JPH0784032A - Antenna matching apparatus - Google Patents

Abstract

PURPOSE:To optimize and enhance an accuracy of a process to automate the process by calculating an angular error between targets of each antenna based on an average value of a target position calculated from a radar observation value, and displaying squaring sum of the errors. CONSTITUTION:Three fixed targets of objects under test are generated on a boundary of ranges capable of transmitting antennas 1, 2, 3 at the time of testing matching of the antennas of a phased-array radar, and each two targets are observed from the antennas 1, 2, 3. Thus, target positions are calculated, and respectively output to average value calculators 10, 11, 12. The calculators 10, 11, 13 execute average value calculations of the observed target positions at each sample time. A calibration amount calculator 25 generates calibration data having finely chopped widths, and outputs it to a correction amount setter 26. A display unit 23 displays squaring sum of angular errors for the data varied at each small amount. An operator confirms the data in which the sum of the errors becomes minimum thereby to obtain an optimum set value.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a device for performing axial line alignment of each antenna in a radar that uses a plurality of phased array antennas to observe an air-to-air target such as an aircraft or a water-based target such as a ship. is there.

[0002]

2. Description of the Related Art FIG. 14 is a block diagram of a conventional antenna matching device. In FIG. 14, 1 is a first antenna, 2 is a second antenna, 3 is a third antenna, and 4 is a first antenna attached. Angle correction device, 5 is a second antenna mounting angle correction device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, and 9 is a third beam. A control device, 23 is a display device, and 26 is a correction amount setting device. Also, the three-sided phased array antenna is shown in Fig. 1.
It is operated in the state shown in 2. In FIG. 12, 1
Is a first antenna device, 2 is a second antenna device, and 3 is a third antenna device, and this figure shows a state viewed from above.

[0003]

The operation of the conventional antenna matching device will be described. The mounting angle of the antenna is defined by three axes of an antenna mounting azimuth angle, an antenna tilt angle, and an antenna surface rotation angle. FIG. 9 shows an antenna mounting azimuth angle AB, where 1 is a reference azimuth angle, 2 is an antenna axis line, 3 is a phased array antenna, and 4 is an antenna mounting azimuth angle AB. FIG. 10 shows the antenna tilt angle AT, where 1 is a reference high angle, 2 is an antenna axis, 3 is a phased array antenna, and 4 is an antenna tilt angle AT. FIG. 11 shows the antenna surface rotation angle AR, where 1 is a reference high angle, 2 is an axis in the antenna side surface direction, 3 is a phased array antenna, and 4 is an antenna surface rotation angle AR.
The mechanical mounting angles of the three mounting angles of each antenna are measured by an optical measuring instrument or the like, and the numerical values are input to the correction amount setting device 7. The correction amount of each antenna input to the correction amount setting device 7 is input to the first antenna attachment angle correction device 4, the second antenna attachment correction device 5, and the third antenna attachment correction device 6, respectively. For the target TGT 1 to be observed, the first beam control device 7 sends the first beam instruction information to the first TGT 1.
Is transmitted to the antenna device 1. First antenna device 1
The beam transmitted from the target to the target is received as the target signal, and Xao1 (TGT1), Yao in the orthogonal coordinate system with the antenna surface of the first antenna device 1 as a reference is used.
1 (TGT1) and Zao1 (TGT1) are output to the first antenna attachment angle correction device 4. In the first antenna installation angle correction device 4, the items of the installation azimuth angle of the antenna, the antenna tilt angle, and the antenna surface rotation angle are expressed by “Equation 1”.
Compensate according to. Here, AB1 is an antenna mounting azimuth angle of the first antenna device 1 and is an angle from a reference true north axis to a front direction of the first antenna device. AT1 of the first antenna device 1 is an antenna inclination angle, which is an angle from a reference horizontal axis to the front direction of the antenna device. Further, AR1 is the antenna surface rotation angle of the first antenna device 1, and is the angle from the reference horizontal axis to the antenna lateral direction. In this way, Xo1 (TGT in the horizontal standard north reference Cartesian coordinate system)
1), Yo1 (TGT1), Zo1 (TGT1) are calculated.

[0004]

[Equation 1]

The same processing is carried out for the other two-sided antennas, the target position in the north reference Cartesian coordinate system is calculated, and the observation values of the respective antennas are matched to each other.
At 3, the target observation position is displayed.

The conventional antenna matching determination device is configured as described above, and has a function of mechanically measuring the mounting angle of the antenna surface using a measuring instrument and inputting the result to the correction amount setting device. However, the correction amount was not calculated based on the target observation value by the radar. Therefore, when the same target is observed from two adjacent antennas and the observation position shifts, it is extremely difficult to determine what kind of correction angle should be set for optimum matching. It was

The present invention has been made to solve such a problem, and has as its object the optimization of the processing in the antenna matching device, the improvement in accuracy, and the automation.

[0008]

An antenna matching determination apparatus according to the present invention calculates an angular error between targets for each antenna based on an average value of target observation positions calculated from radar observation values, and calculates each error. The optimum value of the matching angle set value is automatically determined by displaying the sum of squares of.

Further, the antenna matching determination apparatus according to the present invention calculates the angular error between the targets for each antenna based on the average value of the target observation positions calculated from the radar observation values, and sums the squares of the respective errors. The alignment angle correction value that minimizes is automatically set.

