JPH05281326A - Antenna system - Google Patents

Abstract

PURPOSE:To enable an antenna system to cope with the deviation in the azimuth and elevation angle directions and, at the same time, to follow the fluctuating movement of a satellite with a small-sized system by processing the phases of received signals of a pair of horizontally arranged antennas and a plurality of vertically arranged antennas. CONSTITUTION:A monopulse circuit 13 detects the phase difference voltage between the received signals of a pair of horizontally arranged sub-array antennas 1a and 1b and a control circuit 14 controls the antennas 1a and 1b so that their antenna faces can be always oriented toward a geostationary satellite by rotating a motor 5 in the direction in which the angle errors of the antennas 1a and 1b from the satellite calculated based on the value of the phase difference voltage are offset by each other. The circuit 14, in addition, controls the orientation deviation of the antennas 1a and 1b by inputting the received signals of a plurality of sub-array antennas 2a, 2b, 3a, and 3b arranged in the vertical direction in a split state to a phase combining circuit 7 after converting them into signals A-D of a 1-GHz band and combining the signals A-D after making the compared signals obtained from the signals B-D coincident with a reference signal produced from the signal A in frequency and phase by operating an analog PLL circuit.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antenna device on a moving body, for example, an antenna device for receiving satellite broadcasting on the moving body.

[0002]

2. Description of the Related Art In recent years, the field of use of satellite communication has expanded, and a system for performing satellite communication on a mobile body has been developed. At this time, one of the problems is an antenna. In order to receive weak radio waves from satellites, it is necessary to use a high-gain, directional and sharp antenna. Therefore, when receiving radio waves from a satellite on a moving body, the attitude control of the antenna becomes a problem, and in order to solve this problem, a device that mechanically drives the antenna in the satellite direction has been conventionally known (special feature: Kaihei 1-261005, etc.).

The antenna device disclosed in Japanese Unexamined Patent Publication No. 1-261005 discloses a radio wave source (satellite) based on the phase error in the azimuth direction detected between the left and right antennas and the phase error in the elevation angle detected between the upper and lower antennas. The directional deviation of the antenna in the azimuth direction and the elevation angle is detected, and the azimuth deviation is corrected by driving the antenna by the mechanical azimuth driving means and the elevation driving means. This eliminates the need for a large rate gyro and the like, and substantially eliminates the directional shift of the antenna due to the motion of the mobile body, thus ensuring good communication.

[0004]

However, since the azimuth angle driving means and the elevation angle driving means are provided, that is, the biaxial driving is performed, the mechanism is complicated and the entire antenna device is large.
Moreover, due to the mechanical inertia, the follow-up is delayed with respect to the fast movement of the moving body.

Further, since the tuner (frequency conversion circuit) and the in-phase synthesis circuit are separately configured, the size of the entire circuit becomes large and the cost becomes high. Furthermore, the symmetrical individual elements (distributor, mixer, LP) used in the in-phase synthesis circuit
The circuit adjustment is complicated because it is necessary to match the phases of F and the power combiner. In order to electrically widen the range in which the directivity of the antenna can be changed, the antenna may be divided into multiple parts. However, since it is necessary to provide a phase combining circuit between each antenna, the larger the number of divisions, the more in-phase The synthesis circuit has multiple stages and the circuit configuration becomes more complicated.

Therefore, an object of the present invention is to provide an antenna device which can prevent the above-mentioned adverse effects and is relatively small and can follow the swing of a moving body.

[0007]

SUMMARY OF THE INVENTION An antenna device of the present invention has a radio wave arriving direction in the elevation angle direction in which its radio wave facing surfaces are substantially perpendicular to each other, and a transverse direction perpendicular to the radio wave arriving direction and the radio wave facing surface. At least two antennas arranged in the same direction
First antenna array (1) consisting of (1a, 1b); First antenna array (1)
Means (5, 15) for driving the azimuth direction; phase difference detecting means (13) for detecting the phase difference of the reception signals of the antennas (1a, 1b) of the first antenna array (1); phase difference detecting means Drive control means (14) for driving the first antenna array (1) through the drive means (5, 15) in the direction in which the phase difference detected by (13) becomes zero; with respect to the direction of arrival of radio waves in the yaw angle direction. A second antenna row (2) consisting of a plurality of antennas (2a, 2b) arranged in parallel with each other with their radio wave facing surfaces substantially perpendicular to each other and in the vertical direction perpendicular to the lateral direction; Driving means (5, 15) for driving the antenna array (2) in the azimuth direction; second antenna array via the driving means (5, 15)
Drive control means (14) for setting (2) in a direction substantially the same as the pointing direction of the first antenna array (1); first and second antenna arrays
Reference signal generating means (71) for generating a reference signal from a reception signal of at least one (2a) antenna of (1, 2); a comparison signal from a reception signal of at least one other (2b) antenna A signal control unit that converts the frequency of the comparison signal so as to match the frequency of the generated reference signal and controls the phase of the comparison signal so that the phase of the comparison signal matches the phase of the reference signal.
(72); and a combining means (77) for combining the comparison signal controlled by the signal control means (72) and the reference signal.

