JP6622118B2 - Antenna device and radar device - Google Patents

Description

  The present embodiment relates to an antenna device and a radar device.

  In a conventional radar apparatus, search and tracking of a target are performed by using a transmission beam and a reception beam as pencil beams by DBF (Digital Beam Forming) in an antenna apparatus.

Japanese Patent No. 5193455

DBF (Digital Beam Forming), Yoshida, "Revised Radar Technology", IEICE, pp.289-291 (1996) MIMO (Multiple Input Multiple Output), JIAN LI, PETER STOICA, ‘MIMO RADAR SIGNAL PROCESSING’, WILEY, pp. 1-5 (2009) Pulse compression, Yoshida, 'Revised radar technology', IEICE, pp.275-280 (1996) CFAR processing, Yoshida, 'Revised radar technology', IEICE, pp.87-89 (1996) Taylor distribution, Yoshida, 'Revised radar technology', IEICE, pp.134-135 (1996) Angle measurement system (monopulse), Yoshida, 'Revised radar technology', IEICE, pp. 260-264 (1996) SLC (SideLobe Canceller), SLB (SideLobe Blanker), Yoshida, "Revised Radar Technology", IEICE, pp.295-296 (1996) STAP (Post-Doppler STAP, etc.), Richard Klemm, “Applications of Space-Time Adaptive Processing”, IEEE Radar, Sonar and Navigation series 14, p.720-724 (2004) Multibeam, edited by IEICE, Antenna Engineering Handbook 2nd edition, Ohmsha, pp.419-424 (2008) Element space and beam space, edited by IEICE, Antenna Engineering Handbook 2nd edition, Ohmsha, pp.458 (2008)

  As described above, in the conventional radar apparatus, the target beam is searched and tracked by using the DBF in the antenna apparatus as the transmission beam and the reception beam, respectively, as the pencil beam. However, in this case, there is a time constraint per position, and since the number of hits is small, the SN is low, the data rate is slow, the initial detection is delayed, and there is a problem of lost tracking. Further, when realizing multi-beams, particularly when DBF is used, there is a problem that the processing scale increases. Further, when suppressing unnecessary waves such as clutter, it is necessary to mount an auxiliary antenna different from the main antenna in order to form the auxiliary antenna.

  The present embodiment has been made in view of the above problems, and can achieve reception multi-beams with a relatively small processing scale, improve the data rate, speed up initial detection, reduce tracking lost, It is another object of the present invention to provide an antenna device and a radar device that do not require an auxiliary antenna for suppressing unnecessary waves.

In order to solve the above problem, the antenna device according to the present embodiment includes N channels × the number of subarray beams by N (N ≧ 1) subarrays arranged one-dimensionally along the first axis (A axis). M and first receive array to obtain a beam output of Bsa (Bsa ≧ 1), by the M arrayed one-dimensionally along the a axis different from the second axis (B axis) (M ≧ 1) subarrays A second receiving array that obtains a beam output of channel × subarray beam number Bsb (Bsb ≧ 1) and a beam output of N × Bsa beam of the A-axis subarray are combined by a Bba (Bba ≧ 1) system. A beam composite signal of N × Bsa × Bba = Baall is generated, and the beam output M × Bsb of the B-axis subarray is combined by the Bbb (Bbb ≧ 1) system to generate the number of B-axis beams. M x Bs × multiply a beam combiner for generating a beam combining signals Bbb = bball, a beam combining signal beam number bball beam combining signal and the B-axis of the beam number Baall of the A-axis obtained by said beam combiner And a signal processor for forming a multi -beam of the number of beams Baall × Bball = Ball in a predetermined angle range.