Further, the antenna matching determining apparatus according to the present invention tracks a target from the target observation position calculated from the radar observation value, and calculates the angular error between the targets for each antenna based on the target estimated position. The optimum value of the matching angle set value is automatically determined by displaying the sum of squares of each error.

Further, the antenna matching determination apparatus according to the present invention tracks a target from the target observation position calculated from the radar observation value, and calculates the angular error between the targets for each antenna based on the target estimated position. , A matching angle correction value that minimizes the sum of squares of each error is automatically set.

Further, the antenna matching determination apparatus according to the present invention performs the motion correction of the platform on which the radar is mounted, and at the same time, the target inter-antenna for each antenna is calculated based on the average value of the target observation positions calculated from the radar observation values. Is calculated, and the sum of squares of each error is displayed to automatically determine the optimum value of the matching angle setting value.

Further, the antenna matching determining apparatus according to the present invention performs the motion correction of the platform on which the radar is mounted, and based on the average value of the target observation positions calculated from the radar observation values, Is calculated, and the matching angle correction value that minimizes the sum of squares of each error is automatically set.

In addition, the antenna matching determining apparatus according to the present invention tracks the target from the target observation position calculated from the radar observation value while correcting the fluctuation of the platform on which the radar is mounted, and also obtains the target estimation position. Further, by calculating the angle error between the targets for each antenna and displaying the square sum of each error, the optimum value of the matching angle set value is automatically determined.

Further, the antenna matching determining apparatus according to the present invention tracks the target from the target observation position calculated from the radar observation value while correcting the fluctuation of the platform on which the radar is mounted, and also obtains the target estimated position. In addition, the angle error between the targets for each antenna is calculated, and the matching angle correction value that minimizes the sum of squares of each error is automatically set.

[0016]

According to the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas and the sum of squares of the matching errors is displayed to minimize the antenna mounting error. Since the angle can be confirmed, it becomes possible to calculate the optimum angle correction setting value for antenna plane matching.

Further, according to the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas and the sum of squares of each matching error is held as a database to minimize the matching error. Since the antenna mounting angle can be calculated, the optimum angle correction for antenna plane matching can be automatically set.

Further, in the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas and the sum of squares of the respective matching errors is displayed to minimize the matching error. Since the mounting angle can be confirmed, not only it is possible to calculate the optimum angle correction setting value for antenna surface matching, but also it is possible to save labor in testing by automatically tracking the calibration target. It becomes possible to measure.

Further, according to the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas and the sum of squares of each matching error is held as a database to minimize the matching error. Since the antenna mounting angle can be calculated, not only can the optimum angle correction for antenna plane matching be set automatically, but also the target for calibration can be automatically tracked to save labor in testing. It becomes possible to measure.

Further, according to the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas and the sum of squares of the matching errors is displayed to minimize the matching error. Since the mounting angle can be confirmed, it is possible to calculate the optimum angle correction setting value for antenna plane matching even for a radar mounted on a swaying platform.

Further, in the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas and the sum of squares of the matching errors is held as a database, so that the matching error is minimized. Since the antenna mounting angle can be calculated, the optimum angle correction value for the antenna surface matching can be automatically set for the radar mounted on the swaying platform.

Further, according to the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas, and the sum of squares of the respective matching errors is displayed to minimize the matching error. Since the mounting angle can be confirmed, not only it is possible to calculate the optimum angle correction setting value for antenna surface matching, but also it is possible to save labor in testing by automatically tracking the calibration target. It is also possible for radar to be mounted on a swaying platform.

Further, according to the present invention, while the antenna mounting angle is finely adjusted as the calibration data, the same target is observed by different antennas and the sum of squares of each matching error is held as a database to minimize the matching error. Since the antenna mounting angle can be calculated, not only can the optimum angle correction for antenna plane matching be set automatically, but also the target for calibration can be automatically tracked to save labor in testing. It is also possible for radar to be mounted on a swaying platform.

[0024]

【Example】

First Embodiment FIG. 1 is a diagram showing a first embodiment of an antenna matching device according to the present invention. In FIG. 1, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 10 is a first average value calculation device, and 11 is 2nd average value calculation device, 12 is 3rd
Mean value calculating device, 19 is a first error angle calculating device, 20
Is a second error angle calculation device, 21 is a third error angle calculation device, 22 is a sum of squares calculation device, 23 is a display device, and 26 is a correction amount setting device. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is a first antenna device, 2 is a second antenna device, and 3 is a third antenna device, and this figure shows a state viewed from above. In addition, this device is premised on a phased array radar installed and operated on the ground.

The operating principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the fixed target (TGT1, TGT2, T
GT3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna.
First, at the sampling time n, the beam instruction information is transmitted from the first beam controller 7 to the first antenna device 1 with respect to the TGT 1. The beam transmitted from the first antenna device 1 to the target is received as a target signal, and Xao1 (TGT1, n), Yao in a rectangular coordinate system with the antenna surface of the first antenna device 1 as a reference.
1 (TGT1, n) and Zao1 (TGT1, n) are output to the first antenna mounting angle correction device 4. In the first antenna mounting angle correction device 4, the antenna mounting azimuth angle,
Correct the items of antenna tilt angle and antenna surface rotation angle according to "Equation 2". Here, AB1 is an antenna mounting azimuth angle, which is an angle from a reference true north axis to the front direction of the first antenna device. AT1 is the antenna tilt angle, which is the angle from the reference horizontal axis to the front direction of the first antenna device. Further AR
1 is the angle of rotation of the antenna surface, which is
It is the angle to the lateral direction of the first antenna device. In this way, Xo1 (T
GT1, n), Yo1 (TGT1, n), Zo1 (TG
T1, n) is calculated and output to the first average value calculation device 10.