In order to reduce the drive mechanism, in a preferred embodiment of the present invention, the first antenna array (1) and the second antenna array (2) are both supported by the antenna base (4), and the second antenna array (4) is supported. The drive means (5, 15) for driving (2) in the azimuth direction is omitted. That is, the antenna base (4); the antenna bases (4) are arranged side by side in a direction perpendicular to the radio wave arrival direction and the radio wave opposed surface with their radio wave opposed surfaces substantially perpendicular to the radio wave arrival direction in the elevation direction. ), The first antenna array (1) consisting of at least two antennas (1a, 1b);
Driving means (5,1) for driving the antenna base (4) in the azimuth direction
5); Phase difference detecting means (13) for detecting the phase difference between the reception signals of the antennas of the first antenna array; Driving means (5, 15) in the direction in which the phase difference detected by the phase difference detecting means (13) becomes zero. ) Driving control means (14) for driving the antenna base (4) via the), parallel to each other and with the radio wave facing surfaces thereof substantially perpendicular to the radio wave arrival direction in the yaw angle direction and in the lateral direction. A second antenna row (2) consisting of a plurality of antennas (2a, 2b), which are arranged in a vertical direction at right angles and supported by an antenna base (4); first and second
Reference signal generation means (7) for generating a reference signal from the received signal of at least one (2a) antenna in the antenna array (1, 2)
1); Generate a comparison signal from the received signal of at least one other antenna (2b), convert the frequency of the comparison signal so that it matches the frequency of the reference signal, and change the phase of the comparison signal to the phase of the reference signal. Signal control means (72) for controlling the phase of the comparison signal so as to match, and combining means for combining the comparison signal controlled by the signal control means (72) and the reference signal
(77);

Symbols in parentheses indicate corresponding elements in the embodiments shown in the drawings and described later.

[0010]

According to this, the signal control means (72) controls the frequency of the reference signal generated from the received signal of at least one (2a) antenna in the first and second antenna arrays (1, 2). On the other hand, the frequency of the comparison signal is converted so that the frequency of the comparison signal generated from the reception signal of at least one other antenna (2b) matches, and the phase of the comparison signal matches the phase of the reference signal. In addition, the phase of the comparison signal is automatically controlled. Therefore, the frequency conversion and the phase synthesis can be performed at the same time, so that the number of parts is smaller and the size of the entire circuit is smaller than that of the other configuration such as the conventional example.

Further, since the comparison signal is adjusted with respect to the reference signal, it is not necessary to consider the phase combination of individual elements as compared with the case of simply combining the two signals, and the adjustment of the phase error is simple. Therefore, the in-phase combining circuit can be provided in multiple stages and the antenna can be provided in multiple divisions without a particularly complicated circuit configuration, so that the directivity can be expanded. That is, it is possible to cope with the deviation in the elevation direction without requiring a mechanical drive unit in the elevation direction. Therefore, it is possible to reduce the size and weight of the entire device, shorten the search time, and perform high-speed tracking.

Therefore, when the antenna device of the present invention is mounted on a moving body such as an automobile, it is relatively small and can follow the swing of the moving body.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

[0014]

FIG. 1 shows the appearance of one embodiment of the present invention. This embodiment is mounted on an automobile (not shown) and is a BS antenna for receiving geostationary satellite broadcasting.