Further, the radar device according to this embodiment includes a transmitting antenna to form a transmission beam to the observation area, by a first axis N which are arranged one-dimensionally along the (A axis) (N ≧ 1) subarrays N A first receiving array that obtains a beam output of channel × subarray beam number Bsa (Bsa ≧ 1) , and M (M ≧ 1) arranged one-dimensionally along a second axis (B axis) different from the A axis A second receiving array that obtains a beam output of M channels × subarray beam number Bsb (Bsb ≧ 1) by the number of subarrays, and a beam output of N × Bsa of the A-axis subarray are Bba (Bba ≧ 1) systems in synthesis to generate a beam combining signal beam number N × Bsa × Bba = Baall the a axis, Bbb the beam output of the beam number M × Bsb subarray of the B-axis (Bbb ≧ 1) was synthesized in the system A beam combiner for generating a number of beams M × Bsb × Bbb = Bball beam combined signal axis, the beam of the beam combining signal and the B-axis of the beam number Baall of the A-axis obtained by the beam combiner bball And a signal processor that forms a multi-beam with the number of beams Baall × Bball = Ball in a predetermined angle range by multiplying the beam composite signal of.

1 is a block diagram showing a schematic configuration of an antenna device applied to a radar device according to a first embodiment. The block diagram which shows the structure of the whole system | strain of the antenna apparatus shown in FIG. The block diagram which shows the structure of the subarray system | strain of the receiving antenna shown in FIG. The figure which shows the observation coordinate system of an onboard radar apparatus provided with the antenna apparatus shown in FIG. The conceptual diagram for demonstrating the formation method of the receiving beam by the antenna apparatus shown in FIG. The conceptual diagram which shows the formation pattern of each of A-axis beam and B-axis beam in 1st Embodiment. The conceptual diagram which shows the formation pattern of 1 beam and a whole beam in 1st Embodiment. The conceptual diagram which shows the method of forming (SIGMA) and (DELTA) AZ for monopal angle measurement in 1st Embodiment. The conceptual diagram which shows the method of forming (SIGMA) and (DELTA) EL for monopal angle measurement in 1st Embodiment. The figure which shows the relationship between the characteristic of (SIGMA) and (DELTA) beam, and an error voltage in 1st Embodiment. The block diagram which shows schematic structure of the radar apparatus with which the antenna apparatus which concerns on 2nd Embodiment is applied. The conceptual diagram which shows a mode that an auxiliary antenna is formed in 2nd Embodiment. The figure which compares and shows after unnecessary wave suppression in 2nd Embodiment before unnecessary wave suppression. The block diagram which shows the structure of the SLC processing circuit used as unnecessary wave suppression processing in 2nd Embodiment.

  Hereinafter, embodiments will be described with reference to the drawings. In the description of each embodiment, the same portions are denoted by the same reference numerals, and redundant description is omitted. In the following description, it is assumed that the embodiment of the antenna device is applied to a radar device.

(First embodiment)
The first embodiment will be described with reference to FIGS. 1 to 6. In the present embodiment, a method for forming an entire beam by multiplication using the outputs of different two-axis linear arrays will be described.

  FIG. 1 is a block diagram showing a configuration of a radar apparatus to which the antenna apparatus according to the first embodiment is applied. In FIG. 1, 10A1 to 10AN, 10B1 to 10BM are sub-arrays (number of beams: A-axis N × Bsa, B-axis M × Bsb) constituting the receiving antenna, 20A1 to 20ABsa, 20B1 to 20BBsb are digital signals of the received signal in units of subarrays. Beam synthesizers that perform processing such as conversion and noise removal, and are provided in a system of A axis Nch × subarray beam number Bsa and a system of B axis Mch × subarray beam number Bsb, respectively. The sub-array beam combined output (number of beams: A axis Baall = N × Bsa × Bba, B axis Bball = M × Bsb × Bbb) of each system is sent to the signal processors 30A1 to 30ABall, 30B1 to 30BBall, and N × Mch × A multi-beam according to the number of subarray beams is formed. The beam outputs of the multi-beams formed here are combined by a beam multiplier 40 into a predetermined number of beams Ball = Baall × Bball and sent to the signal processor 50. The signal processor 50 generates and outputs a radar signal Ball for detecting and tracking a target from the input combined beam output.