[0026]

[Equation 2]

Next, in the first average value calculating device 10,
The target value observed by the antenna device 1 is subjected to an average value calculation process at each sampling time according to "Equation 3" to reduce random errors and improve matching accuracy.
Here, Xs1 (TGT1), Ys1 (TGT1), Zs
1 (TGT1) is an average processed target observation position.

[0028]

[Equation 3]

The above processing is similarly carried out for TGT2, and Xs1 (TGT3), Ys1 (TGT3), Zs.
1 (TGT3) is calculated. Further, the second antenna device 2 and the third antenna device 3 are similarly implemented, and Xs2 (TGT1), Ys2 (TGT1), Zs2
(TGT1), Xs2 (TGT2), Ys2 (TGT
2), Zs2 (TGT2), Xs3 (TGT2), Ys
3 (TGT2), Zs3 (TGT2), Xs3 (TGT
1), Ys3 (TGT1), Zs3 (TGT1) are calculated. Next, regarding the TGT 1, the error angle E_T is calculated by the second error angle calculation device 20 based on the target positions observed by the first antenna device 1 and the second antenna device 2.
GT1 is calculated according to "Equation 4". FIG. 13 shows a conceptual diagram of this error angle that occurs when the target is observed from the radar. In FIG. 13, 1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, and 4 is a second The target observation position by the antenna device of is shown.

[0030]

[Equation 4]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
From E_TGT3 and E_TGT3, the square sum E_S of the angular error is calculated according to "Equation 5".

[0032]

[Equation 5]

In the calibration amount calculation device 25, the calibration data dAB each having a minute step width with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The display device 23 displays the sum of squares of the angular error with respect to the calibration data that changes by a small amount, and the operator confirms the calibration data such that the sum of the squares of the angular error is the smallest, so that the optimum antenna matching is achieved. Get the angle correction setting value.

Embodiment 2 FIG. 2 is a diagram showing a second embodiment of the antenna matching device according to the present invention. In FIG. 2, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 10 is a first average value calculation device, and 11 is 2nd average value calculation device, 12 is 3rd
Mean value calculating device, 19 is a first error angle calculating device, 20
Is a second error angle calculation device, 21 is a third error angle calculation device, 22 is a sum of squares calculation device, 24 is a correction angle calculation device, 2
Reference numeral 5 is a calibration amount calculation device, and 26 is a correction amount setting device. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is a first antenna device, 2 is a second antenna device, and 3 is a third antenna device, and this figure shows a state viewed from above. In addition, this device is premised on a phased array radar installed and operated on the ground.

The operating principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the fixed target (TGT1, TGT2, T
GT3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna.
First, at the sampling time n, the beam instruction information is transmitted from the first beam controller 7 to the first antenna device 1 with respect to the TGT 1. The beam transmitted from the first antenna device 1 to the target is received as a target signal, and Xao1 (TGT1, n), Yao in a rectangular coordinate system with the antenna surface of the first antenna device 1 as a reference.
1 (TGT1, n) and Zao1 (TGT1, n) are output to the first antenna mounting angle correction device 4. In the first antenna mounting angle correction device 4, the antenna mounting azimuth angle,
The items of the antenna tilt angle and the antenna surface rotation angle are corrected according to "Equation 6". Here, AB1 is an antenna mounting azimuth angle, which is an angle from a reference true north axis to the front direction of the first antenna device. AT1 is the antenna tilt angle, which is the angle from the reference horizontal axis to the front direction of the first antenna device. Further AR
1 is the angle of rotation of the antenna surface, which is
It is the angle to the lateral direction of the first antenna device. In this way, Xo1 (T
GT1, n), Yo1 (TGT1, n), Zo1 (TG
T1, n) is calculated and output to the first average value calculation device 10.

[0036]

[Equation 6]

Next, in the first average value calculating device 10,
The target value observed by the antenna device 1 is subjected to an average value calculation process at each sampling time according to "Equation 7" to reduce random errors and improve matching accuracy.
Here, Xs1 (TGT1), Ys1 (TGT1), Zs
1 (TGT1) is an average processed target observation position.

[0038]

[Equation 7]

The above processing is similarly carried out for TGT2, and Xs1 (TGT3), Ys1 (TGT3), Zs.
1 (TGT3) is calculated. Further, the second antenna device 2 and the third antenna device 3 are similarly implemented, and Xs2 (TGT1), Ys2 (TGT1), Zs2
(TGT1), Xs2 (TGT2), Ys2 (TGT
2), Zs2 (TGT2), Xs3 (TGT2), Ys
3 (TGT2), Zs3 (TGT2), Xs3 (TGT
1), Ys3 (TGT1), Zs3 (TGT1) are calculated. Next, regarding the TGT 1, the error angle E_T is calculated by the second error angle calculation device 20 based on the target positions observed by the first antenna device 1 and the second antenna device 2.
GT1 is calculated according to "Equation 8". FIG. 13 shows a conceptual diagram of this error angle. In FIG. 13, 1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, and 4 is a second The target observation position by the antenna device of is shown.