On the upper surface of the rotatably supported antenna base 4, three antennas 1, 2 and 3 are arranged in a horizontal row (parallel) from the horizontal by an elevation angle (angle δ) with respect to the direction of reception of radio waves from a geostationary satellite. It is placed at an angle. Antenna 1,
Subarray antennas 1a and 1b, 2a and 2
b, 3a and 3b are arranged on the same plane.
The antenna 1 in which the sub-array antennas 1a and 1b are arranged on the left and right (FIG. 1) is used for controlling the azimuth (horizontal) direction, and the sub-array antennas 2a and 2b and the antennas 2 and 3a are arranged on the top and bottom (FIG. 1). 3 is used for control in the elevation direction. A worm (not shown) is fixed to the output shaft of the motor (M) 5, and the antenna base 4 is attached to the worm.
Worm gears fixed to the rotation shaft (not shown) of the gear mesh with each other. Therefore, the motor 5 causes the antenna 1,
The antenna base 4 having 2, 3 rotates in the azimuth direction on the vehicle.

FIG. 2A shows the side surfaces of the sub-array antennas 2a and 2b and 3a and 3b shown in FIG. The sub-array antennas 2a, 2b, 3a, 3b are arranged so as to be divided into long and narrow parts in the lateral direction, respectively, to widen the directivity of the antennas. According to this, the antenna height is lower (V ₀ <V ₁ ) than when the antenna rows are arranged vertically (FIG. 2B), and when the antenna rows are arranged horizontally (FIG. 2). The diameter of the whole antenna is smaller than that in (c) (H ₀ <H ₂ ), and the height and the diameter are balanced as a whole.

FIG. 3 shows an electric circuit for detecting the direction of a geostationary satellite from the received signals from the antennas 1, 2 and 3 shown in FIG. 1 to control the attitude of the antenna device and demodulating and outputting the received signal. A schematic configuration is shown. Each element shown in the chain double-dashed line 30 is provided on the back surface of the antennas 1, 2, 3 and includes a motor 5, down converters 6a, 6b, 6c, 6d, 10
a, 10b, phase synthesis circuit 7, up converter 8, V
It is composed of a CO (voltage controlled oscillator) 11, a synthesizer 12, a monopulse circuit 13, a control circuit 14, a motor driver 15, an encoder (En) 18 coupled to the output shaft of the motor 5, and the like. The power supply device 17 has a battery 12
The voltage of V is supplied through the slip ring 16. In addition, the display unit 2 is also provided through the slip ring 16.
4 is connected to the control circuit 14. Hereinafter, control of the present antenna device in the azimuth direction and the elevation direction will be described.

The control in the azimuth direction will be described.

As shown in FIG. 4, the sub-array antenna 1
The phase difference between the sub-array antennas 1a and 1b is 2πL ₁ sin Φ / λ (1), where the declination of the geostationary satellites at a and 1b is Φ, the distance between the sub-array antennas 1a and 1b is L ₁ , and the wavelength is λ. Is expressed as Since the wavelength λ and the distance L ₁ are known, the declination Φ can be obtained from this equation.

Referring to FIG. Down converter 10
The signals of the VCO 11 are added to a and 10b in the same phase. Therefore, 12 sub-array antennas 1a and 1b
The received signals in the GHz band are down converters 10a and 10b.
Is converted into a 1 GHz band signal while keeping the phase relationship constant. The converted signal is input to the monopulse circuit 13, and the phase difference voltage between the antennas is detected. The detected phase difference voltage information is input to the control circuit 14. The control circuit 14 determines the sub array antenna 1 from the phase difference voltage information.
The angular error (declination Φ) from the geostationary satellite at a and 1b is calculated, and a pulse is sent to the motor driver 15 in a direction to cancel it and the motor 5 is rotated. As a result, the antenna base 4 rotates, and the antenna surface is controlled so as to constantly face the direction of the geostationary satellite.

The control in the elevation direction will be described.

Sub-array antennas 2a and 2b, 3a and 3
The received signal of 12 GHz band from b is down converter 6
It is converted into a 1 GHz band signal through a, 6b, 6c and 6d. The converted signals A, B, C, and D cannot be obtained as a video signal even if they are combined as they are. Therefore, they are input to the phase combination circuit 7 and combined in phase. It should be noted that the phase synthesizing circuit 7 includes conversion signals (1 GHz) from the sub-array antennas 1a and 1b.
The signal E after the band) is combined by the combiner 12 is also input and similarly combined in phase. The output signal after synthesis is 402.
It is 78MHz, and this signal is up converter 8
Signal is returned to the 1 GHz band signal. After that, it is drawn out of the device through the rotary joint 9, converted into a video / audio signal by the tuner 21, and output to the monitor 22. The phase synthesis circuit 7 will be described with reference to FIG. This circuit includes a reference signal generation circuit 71 that creates a reference signal from the input conversion signal A, a comparison signal processing circuit 72 that makes the phases of the conversion signals B, C, and D input in phase with the phase of the reference signal, 73, 74, 75, a power combiner (CO that combines the output signals of the reference signal generation circuit 71 and the comparison signal processing circuits 72 to 75 and outputs them to the up converter 8
MBINER) 77 etc.