  In the above configuration, a more specific system configuration is shown in FIG. 2, and the system configuration of each subarray is shown in FIG. As a representative example, as shown in FIG. 3, the A-axis subarray 10A1 includes sn antenna elements 111 to 11sn, sn amplifiers 121 to 12sn, a frequency converter 13, an AD converter 14, and a subarray beam combining. A container 15 is provided. The sn antenna elements 111 to 11 sn are arranged one-dimensionally in the A-axis direction. The amplifiers 121 to 12 sn amplify the signals output from the corresponding antenna elements 111 to 11 sn with low noise. The frequency converter 13 frequency-converts the signals output from the sn amplifiers 121 to 12 sn into basebands. The AD converter 14 digitizes the signal frequency-converted into the baseband to obtain the received signal of the Sn channel (# 1 to #Sn). The sub-array beam combiner 15 obtains a multi-beam output of Bs channels (# 1 to #Bs) from the digitized reception signal. The above configuration is the same for other subarrays and B-axis subarrays.

  As shown in FIG. 2, the received signals of the number Bsa of subarray beams obtained by the A-axis subarrays 10A1 to 10ABsa are subjected to frequency conversion, digitization, and subarray beam synthesis (fast Fourier transform (FFT)) by beam combiners 20A1 to 20ABsa. , Pulse compression (PC), etc.) are performed and then branched and output for each beam of the subarray and sent to the signal processors 30Ai (i = 1 to Baall, Baall = Bsa × Bba) of each Bsa system. Similarly, the received signals of the number of subarray beams Bsb obtained by the B axis subarrays 10B1 to 10BBsb of each of the M systems are digitized by the beam combiners 20B1 to 20BBsb, and then branched and output for each beam of the subarrays. The signal is sent to each signal processor 30B1 (l = 1 to Bball, Bball = Bsb × Bbb).

  The signal processors 30Ai and 30B1 form multi-beams with N × M × number of sub-array beams. The beam outputs of the multi-beams formed here are sent to the beam multiplier 40 to obtain a predetermined number of beams Ball. Synthesized. Further, it is sent to the signal processor 50 for target detection and tracking processing, and a radar signal is obtained by simultaneous formation of all beams Ball.

  FIG. 4 shows an observation coordinate system of the on-vehicle radar device including the antenna device shown in FIG. 1, and FIGS. 5 and 6 show beam shapes by a beam space type (see Non-Patent Document 10) two-dimensional array. Here, in the present embodiment, the entire beam is formed after forming a beam of a linear array that is a partial opening based on the element space and the method of forming the entire beam based on the element or subarray. The method will be called beam space. An array of vertical axes is an A-axis array, and an array of horizontal axes is a B-axis array. Each array is generally a sub-array of multiple elements, but also includes a single element.

  Inside the subarray, as shown in FIG. 3, the signal received by the antennas 111 to 11sn is converted into a baseband by the frequency converter 13, converted into a digital signal by the AD converter 14, and then combined with the subarray beam. The device 15 forms Bs multi-beams. This subarray may be analog beam synthesis. As a configuration method using an analog beam, a plurality of beams may be formed using a Butler matrix, a matrix feeding circuit (see Non-Patent Document 9), or the like.

Using this subarray signal, the beam forming is formulated. First, if the biaxial subarray signals including the observation direction (AZ, EL) are Xa and Xb, and the signal input to the phase center of the array is xin, the biaxial signals Xa and Xb are Become.

Considering the case where the separation distance between the A-axis array and the B-axis array is large, the AZ angle and the EL angle are separated by adding subscripts a and b, but if the separation distance is small, A Since the AZ angle and the EL angle viewed from the axis array and the B axis array are equal, they are assumed to be AZ and EL. If this is used to perform beam combining calculation of the linear array on each axis, the following equation is obtained.

When the multiplication operation of the A axis and the B axis is performed using this linear array beam output, the following equation is obtained.