[0040]

[Equation 8]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
And E_TGT3, the sum of squares of the angular error E_S is calculated according to "Equation 9".

[0042]

[Equation 9]

In the calibration amount calculation device 25, the calibration data dAB each having a minute step size with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The correction angle calculation device 24 stores the calibration data that minimizes the sum of squares of the angle error for the calibration data that changes by a small amount as the correction angle, and sets the correction angle setting device as the optimum angle correction setting value for antenna matching. To 26.

Embodiment 3 FIG. 3 is a diagram showing a third embodiment of the antenna matching apparatus according to the present invention. In FIG. 3, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 16 is a first tracking filter device, and 17 is a first beam filter device. 2 is a third tracking filter device, 18 is a third tracking filter device, 19 is a first error angle calculation device, 20 is a second error angle calculation device, 21 is a third error angle calculation device, and 22 is a sum of squares. Calculation device, 23 is a display device, 2
Reference numeral 6 is a correction amount setting device. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is a first antenna device, 2 is a second antenna device, and 3 is a third antenna device, and this figure shows a state viewed from above. In addition, this device is premised on a phased array radar installed and operated on the ground.

The operating principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the target (TGT1, TGT2, TGT
3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna. First,
At the sampling time n, the beam instruction information for the TGT 1 is transmitted from the first beam control device 7 to the first antenna device 1. The beam transmitted from the first antenna device 1 to the target is received as the target signal,
Xao1 (TGT1, n), Yao1 (T) in an orthogonal coordinate system with the antenna surface of the first antenna device 1 as a reference.
It is output to the first antenna mounting angle correction device 4 as GT1, n) and Zao1 (TGT1, n). In the first antenna installation angle correction device 4, the items of the antenna installation azimuth angle, the antenna tilt angle, and the antenna surface rotation angle are expressed by "Equation 1".
Correction is made in accordance with 0 ". Here, AB1 is an antenna mounting azimuth angle, which is an angle from a reference true north axis to the front direction of the first antenna device. AT1 is an antenna inclination angle. , The angle from the reference horizontal axis to the front direction of the first antenna device, and AR1 is the antenna plane rotation angle, which is the first horizontal axis from the reference horizontal axis.
Is the angle to the lateral direction of the antenna device. In this way, Xo1 (TGT in the horizontal standard north reference Cartesian coordinate system)
1, n), Yo1 (TGT1, n), Zo1 (TGT
1, n) is calculated and output to the first tracking filter device 16.

[0046]

[Equation 10]

Next, the first tracking filter device 16 calculates the target estimated position and velocity at each sampling time according to "Equation 11" based on the target position observed by the first antenna device 1, and randomly. The error is reduced and the beam is made to follow the moving target, and the alignment accuracy is improved. Here, Xs1 (TGT1, n), Ys1
(TGT1, n) and Zs1 (TGT1, n) are target estimated positions subjected to tracking filtering processing, and dXs1 (T
GT1, n), dYs1 (TGT1, n), dZs1
(TGT1, n) is the target estimated speed, Xp1 (TGT1, n
n + 1), Yp1 (TGT1, n + 1), Zp1 (TG
T1, n + 1) is the target predicted position at the next sampling time. Further, ALPHA and BETA are tracking filter constants, and T is a sampling interval. It should be noted that the target predicted positions Xp1 (TGT1, n + 1), Yp1 (TGT1,
n + 1) and Zp1 (TGT1, n + 1) are output to the first beam controller 7 as the beam pointing positions at the next sampling time.

[0048]

[Equation 11]

The above processing is similarly carried out for TGT3, and Xs1 (TGT3, n), Ys1 (TGT3, n).
n) and Zs1 (TGT3, n) are calculated. And second
The same applies to the antenna device 2 and the third antenna device 3 of Xs2 (TGT1, n), Ys2 (T).
GT1, n), Zs2 (TGT1, n), Xs2 (TG
T2, n), Ys2 (TGT2, n), Zs2 (TGT
2, n), Xs3 (TGT2, n), Ys3 (TGT
2, n), Zs3 (TGT2, n), Xs3 (TGT
1, n), Ys3 (TGT1, n), Zs3 (TGT
1, n) is calculated. Next, for the TGT 1, the error angle E_TGT 1 is calculated by the second error angle calculation device 20 based on the target positions observed by the first antenna device 1 and the second antenna device 2, according to “Equation 12”. FIG. 13 shows a conceptual diagram of this error angle. In FIG.
1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, 4
Indicates a target observation position by the second antenna device.

[0050]

[Equation 12]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
And E_TGT3, the square sum E_S of the angular error is calculated according to "Equation 13".

[0052]

[Equation 13]

In the calibration amount calculation device 25, the calibration data dAB each having a minute step width with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The display device 23 displays the sum of squares of the angular error with respect to the calibration data that changes by a small amount, and the operator confirms the calibration data such that the sum of the squares of the angular error is the smallest, so that the optimum antenna matching is achieved. Get the angle correction setting value.