In the reference signal generation circuit 71, the frequency synthesizer 711, LPF (low pass filter) 71
2, VCO 713, amplifier 714 and 1/2 frequency divider 7
A digital PLL (phased lock loop) circuit 710 composed of 15 sets the VCO 713 to a constant frequency (1644.06 in this embodiment) by setting from the PLL data.
Oscillate at (MHz). The PLL data is VCO7.
It is given from the control circuit 14 as a code for oscillating 13 at 1644.06 MHz. The 1st-BS-IF signal (1 GHz band) from the converted signal A is a BPF (bandpass filter) 71.
6, via the amplifier 717, for example, a signal of 11CH (124
1.28 MHz) is converted into a signal having a difference frequency of 402.78 MHz by the oscillation frequency from the VCO 713 and the mixer 718. Then, a splitter 720 is passed through the amplifier 719.
Are distributed to the power combiner 77 and the SAW filter 721. And 402.78MHz by SAW filter 721
Signals only in the vicinity are extracted and used as reference signals.

The reference signal is input to the 90-degree phase conversion circuit 76 via the amplifier 722, and the phase-converted signal A ₁ is input to the comparison signal processing circuits 72 to 75. At the time of this input, the phases are the same. The AGC circuit 723
The amplifier 717 and the amplifier 722 control the output level to be constant, and the AGC output signal at this time determines the reception level. The AGC output signal is input to the control circuit 14.

The comparison signal processing circuit 72 has a loop filter 731 so that the frequency and phase of the output signal A ₁ from the reference signal generation circuit 71 match the frequency and phase of the output signal B ₁ of the comparison signal processing circuit 72. , VCO73
2. The analog PLL circuit including the amplifier 733 and the phase comparator 742 are operated. That is, the analog PLL circuit is operated to match the frequency and phase of the output signal B _{1 with} the frequency and phase of the output signal A ₁ . Here, the loop filter 731 detects a ratio proportional to the phase difference (error) of the output signal B ₁ with respect to the output signal A ₁ detected and output by the phase comparator 742, and sets the phase difference to zero so that the phase difference becomes zero. It is an integral filter that controls the phase of the oscillation frequency. Further, the reset circuit 744 is an AGC.
When the frequency of the output signal B ₁ deviates from the converged state due to the output signal from the circuit 741, the integrated amount of the loop filter 731 is returned to zero, and the loss of synchronization is quickly avoided. The output signal B ₁ represents the power combiner 7 is distributed by the splitter 738 of the comparison signal processing circuit 72 that matches the output signal A ₁
Input to 7.

The other comparison signal processing circuits 73, 74,
Reference numeral 75 has the same configuration as that of the comparison signal processing circuit 72. Similar to the comparison signal processing circuit 72, signals matched with the output signal A ₁ are input to the power combiner 77 as shown in FIG. Be seen.

Next, the attitude control performed by the control circuit 14 will be described with reference to the flowcharts shown in FIGS. 7, 8, 9, 10, and 11.

Referring to FIG. When the power is turned on, the control circuit 14 initializes flags and the like (step 1; hereinafter, the word step in parentheses is omitted) and sets a reference value 0 to the register Az indicating rotation in the azimuth direction. A register 360 indicating the limitation of the search range in the azimuth direction
(1 rotation) is set to the flag S indicating the mode type to 1 (indicating the search mode) (2).

Next, it is judged whether or not the voltage Vc from the tuner 21 exceeds the reference voltage value V ₁ , that is, whether or not the power source of the tuner 21 is on (3). If the reference voltage value V ₁ or less, the power source of the tuner 21 is determined. Wait until is turned on. When the tuner 21 is powered on, the value set in the flag S is checked (4). If the flag S is 1, search mode processing is performed (5), if the flag S is 2, tracking mode processing is performed (6), and if the flag S is 3, radio wave blocking mode processing is performed (7). If S is 4, the unreceivable mode process is performed (8). Since the flag S is initially set to 1 in step 2, the search mode process (5) is executed.