When the entire beam is formed from the A-axis beam and the B-axis beam for one beam, the coordinate system is as shown in FIG. 5, and the two-dimensional representation of AZ-EL is as shown in FIG. . In FIG. 5, the A-axis array is on the Z-axis, and a conical beam centered on the Z-axis is formed in the EL beam direction. On the other hand, the B-axis array is on the Y-axis, and a conical beam centered on the Y-axis is formed in the AZ beam direction. In FIG. 5, a conical beam is shown, but since there is directivity of the subarray, the directivity of the subarray beam is actually multiplied so that the A-axis beam has the shape shown in FIG. 6 (b). As the A-axis and B-axis multiplication beams, as shown in FIG. 7A, a pencil beam is formed in a direction in which both intersect. Further, when considering multi-beams, as shown in FIG. 7B, a large number of beams are formed in the sub-array beam. Further, when setting a Taylor weight with reduced side lobes (see Non-Patent Document 5) or the like, it may be set when forming a linear array beam with the beam combiner A axis and the beam combine B axis.

Next, when considering the signal component S and noise component N of the A-axis and B-axis arrays used for the multiplication array beam forming, they can be expressed by the following equations.

Therefore, the SN of the multiplication output of the A-axis array beam and the B-axis array beam expressed by Expression (7) is as follows.

This indicates that the SN (signal-to-noise power ratio) of each output signal before multiplication of the A-axis array beam and the B-axis array beam is square. In this case, if SN ≧ 0 dB, the SN is improved by the square, but if SN <0 dB, the SN is further reduced by the square. For this reason, it is desirable that SN ≧ 0 dB in the beam outputs of the A axis and the B axis before beam multiplication. In order to satisfy SN ≧ 0 dB, signal processing such as FFT (Fast Fourier Transform), pulse compression (PC, see Non-Patent Document 3) or the like is performed before beam multiplication to improve SN as necessary.

  After the formation of the multiplying beam, the signal processor 50 performs signal processing such as detection processing (CFAR, see Non-Patent Document 4) to obtain a radar signal output. As this signal processing, MTI (Moving Target Indicator) that suppresses unnecessary waves such as clutter, adaptive array (see Non-Patent Document 7), STAP (Space-Time Adaptive Processing, non-patent) You may add processes, such as literature 8).

  FIG. 2 shows the relationship from the subarray beam number Bs to the total beam number Ball in an easy-to-understand manner. The relationship between multi-beam formation with a wide beam width of a sub-array having a small antenna aperture length and multi-beam formation with a narrow beam width of an entire aperture with a large antenna aperture length is shown.

  In each of the A-axis and B-axis subarrays 10A and 10B, Bsa (Bsa ≧ 1) and Bsb (Bsb ≧ 1) beams are formed, respectively. This is input to beam combiners 20A1 to 20ABsa and beam combiners 20B1 to 20BBsb to form Baall and Bball beams, respectively. A predetermined signal processing is performed by the A-axis signal processors 30A1 to 30ABaall and the B-axis signal processors 30B1 to 30BBball for each formed multi-beam, and then multiplied by the beam multiplier 40, whereby the maximum number Ball = Baall × Bball Multiple beams can be formed. From among these, detection processing such as CFAR is performed by the signal processor 50 as necessary.

Next, a method for forming Σ, ΔAZ, and ΔEL for monopal angle measurement (see Non-Patent Document 6) will be described with reference to FIGS. 8 and 9. First, Σ is formed by multiplication of an A-axis Σ beam and a B-axis Σ beam. On the other hand, the ΔAZ beam is formed by multiplying the difference beam formed by dividing the B-axis array of the linear array on the horizontal axis (AZ axis) into two openings and the Σ beam on the A axis. On the other hand, the ΔEL beam is formed by multiplying the difference beam formed by dividing the A-axis array of the linear array of the vertical axis (EL axis) into two openings and the Σ beam of the B-axis. After forming the Σ, ΔAZ, and ΔEL beams, the error voltage is calculated by the following equation.

The miscalculated voltage and angle (AZ, EL) may be tabulated in advance, and the angle (AZ, EL) may be output by quoting the table based on the observed error voltage. This is shown in FIG.

In addition, when the data capacity of the multi-beam output from the subarray is large and the processing scale increases, the observation space may be divided and processed sequentially in time division.