Fourth Embodiment FIG. 4 is a diagram showing a fourth embodiment of the antenna matching apparatus according to the present invention. In FIG. 4, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 16 is a first tracking filter device, and 17 is a first beam filter device. 2 is a third tracking filter device, 18 is a third tracking filter device, 19 is a first error angle calculation device, 20 is a second error angle calculation device, 21 is a third error angle calculation device, and 22 is a sum of squares. A calculation device, 24 is a correction angle calculation device, 25 is a calibration amount calculation device, and 26 is a correction amount setting device. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is the first
The antenna device 2, the second antenna device 3, and the third antenna device 3 are shown in this figure as viewed from above. In addition, this device is premised on a phased array radar installed and operated on the ground.

The operating principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the target (TGT1, TGT2, TGT
3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna. First,
At the sampling time n, the beam instruction information for the TGT 1 is transmitted from the first beam control device 7 to the first antenna device 1. The beam transmitted from the first antenna device 1 to the target is received as the target signal,
Xao1 (TGT1, n), Yao1 (T) in an orthogonal coordinate system with the antenna surface of the first antenna device 1 as a reference.
It is output to the first antenna mounting angle correction device 4 as GT1, n) and Zao1 (TGT1, n). In the first antenna installation angle correction device 4, the items of the antenna installation azimuth angle, the antenna tilt angle, and the antenna surface rotation angle are expressed by "Equation 1".
The correction is performed according to 4 ". Here, AB1 is the antenna mounting azimuth angle, which is the angle from the reference true north axis to the front direction of the first antenna device. AT1 is the antenna tilt angle. , The angle from the reference horizontal axis to the front direction of the first antenna device, and AR1 is the antenna plane rotation angle, which is the first horizontal axis from the reference horizontal axis.
Is the angle to the lateral direction of the antenna device. In this way, Xo1 (TGT in the horizontal standard north reference Cartesian coordinate system)
1, n), Yo1 (TGT1, n), Zo1 (TGT
1, n) is calculated and output to the first tracking filter device 16.

[0056]

[Equation 14]

Next, the first tracking filter device 16 calculates the target estimated position and velocity at each sampling time based on the target position observed by the first antenna device 1 according to "Equation 15", and randomly The error is reduced and the beam is made to follow the moving target, and the alignment accuracy is improved. Here, Xs1 (TGT1, n), Ys1
(TGT1, n) and Zs1 (TGT1, n) are target estimated positions subjected to tracking filtering processing, and dXs1 (T
GT1, n), dYs1 (TGT1, n), dZs1
(TGT1, n) is the target estimated speed, Xp1 (TGT1, n
n + 1), Yp1 (TGT1, n + 1), Zp1 (TG
T1, n + 1) is the target predicted position at the next sampling time. Further, ALPHA and BETA are tracking filter constants, and T is a sampling interval. It should be noted that the target predicted positions Xp1 (TGT1, n + 1), Yp1 (TGT1,
n + 1) and Zp1 (TGT1, n + 1) are output to the first beam controller 7 as the beam pointing positions at the next sampling time.

[0058]

[Equation 15]

The above processing is similarly carried out for TGT3, and Xs1 (TGT3, n) and Ys1 (TGT3, n).
n) and Zs1 (TGT3, n) are calculated. And second
The same applies to the antenna device 2 and the third antenna device 3 of Xs2 (TGT1, n), Ys2 (T).
GT1, n), Zs2 (TGT1, n), Xs2 (TG
T2, n), Ys2 (TGT2, n), Zs2 (TGT
2, n), Xs3 (TGT2, n), Ys3 (TGT
2, n), Zs3 (TGT2, n), Xs3 (TGT
1, n), Ys3 (TGT1, n), Zs3 (TGT
1, n) is calculated. Next, for the TGT 1, the error angle E_TGT 1 is calculated by the second error angle calculation device 20 according to “Equation 16” based on the target positions observed by the first antenna device 1 and the second antenna device 2. FIG. 13 shows a conceptual diagram of this error angle. In FIG.
1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, 4
Indicates a target observation position by the second antenna device.

[0060]

[Equation 16]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
From E_TGT3 and E_TGT3, the square sum E_S of the angular error is calculated according to "Equation 17".

[0062]

[Equation 17]

In the calibration amount calculation device 25, the calibration data dAB each having a minute step width with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The correction angle calculation device 24 stores the calibration data that minimizes the sum of squares of the angle error for the calibration data that changes by a small amount as the correction angle, and sets the correction angle setting device as the optimum angle correction setting value for antenna matching. To 26.

Embodiment 5 FIG. 5 is a diagram showing a fifth embodiment of the antenna matching apparatus according to the present invention. In FIG. 5, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 10 is a first average value calculation device, and 11 is 2nd average value calculation device, 12 is 3rd
Average value calculation device, 13 is a first motion correction device, 14 is a second motion correction device, 15 is a third motion correction device, 19
Is a first error angle calculation device, 20 is a second error angle calculation device, 21 is a third error angle calculation device, 22 is a sum of squares calculation device, 23 is a display device, 24 is a correction angle calculation device, 25 Is a calibration amount calculation device, and 26 is a correction amount setting device. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is a first antenna device, 2 is a second antenna device, and 3 is a third antenna device, and this figure shows a state viewed from above. The device can also be applied to a phased array radar that is installed and operated on a swaying platform.