The search mode process (5) will be described with reference to FIG. First, the reception level indicated by the AGC signal (FIG. 5) is read into the register V (51), and the value is compared with the reference value V ₀ (52). If it is equal to or _smaller than the reference value V _0, it is determined that the signal cannot be received, the register Az is incremented by 1 (53), and the value is output to the motor driver 15 (54). As a result, the motor driver 15 biases the motor 5, and the antenna base 4 rotates in the azimuth direction by one step (1 degree; in the present embodiment, one step is 1 degree). Next, it is checked whether or not the value of the register Az becomes the value of the register Azm (55), and when the value of the register Azm is reached, that is, when the search for one rotation in the azimuth direction is completed, the flag S is set to 4. (56). When the value of the register V exceeds the reference value V ₀ in step 52, it is determined that the signal has been received, and the flag S is set to 2 (57).
When the search mode process ends, the process returns to step 3 (FIG. 7). The tracking mode process (6) will be described with reference to FIG. 9. The reception level indicated by the AGC signal is read into the register V (61), and its value is compared with the reference value V ₀ (6).
2). If it exceeds the reference value V ₀ , the phase difference (error) voltage in the direction angle direction is read from the monopulse circuit 13, and the argument Φ is calculated from the voltage value (6).
3). Then, the argument Φ is set in the register Φ, the value of the register Φ is added to the value of the register Az (64), and the value is output to the motor driver 15 (65). When the register Az exceeds Azm, the registers Az to A
The value is reduced by zm (360). As a result, the antenna base 4 rotates in the azimuth direction by Φ steps and tracks the geostationary satellite. In step 62, register V
If the value is less than the reference value V _0, it is determined that the signal cannot be received and the flag S is set to 3 (66). When the tracking mode process ends, the process returns to step 3 (FIG. 7).

The radio wave blocking mode process (7) will be described with reference to FIG. The reception level indicated by the AGC signal is read into the register V (71), and the value is compared with the reference value V ₀ (72). If it is equal to or less than the reference value V _0, it is determined that the signal cannot be received, the register Az is incremented by 1 (73), and the value is output to the motor driver 15 (7
4), rotate the antenna base 4 by one step in the azimuth direction. Next, it is checked whether the flag F is 1 (75). Flag F is 0 at initialization (step 1 in FIG. 7)
, The timer is cleared and started (76), and the flag F is set to 1 (77). Then, it is checked whether or not the timer T has reached the predetermined time T ₀ (78), and when the time exceeds the predetermined time T ₀ , the flag F is set to 0 (79a) and the flag S is set to 4 (79b). When the value of the register V exceeds the reference value V ₀ in step 72, it is determined that the reception is possible, and the flag F is set to 0.
Is set (80a) and the flag S is set to 2 (8
0b). When the radio wave blocking mode processing ends, step 3
Return to (FIG. 7). That is, when the reception level exceeds the reference value V ₀ in the radio wave cutoff mode, the mode shifts to the tracking mode (... → 72 → 80a → 80b), but if it is equal to or less than the reference value V ₀ , the timer is started and the predetermined time is elapsed. It is determined whether or not radio waves can be received while driving the T ₀ antenna base 4 in the azimuth direction, and if the radio waves cannot be received, the reception mode is entered (... → 78 → 79a → 79b).

The unreceivable mode process (9) will be described with reference to FIG. When the reception becomes impossible, the fact is displayed on the display unit 24 (FIG. 3), and the process returns to the initialization of step 1 (FIG. 7).

[0033]

As described above, according to the present invention, it is possible to cope with the displacement of the radio wave source with respect to the antenna in the azimuth direction and the elevation angle direction, and in particular, the elevation angle direction does not require a mechanical drive unit. The overall size and weight of the device can be reduced and the search time can be shortened and high-speed tracking can be performed.

[Brief description of drawings]

FIG. 1 is a perspective view showing an appearance of an embodiment of the present invention.

2A is a sub-array antenna 2a shown in FIG.
2b and 3a and 3b are side views. (B) shows a comparison with (a), shows a side view showing a case where the antenna array is arranged in the vertical direction, (c) shows a comparison with (a), and the antenna array is arranged in the horizontal direction. It is a side view which shows a case.

FIG. 3 is a block diagram showing a schematic configuration of an electric circuit section of the apparatus of the embodiment.

FIG. 4 is a side view showing a state in which the sub-array antennas 1a and 1b shown in FIG. 1 detect radio waves from a geostationary satellite.

