doppler frequency is shifted, and a signal obtained by shifting the Doppler frequency is output to the azimuth Fourier transform unit 32.
Thereby, the Doppler aliasing generated in the output signal of the azimuth Fourier transform unit 32 is eliminated.

When the Doppler shift returning unit 49a of the frequency restoring unit 49 receives a signal (hereinafter, referred to as “combined signal”) in which signals corresponding to the chirp plates K _r ^{1 to} K _r ^N are combined from the extraction combining unit 40, Processing for returning the Doppler frequency in the combined signal corresponding to the plates K _r ^{1 to} K _r ^N to the Doppler frequency before the shift by the Doppler shift unit 48 is performed.
In other words, the Doppler shift returning unit 49a shifts the shift coefficient H _nsub ¹ for returning the Doppler frequency from the center frequency f _dc ^nsub of the Doppler frequency calculated by the Doppler frequency calculating unit 45, as shown in the following equation (13). [NΔη] is calculated.

After calculating the shift coefficient H _nsub ¹ [nΔη], the Doppler shift return unit 49a multiplies each combined signal output from the extraction combining unit 40 by the shift coefficient H _nsub ¹ [nΔη], thereby The Doppler frequency in the signal is returned to the Doppler frequency before the shift by the Doppler shift unit 48.

The hit combining unit 49b of the frequency restoring unit 49 combines the combined signals whose Doppler frequencies have been returned to the original Doppler frequency by the Doppler shift returning unit 49a in the hit direction, so that the hit combining unit 49b before the division by the hit dividing unit 47 is performed. Reproduce the digital received signal.
That is, the hit combining unit 49b reproduces the digital reception signal corresponding to the digital reception signal before the division by rearranging each combined signal whose Doppler frequency is restored by the Doppler shift return unit 49a as a sub-aperture signal. .
The image reproducing unit 41 reproduces the SAR image from the digital reception signal reproduced by the hit combining unit 49b.
Further, the SAR image reproduced by the image reproduction unit 41 is recorded in the storage device 22.

As apparent from the above, according to the third embodiment, the frequency shift unit 46 divides the digital reception signal S _r [η, τ] in the hit direction, and sets the Doppler frequency of each of the divided reception signals. Since each received signal after shifting and frequency shifting is output to the frequency domain converter 31, as in the first and second embodiments, a synthetic aperture radar image without a false image in the along track direction is obtained. In addition to being able to reproduce, even when the radar sensor 1 employs an observation method for performing beam scanning, it is possible to correct the displacement of the imaging position.

In the third embodiment, before the image reproduction unit 41 performs the image reproduction process, the positional deviation correction unit 34 corrects the positional deviation of the imaging position in the reception data S _f (f _τ , f _η ). Although shown, the image reproduction unit 41 includes a Doppler frequency calculation unit 45, a frequency shift unit 46, a frequency domain conversion unit 31, a positional deviation correction unit 34, a time domain conversion unit 37, an extraction combination unit 40, and a frequency restoration unit. By providing the function of executing the processing content of 49, the positional deviation of the imaging position may be corrected in the process of executing the image reproduction processing.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  The present invention is suitable for a radar processing apparatus that receives a reflected wave of a chirp signal and reproduces a synthetic aperture radar image from the received signal of the reflected wave.