The operating principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the fixed target (TGT1, TGT2, T
GT3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna.
First, at the sampling time n, the beam instruction information is transmitted from the first beam controller 7 to the first antenna device 1 with respect to the TGT 1. The beam transmitted from the first antenna device 1 to the target is received as a target signal, and Xao1 (TGT1, n), Yao in a rectangular coordinate system with the antenna surface of the first antenna device 1 as a reference.
1 (TGT1, n) and Zao1 (TGT1, n) are output to the first antenna mounting angle correction device 4. In the first antenna mounting angle correction device 4, the antenna mounting azimuth angle,
The items of the antenna tilt angle and the antenna surface rotation angle are corrected according to "Equation 18". Here, AB1 is an antenna mounting azimuth angle, which is an angle from a reference axis of the traveling direction of the platform to the front direction of the first antenna device. Further, AT1 is an antenna inclination angle, which is an angle from the horizontal axis of the reference platform to the front direction of the first antenna device. Further, AR1 is the antenna surface rotation angle, which is the angle from the horizontal axis of the reference platform to the lateral direction of the first antenna device. In this way, Xod1 (TGT1,
n), Yod1 (TGT1, n), Zod1 (TGT
1, n) is calculated and output to the first motion correction device 13.

[0066]

[Equation 18]

In the first motion compensating device 13, from the Cartesian coordinate system with the attitude angle of the platform as a reference,
Target observation value Xo1 in north reference Cartesian coordinate system according to 9 "
(TGT1, n), Yo1 (TGT1, n), Zo1
Convert to (TGT1, n). Here, Zdo is the roll angle of the platform, Eio is the pitch angle of the platform, and Cqo is the angle in the traveling direction of the platform.

[0068]

[Formula 19]

Next, in the first average value calculating device 10,
The target value observed by the antenna device 1 is subjected to an average value calculation process at each sampling time according to "Equation 20" to reduce random errors and improve matching accuracy. Here, Xs1 (TGT1), Ys1 (TGT1),
Zs1 (TGT1) is a target observation position that has been averaged.

[0070]

[Equation 20]

The above processing is similarly carried out for TGT3, and Xs1 (TGT3), Ys1 (TGT3), Zs.
1 (TGT3) is calculated. Further, the second antenna device 2 and the third antenna device 3 are similarly implemented, and Xs2 (TGT1), Ys2 (TGT1), Zs2
(TGT1), Xs2 (TGT2), Ys2 (TGT
2), Zs2 (TGT2), Xs3 (TGT2), Ys
3 (TGT2), Zs3 (TGT2), Xs3 (TGT
1), Ys3 (TGT1), Zs3 (TGT1) are calculated. Next, regarding the TGT 1, the error angle E_T is calculated by the second error angle calculation device 20 based on the target positions observed by the first antenna device 1 and the second antenna device 2.
GT1 is calculated according to "Equation 21". FIG. 13 shows a conceptual diagram of this error angle. In FIG. 13, 1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, and 4 is a second The target observation position by the antenna device of is shown.

[0072]

[Equation 21]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
From E_TGT3 and E_TGT3, the square sum E_S of the angular error is calculated according to "Equation 22".

[0074]

[Equation 22]

In the calibration amount calculation device 25, the calibration data dAB each having a minute step size with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The display device 23 displays the sum of squares of the angular error with respect to the calibration data that changes by a small amount, and the operator confirms the calibration data such that the sum of the squares of the angular error is the smallest, so that the optimum antenna matching is achieved. Get the angle correction setting value.

Sixth Embodiment FIG. 6 is a diagram showing a sixth embodiment of the antenna matching device according to the present invention. In FIG. 6, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 10 is a first average value calculation device, and 11 is 2nd average value calculation device, 12 is 3rd
Average value calculation device, 13 is a first motion correction device, 14 is a second motion correction device, 15 is a third motion correction device, 19
Is a first error angle calculation device, 20 is a second error angle calculation device, 21 is a third error angle calculation device, 22 is a sum of squares calculation device, 24 is a correction angle calculation device, and 25 is a calibration amount calculation device. Two
Reference numeral 6 is a correction amount setting device. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is a first antenna device, 2 is a second antenna device, and 3 is a third antenna device, and this figure shows a state viewed from above. The device can also be applied to a phased array radar that is installed and operated on a swaying platform.

The operating principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the fixed target (TGT1, TGT2, T
GT3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna.
First, at the sampling time n, the beam instruction information is transmitted from the first beam controller 7 to the first antenna device 1 with respect to the TGT 1. The beam transmitted from the first antenna device 1 to the target is received as a target signal, and Xao1 (TGT1, n), Yao in a rectangular coordinate system with the antenna surface of the first antenna device 1 as a reference.
1 (TGT1, n) and Zao1 (TGT1, n) are output to the first antenna mounting angle correction device 4. In the first antenna mounting angle correction device 4, the antenna mounting azimuth angle,
The items of the antenna tilt angle and the antenna surface rotation angle are corrected according to "Equation 23". Here, AB1 is an antenna mounting azimuth angle, which is an angle from a reference axis of the traveling direction of the platform to the front direction of the first antenna device. Further, AT1 is an antenna inclination angle, which is an angle from the horizontal axis of the reference platform to the front direction of the first antenna device. Further, AR1 is the antenna surface rotation angle, which is the angle from the horizontal axis of the reference platform to the lateral direction of the first antenna device. In this way, Xod1 (TGT1,
n), Yod1 (TGT1, n), Zod1 (TGT
1, n) is calculated and output to the first motion correction device 13.