  As described above, in the first embodiment, the receiving array (Xan, n = 1 to N) (A axis) including N (N ≧ 1) subarrays arranged in one dimension and an axis different from the receiving array (B axis) ) In the receiving array (Xbm, m = 1 to M) of M (M ≧ 1) subarrays arranged in one dimension, beam synthesis is performed on the beam outputs of the subarrays of the A axis and the B axis, and further the signal A multi-beam in a predetermined angle range is formed by multiplication of the A-axis and B-axis beam signals subjected to processing (FFT, pulse compression PC, unnecessary wave suppression, etc.). Further, a Σ beam is formed on the A axis (B axis), a Δ beam is formed on the B axis (A axis), and a ΔEL (ΔAZ) beam is formed by multiplying the beam outputs of both axes to perform monopulse angle measurement. .

  That is, according to the present embodiment, signal processing is performed after beam formation on each axis using N-stage and M-column subarray signals of two different axes, thereby improving SN (signal to noise power). Thus, a multi-beam equivalent to a planar array can be realized by beam multiplication while reducing the processing scale. Then, by multiplying any one of the A axis and the B axis in combination with the Σ beam and the Δ beam, the entire beam can form the Σ and Δ beams to perform monopulse angle measurement.

(Second Embodiment)
In the first embodiment, the method of forming the entire beam by multiplication after forming the array of the A axis and the B axis has been described. In the present embodiment, a method for forming an auxiliary antenna in order to perform processing for suppressing unnecessary waves will be described.

  FIG. 11 is a block diagram showing the configuration of the antenna device according to the second embodiment, and FIG. 12 is a conceptual diagram showing how an auxiliary antenna is formed. 11, the same parts as those in FIG. 1 are denoted by the same reference numerals, and different parts will be described here. The antenna apparatus shown in FIG. 11 takes out a part of the sub-array output of the A-axis system and a part of the sub-array output of the B-axis system, and inputs them to the signal processors 60A1 to 60ANa and 60B1 to 60BNb, respectively, by square calculation. Signal processing is performed as a measure against SN degradation, the virtual array converter 70 performs a multiplication operation of received Na (Na ≦ N) × received Nb (Nb ≦ M), and the auxiliary channel selector of the virtual subarray output In step 71, a predetermined Naux element is selected and used as an auxiliary channel to perform unnecessary wave suppression processing on the signal processor 50.

  Here, as unnecessary wave suppression processing, the principle of typical SLC (SideLobe Canceller, see Non-Patent Document 7) is shown in FIGS. SLC is a process of suppressing unnecessary waves that arrive from the side lobe direction of the main beam formed by the entire aperture using the received signal of the auxiliary antenna. For this purpose, multipliers 63 and 64 multiply the Σ signal received by the main antenna (main ch) 61 and the auxiliary signals AUX1 to AUXNa received by the auxiliary antennas (auxiliary ch) 621 to 62Na by the weight processing circuit shown in FIG. After that, the outputs of LPFs (Low Pass Filters) 65 and 66 are passed to perform the correlation calculation with the auxiliary signal of the corresponding channel. If there is a correlation, the weights are changed by the multipliers 67 and 68, and the subtractor The signal obtained by multiplying the auxiliary ch by 69 is subtracted from the main ch signal. By this adaptation, a signal in which unnecessary waves are suppressed is obtained at the output. This will be described with reference to the antenna pattern as shown in FIG. That is, when the weight is changed, the side lobe level of the main channel and the amplitude and phase of the auxiliary channel are aligned, so that subtraction forms a null in the direction of arrival of the unwanted wave, thereby suppressing the unwanted wave. . This adaptation can also be used as an auxiliary antenna on the spatial axis when suppressing clutter and unwanted waves in STAP (see Patent Document 1). Also, by comparing the unwanted wave level from the side lobe of the main channel and the unwanted wave level of the auxiliary channel, if the auxiliary channel is greater than the main channel, the reception is turned off to suppress pulsed unwanted waves and clutter. SLB (see Non-Patent Document 7) auxiliary antenna can be used very much. Further, although the Σ beam has been described as the main channel, it may be applied to the ΔAZ and ΔEL beams as the main channel.