  DESCRIPTION OF SYMBOLS 1 Radar sensor, 2 Signal processing part, 11 Excitation part, 12 Amplification part, 13 Transmission / reception switching device, 14 Transmission / reception antenna, 15 Reception part, 16 Data recording part, 16a A / D converter, 17 Motion measurement part, 21 Controller , 22 storage device, 23 signal processor, 24 display, 31 frequency domain transform unit, 32 azimuth Fourier transform unit, 33 range Fourier transform unit, 34 position shift correction unit, 35-1 to 35-N correction coefficient calculation unit, 36-1 to 36-N correction coefficient multiplication unit, 37 time domain conversion unit, 38-1 to 38-N range inverse Fourier transform unit, 39-1 to 39-N azimuth inverse Fourier transform unit, 40 extraction combination unit, 41 Image reproduction unit, 42 position shift correction unit, 43-1 to 43-N correction coefficient calculation unit, 44-1 to 44-N correction coefficient multiplication unit, 45 Doppler frequency calculation unit, 46 frequency shift unit, 47 hit division unit, 48 Doppler shift unit, 49 frequency restoration unit, 49a Doppler shift return unit, 49b hit combination unit, 51 azimuth Fourier transform circuit, 52 range Fourier transform circuit, 53 position shift correction circuit, 54 Range inverse Fourier transform circuit, 55 Azimuth inverse Fourier transform circuit, 56 Extraction and coupling circuit, 57 Image reproduction circuit, 58 Misalignment correction circuit, 59 Doppler frequency calculation circuit, 60 hit division circuit, 61 Doppler shift circuit, 62 Doppler shift return circuit , 63 hit combination circuit, 71 memory, 72 processor, 100 point target.

Claims (5)

A radar sensor that repeatedly emits the chirp signal to space while changing the frequency change rate of the chirp signal, receives the reflected wave of the chirp signal reflected by a target, and outputs the received signal of the reflected wave;
A signal processing unit that corrects a positional shift of the imaging position in the received signal generated along with the movement of the radar sensor, and reproduces a synthetic aperture radar image from the received signal after the positional shift correction;
The signal processing unit converts the reception signal of the reflected wave into reception data on the frequency space, and uses the information on the plurality of change rates to generate the connection in the reception data on the frequency space for each change rate. A radar processing apparatus, comprising: correcting a positional shift of an image position, returning the received data to a time domain signal, and combining the time domain signals respectively corresponding to the different rates of change. The signal processing unit
A frequency domain converter that converts the received signal of the reflected wave into frequency domain received data;
For each frequency change rate in the chirp signal, the reception data converted by the frequency domain conversion unit is multiplied by the correction coefficient of the positional deviation corresponding to the change rate, thereby the position of the imaging position in the reception data. A misalignment correction unit for correcting misalignment;
A time domain conversion unit that converts the received data whose positional deviation has been corrected by the positional deviation correction unit into a signal in the time domain;
For each frequency change rate in the chirp signal, an extraction combining unit that extracts a signal corresponding to the change rate from the time domain signal converted by the time domain conversion unit and combines the signals corresponding to the change rates When,
The radar processing apparatus according to claim 1, further comprising: an image reproducing unit that reproduces a synthetic aperture radar image from the signals combined by the extraction combining unit. The frequency domain conversion unit converts the reception signal of the reflected wave as reception data of the frequency domain into reception data on a two-dimensional frequency space composed of an azimuth frequency space and a range frequency space,
The misregistration correction unit multiplies the reception data in the two-dimensional frequency space by the correction coefficient of misregistration corresponding to the change rate for each frequency change rate in the chirp signal, so that the reception data in the reception data The radar processing apparatus according to claim 2, wherein the displacement of the imaging position is corrected. The frequency domain conversion unit converts the reception signal of the reflected wave as reception data in the frequency domain into reception data on the azimuth frequency space,
For each frequency change rate in the chirp signal, the misregistration correction unit multiplies the reception data in the azimuth frequency space by a misalignment correction coefficient corresponding to the change rate to thereby obtain the result in the received data. The radar processing apparatus according to claim 2, wherein a position shift of the image position is corrected. The signal processing unit
A frequency shift unit that divides the received signal of the reflected wave in the hit direction, shifts the Doppler frequency of each of the divided received signals, and outputs each received signal after the frequency shift to the frequency domain transform unit;
A frequency restoration unit that returns the Doppler frequency in each signal combined by the extraction combining unit to the Doppler frequency before the shift, and combines the signals that have returned the Doppler frequency in the hit direction. The radar processing device according to claim 2.

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