[0078]

[Equation 23]

In the first motion compensating device 13, from the Cartesian coordinate system with the attitude angle of the platform as a reference,
Target observation value Xo1 in north reference Cartesian coordinate system according to 4 "
(TGT1, n), Yo1 (TGT1, n), Zo1
Convert to (TGT1, n). Here, Zdo is the roll angle of the platform, Eio is the pitch angle of the platform, and Cqo is the angle in the traveling direction of the platform.

[0080]

[Equation 24]

Next, in the first average value calculating device 10,
The target value observed by the antenna device 1 is subjected to an average value calculation process at each sampling time according to "Equation 25" to reduce random errors and improve matching accuracy. Here, Xs1 (TGT1), Ys1 (TGT1),
Zs1 (TGT1) is a target observation position that has been averaged.

[0082]

[Equation 25]

The above processing is similarly carried out for TGT2, and Xs1 (TGT3), Ys1 (TGT3), Zs.
1 (TGT3) is calculated. Further, the second antenna device 2 and the third antenna device 3 are similarly implemented, and Xs2 (TGT1), Ys2 (TGT1), Zs2
(TGT1), Xs2 (TGT2), Ys2 (TGT
2), Zs2 (TGT2), Xs3 (TGT2), Ys
3 (TGT2), Zs3 (TGT2), Xs3 (TGT
1), Ys3 (TGT1), Zs3 (TGT1) are calculated. Next, regarding the TGT 1, the error angle E_T is calculated by the second error angle calculation device 20 based on the target positions observed by the first antenna device 1 and the second antenna device 2.
GT1 is calculated according to "Equation 26". FIG. 13 shows a conceptual diagram of this error angle. In FIG. 13, 1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, and 4 is a second The target observation position by the antenna device of is shown.

[0084]

[Equation 26]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
From E_TGT3 and E_TGT3, the sum of squares E_S of the angular error is calculated according to "Equation 27".

[0086]

[Equation 27]

In the calibration amount calculation device 25, the calibration data dAB each having a minute step width with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The correction angle calculation device 24 stores the calibration data that minimizes the sum of squares of the angle error for the calibration data that changes by a small amount as the correction angle, and sets the correction angle setting device as the optimum angle correction setting value for antenna matching. To 26.

Seventh Embodiment FIG. 7 is a diagram showing a seventh embodiment of the antenna matching apparatus according to the present invention. In FIG. 7, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 13 is a first wobble correction device, and 14 is a first beam correction device. 2 shake correction device, 15 third shake correction device, 16 first tracking filter device, 17 second tracking filter device, 18 third tracking filter device, 19 first error angle calculation An apparatus, 20 is a second error angle calculation apparatus, 21 is a third error angle calculation apparatus, 22 is a sum of squares calculation apparatus, 23 is a display apparatus, and 26 is a correction amount setting apparatus. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is the first
The antenna device 2, the second antenna device 3, and the third antenna device 3 are shown in this figure as viewed from above. The device can also be applied to a phased array radar that is installed and operated on a swaying platform.

The operating principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the target (TGT1, TGT2, TGT
3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna. First,
At the sampling time n, the beam instruction information for the TGT 1 is transmitted from the first beam control device 7 to the first antenna device 1. The beam transmitted from the first antenna device 1 to the target is received as the target signal,
Xao1 (TGT1, n), Yao1 (T) in an orthogonal coordinate system with the antenna surface of the first antenna device 1 as a reference.
It is output to the first antenna mounting angle correction device 4 as GT1, n) and Zao1 (TGT1, n). In the first antenna installation angle correction device 4, the items of the antenna installation azimuth angle, the antenna tilt angle, and the antenna surface rotation angle are expressed by "Equation 2".
8 "is corrected according to 8". Here, AB1 is an antenna mounting azimuth angle, which is an angle from a reference platform axis of the traveling direction to a front direction of the first antenna device. AT1 is an antenna inclination. Angle is the angle from the horizontal axis of the reference platform to the front direction of the first antenna device, and AR1 is the antenna plane rotation angle, which is the horizontal axis of the reference platform from the first antenna. Xod1 (TGT1, n), Y in the Cartesian coordinate system based on the attitude angle of the platform in this way
od1 (TGT1, n) and Zod1 (TGT1, n) are calculated and output to the first motion correction device 13.

[0090]

[Equation 28]

In the first motion compensating device 13, from the Cartesian coordinate system with the attitude angle of the platform as a reference,
Target observation value Xo1 in north reference Cartesian coordinate system according to 9 "
(TGT1, n), Yo1 (TGT1, n), Zo1
Convert to (TGT1, n). Here, Zdo is the roll angle of the platform, Eio is the pitch angle of the platform, and Cqo is the angle in the traveling direction of the platform.