Next, as a content of the present embodiment, a method of configuring the auxiliary antenna in a virtual array using the A-axis and B-axis real arrays will be described. In order to generate a virtual array element used in the auxiliary antenna, multiplication of both vectors using the signal of equation (1) yields the following equation.

Next, each element becomes the following equation.

Here, when the distance between the A-axis array and the B-axis array is small, and ka = kb, the following equation is obtained.

  This indicates that a virtual element signal is generated at the position where the position vectors of an and bm are added, as shown in FIG. This corresponds to a method of obtaining a Na × Nb virtual array signal from a Nach transmission signal and a Nbch reception signal in MIMO (Multiple Input Multiple Output, see Non-Patent Document 2). In this case, the multiplication operation is automatically performed on the signal to be transmitted and received. In this method, the virtual array converter 70 receives Na (Na ≦ N) × reception Nb (Nb ≦ N). This corresponds to performing the multiplication operation of M). If a predetermined Naux element is selected from the virtual subarray (element) by the auxiliary channel selector 71, it can be used as an auxiliary channel. In addition, in the signal processors 60A1 to 60ANa and 60B1 to 60BNb before the virtual array converter 70, as described above, by performing signal processing as a countermeasure against SN reduction by performing a square operation, the SN is reduced. It is improving.

  As described above, in the second embodiment, the receiving array (Xan, n = 1 to N) (A axis) by N (N ≧ 1) subarrays arranged in one dimension and the axis different from the receiving array (B axis) ) In a receiving array (Xbm, m = 1 to M) of M (M ≧ 1) subarrays arranged in one dimension, beam synthesis is performed on the beam outputs of the subarrays of the A axis and the B axis, and further the signal Multi-beams of a predetermined angle range are formed by multiplying the A-axis and B-axis beam signals that have undergone processing (FFT, pulse compression PC, unnecessary wave suppression, etc.), and the sub-array signals of the A-axis and B-axis are also converted. After performing signal processing as necessary, multi-beam signal processing is performed using an auxiliary channel formed by multiplication between subarrays. That is, by using N-stage and M-column sub-array signals of two different axes and performing signal processing after beam formation on each axis, the SN is improved, and then multi-beam equivalent to a planar array is obtained by beam multiplication. Can be formed. Furthermore, by performing element multiplication after improving SN by different two-axis signal processing, an auxiliary antenna is formed by a virtual array, and signal processing such as unnecessary wave suppression (clutter) is realized with a reduced processing scale. be able to.

  In the first embodiment and the second embodiment, the receiving apparatus has been described. However, if a transmitting apparatus is added, a radar apparatus can be configured. Moreover, the said embodiment is not limited as it is, In an implementation stage, it can change and implement a component within the range which does not deviate from the summary. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

  10A1 to 10AN, 10B1 to 10BM ... subarray, 111 to 11 sn ... antenna element, 121 to 12 sn ... amplifier, 13 ... frequency converter, 14 ... AD converter, 15 ... subarray beam combiner, 20A1 to 20ABsa, 20B1 to 20BBsb ... Beam combiner, 30A1-30ABall, 30B1-30BBall ... signal processor, 40 ... beam multiplier, 50 ... signal processor, 60A1-60ANa, 60B1-60BNb ... signal processor, 70 ... virtual array converter, 71 ... auxiliary Ch selector.

Claims (6)