5 is a block diagram showing an outline of the configuration of the phase synthesizing circuit 7 shown in FIG.

6 is a block diagram showing a schematic configuration of a power combiner (COMBINER) 77 shown in FIG.

7 is a flowchart showing a main operation of the control circuit 14 shown in FIG.

8 is a flowchart showing the contents of the processing operation of "search mode" 5 shown in FIG.

9 is a flowchart showing the contents of the processing operation of "tracking mode" 6 shown in FIG.

10 is a flowchart showing the contents of the processing operation of the "radio wave interruption mode" 7 shown in FIG.

FIG. 11 is a flowchart showing the contents of the processing operation of the “unreceivable mode” 8 shown in FIG. 7.

[Explanation of symbols]

1, 2 and 3: Antenna 4: Antenna base 1a, 1b, 2a, 2b, 3a, 3b: Sub-antenna array 5: Motors 6a to 6d, 10a, 10b: Down converter 7: Phase combining circuit 8: Up converter 9 : Rotary joint 11: VCO 12: synthesizer 13: monopulse circuit 14: control circuit 15: motor driver 16: slip ring 17: power supply device 18: encoder 21: tuner 22: monitor 24: display unit 71: reference signal generation circuit 72 -75: Comparison signal processing circuit 76: 90-degree phase conversion circuit 77: Power combiner 710: Digital PLL circuit 711: Frequency synthesizer 712: LPF 713, 732:
VCO 718,736: Mixer 721,739:
SAW filter 723, 741: AGC circuit 731: Loop filter 742: Phase comparator 744: Reset circuit

Claims (3)

[Claims] 1. An antenna comprising at least two antennas arranged in a lateral direction perpendicular to the radio wave arrival direction and the radio wave opposed surface, with their radio wave opposed surfaces substantially perpendicular to the radio wave incoming direction in the elevation direction. A first antenna array; a driving means for driving the first antenna array in the azimuth direction; a phase difference detecting means for detecting a phase difference between reception signals of antennas of the first antenna array; a phase difference detected by the phase difference detecting means is zero. Drive control means for driving the first antenna array via the drive means in a direction such that the electric wave facing surfaces of the yaw angle direction are substantially perpendicular to each other and are parallel to each other. A second antenna row composed of a plurality of antennas arranged in a vertical direction perpendicular to the first antenna row; driving means for driving the second antenna row in the azimuth direction; Direction and actual Drive control means defined in the same direction as above; reference signal generating means for generating a reference signal from a reception signal of at least one antenna in the first and second antenna arrays; comparison signal from a reception signal of another at least one antenna For converting the frequency of the comparison signal so as to match the frequency of the reference signal and controlling the phase of the comparison signal so that the phase of the comparison signal matches the phase of the reference signal; and the signal. An antenna device comprising: a combining unit that combines the comparison signal controlled by the control unit and the reference signal. 2. An antenna pedestal; a radio wave arriving direction in an elevation angle direction, the radio wave facing surfaces thereof are substantially perpendicular to each other, and the radio wave arriving direction and the radio wave facing surface are arranged side by side and supported by the antenna base. A first antenna array including at least two antennas; driving means for driving the antenna base in the azimuth direction; phase difference detecting means for detecting a phase difference between reception signals of the antennas of the first antenna array; Drive control means for driving the antenna base through the drive means in the direction in which the phase difference detected by the detection means becomes zero; the radio wave facing surfaces thereof are substantially perpendicular to the radio wave arrival direction in the yaw angle direction. A plurality of antennas arranged parallel to each other in the vertical direction perpendicular to the horizontal direction and supported by an antenna base; and at least one of the first and second antenna rows Signal generating means for generating a reference signal from the reception signal of the antenna; a comparison signal is generated from the reception signal of at least one other antenna, the frequency of the comparison signal is converted so as to match the frequency of the reference signal, and the comparison is performed. An antenna device comprising: signal control means for controlling the phase of the comparison signal so that the phase of the signal matches the phase of the reference signal; and synthesizing means for synthesizing the comparison signal controlled by the signal control means and the reference signal. .. 3. The integration filter circuit, wherein the signal control means detects a phase difference of the comparison signal with respect to the reference signal and outputs a signal corresponding to the phase difference to match the phase of the comparison signal with the phase of the reference signal. And a reset circuit that clears the integration amount of the integration filter circuit when the frequency of the comparison signal is out of a predetermined range.