A first receiving array that obtains a beam output of N channels × number of subarray beams Bsa (Bsa ≧ 1) by N (N ≧ 1) subarrays arranged one-dimensionally along the first axis (A axis);
A beam output of M channels × number of subarray beams Bsb (Bsb ≧ 1) is obtained by M (M ≧ 1) subarrays arranged one-dimensionally along a second axis (B axis) different from the A axis. A receiving array of
A beam output of the beam number N × Bsa of the A-axis sub-array is synthesized by a Bba (Bba ≧ 1) system to generate a beam synthesized signal of the beam number N × Bsa × Bba = Baall of the A axis, A beam synthesizer that combines the beam output of the number M × Bsb of the sub-arrays with a Bbb (Bbb ≧ 1) system to generate a beam synthesis signal of the number of B-axis beams M × Bsb × Bbb = Bball ;
Multiplying a beam number Baall × Bball = Ball within a predetermined angle range by multiplying the beam synthesis signal of the beam number Baall of the A axis acquired by the beam combiner and the beam synthesis signal of the beam number Bball of the B axis. An antenna device comprising a signal processor for forming a beam. The signal processor is
The A-axis sum beam is formed by the A-axis beam synthesis signal, the B-axis sum beam is formed by the B-axis beam synthesis signal, the output of the A-axis sum beam, and the B-axis sum beam Multiply the output to form the whole sum beam,
The B-axis sub-array is divided into two apertures to form the B-axis difference beam, and the vertical axis difference beam is formed by multiplying the B-axis difference beam output and the A-axis sum beam output. A first angle measurement process that performs monopulse angle measurement using the output of the entire sum beam and the difference beam output of the vertical axis, and the difference of the A axis by dividing the A-axis sub-array into two apertures. Forming a beam, and multiplying the output of the difference beam of the A axis and the output of the sum beam of the B axis to form a difference beam of the horizontal axis, and the output of the total sum beam and the difference beam of the horizontal axis The antenna apparatus according to claim 1, wherein at least one of the second angle measurement processes for performing monopulse angle measurement using the output is performed. The signal processor further multiplies the signal of any subarray or element selected from the A-axis subarray by the signal of any subarray or element selected from the B-axis subarray to generate a virtual subarray. It acquires the signal of the auxiliary channel by, using said signals of the auxiliary channel intends row signal processing of the unnecessary signal suppression of the output of the multi-beam according to claim 1 antenna device according. A transmission antenna that forms a transmission beam in the observation range;
A first receiving array that obtains a beam output of N channels × number of subarray beams Bsa (Bsa ≧ 1) by N (N ≧ 1) subarrays arranged one-dimensionally along the first axis (A axis);
A beam output of M channels × number of subarray beams Bsb (Bsb ≧ 1) is obtained by M (M ≧ 1) subarrays arranged one-dimensionally along a second axis (B axis) different from the A axis. A receiving array of
A beam output of the beam number N × Bsa of the A-axis sub-array is synthesized by a Bba (Bba ≧ 1) system to generate a beam synthesized signal of the beam number N × Bsa × Bba = Baall of the A axis, A beam synthesizer that combines the beam output of the number M × Bsb of the sub-arrays with a Bbb (Bbb ≧ 1) system to generate a beam synthesis signal of the number of B-axis beams M × Bsb × Bbb = Bball ;
Multiplying a beam number Baall × Bball = Ball within a predetermined angle range by multiplying the beam synthesis signal of the beam number Baall of the A axis acquired by the beam combiner and the beam synthesis signal of the beam number Bball of the B axis. A radar apparatus comprising a signal processor for forming a beam. The signal processor is
The A-axis sum beam is formed by the A-axis beam synthesis signal, the B-axis sum beam is formed by the B-axis beam synthesis signal, the output of the A-axis sum beam, and the B-axis sum beam Multiply the output to form the whole sum beam,
The B-axis sub-array is divided into two apertures to form the B-axis difference beam, and the vertical axis difference beam is formed by multiplying the B-axis difference beam output and the A-axis sum beam output. A first angle measurement process that performs monopulse angle measurement using the output of the entire sum beam and the difference beam output of the vertical axis, and the difference of the A axis by dividing the A-axis sub-array into two apertures. Forming a beam, and multiplying the output of the difference beam of the A axis and the output of the sum beam of the B axis to form a difference beam of the horizontal axis, and the output of the total sum beam and the difference beam of the horizontal axis The radar apparatus according to claim 4, wherein at least one of the second angle measurement processing that performs monopulse angle measurement using the output is performed. The signal processor further multiplies the signal of any subarray or element selected from the A-axis subarray by the signal of any subarray or element selected from the B-axis subarray to generate a virtual subarray. The radar apparatus according to claim 4, wherein the signal of the auxiliary channel is acquired and signal processing for suppressing unnecessary waves of the multi-beam output is performed using the signal of the auxiliary channel.

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