[0092]

[Equation 29]

Next, the first tracking filter device 16 calculates the target estimated position and velocity at each sampling time based on the target position observed by the first antenna device 1 in accordance with "Equation 30", and randomly. The error is reduced and the beam is made to follow the moving target, and the alignment accuracy is improved. Here, Xs1 (TGT1, n), Ys1
(TGT1, n) and Zs1 (TGT1, n) are target estimated positions subjected to tracking filtering processing, and dXs1 (T
GT1, n), dYs1 (TGT1, n), dZs1
(TGT1, n) is the target estimated speed, Xp1 (TGT1, n
n + 1), Yp1 (TGT1, n + 1), Zp1 (TG
T1, n + 1) is the target predicted position at the next sampling time. Further, ALPHA and BETA are tracking filter constants, and T is a sampling interval. It should be noted that the target predicted positions Xp1 (TGT1, n + 1), Yp1 (TGT1,
n + 1) and Zp1 (TGT1, n + 1) are output to the first beam controller 7 as the beam pointing positions at the next sampling time.

[0094]

[Equation 30]

The above processing is similarly carried out for TGT3, and Xs1 (TGT3, n) and Ys1 (TGT3, n).
n) and Zs1 (TGT3, n) are calculated. And second
The same applies to the antenna device 2 and the third antenna device 3 of Xs2 (TGT1, n), Ys2 (T).
GT1, n), Zs2 (TGT1, n), Xs2 (TG
T2, n), Ys2 (TGT2, n), Zs2 (TGT
2, n), Xs3 (TGT2, n), Ys3 (TGT
2, n), Zs3 (TGT2, n), Xs3 (TGT
1, n), Ys3 (TGT1, n), Zs3 (TGT
1, n) is calculated. Next, for the TGT 1, the error angle E_TGT 1 is calculated by the second error angle calculation device 20 based on the target positions observed by the first antenna device 1 and the second antenna device 2, according to “Equation 31”. FIG. 13 shows a conceptual diagram of this error angle. In FIG.
1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, 4
Indicates a target observation position by the second antenna device.

[0096]

[Equation 31]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
And E_TGT3, the square sum E_S of the angular error is calculated according to "Equation 32".

[0098]

[Equation 32]

In the calibration amount calculation device 25, the calibration data dAB having minute step widths with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle, respectively.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The display device 23 displays the sum of squares of the angular error with respect to the calibration data that changes by a small amount, and the operator confirms the calibration data such that the sum of the squares of the angular error is the smallest, so that the optimum antenna matching is achieved. Get the angle correction setting value.

Eighth Embodiment FIG. 8 is a diagram showing an eighth embodiment of the antenna matching device according to the present invention. In FIG. 8, 1 is a first antenna device, 2 is a second antenna device, 3 is a third antenna device, 4 is a first antenna mounting angle correcting device, 5 is a second antenna mounting angle correcting device, 6 is a third antenna mounting angle correction device, 7 is a first beam control device, 8 is a second beam control device, 9 is a third beam control device, 13 is a first wobble correction device, and 14 is a first beam correction device. 2 shake correction device, 15 third shake correction device, 16 first tracking filter device, 17 second tracking filter device, 18 third tracking filter device, 19 first error angle calculation Reference numeral 20 is a second error angle calculation device, 21 is a third error angle calculation device, 22 is a sum of squares calculation device, 24 is a correction angle calculation device, 25 is a calibration amount calculation device, and 26 is a correction amount setting device. Is. The above three-phased array antenna is operated in the state shown in FIG. In FIG. 12, 1 is a first antenna device, 2 is a second antenna device, and 3 is a third antenna device, and this figure shows a state viewed from above. The device can also be applied to a phased array radar that is installed and operated on a swaying platform.

The operation principle of the antenna matching device configured as described above will be described with reference to FIG. At the time of the antenna matching test, the target (TGT1, TGT2, TGT
3) is generated on the boundary of the transmittable range of the antenna, and two targets are observed from each antenna. First,
At the sampling time n, the beam instruction information for the TGT 1 is transmitted from the first beam control device 7 to the first antenna device 1. The beam transmitted from the first antenna device 1 to the target is received as the target signal,
Xao1 (TGT1, n), Yao1 (T) in an orthogonal coordinate system with the antenna surface of the first antenna device 1 as a reference.
It is output to the first antenna mounting angle correction device 4 as GT1, n) and Zao1 (TGT1, n). In the first antenna installation angle correction device 4, the items of the antenna installation azimuth angle, the antenna tilt angle, and the antenna surface rotation angle are expressed by "Equation 3".
The correction is performed according to 3 ". Here, AB1 is an antenna mounting azimuth angle, which is an angle from the axis of the reference platform traveling direction to the front direction of the first antenna device. AT1 is the antenna inclination. Angle is the angle from the horizontal axis of the reference platform to the front direction of the first antenna device, and AR1 is the antenna plane rotation angle, which is the horizontal axis of the reference platform from the first antenna. Xod1 (TGT1, n), Y in the Cartesian coordinate system based on the attitude angle of the platform in this way
od1 (TGT1, n) and Zod1 (TGT1, n) are calculated and output to the first motion correction device 13.

[0102]

[Expression 33]

In the first motion compensating device 13, from the Cartesian coordinate system based on the attitude angle of the platform,
Target observation value Xo1 in north reference Cartesian coordinate system according to 4 "
(TGT1, n), Yo1 (TGT1, n), Zo1
Convert to (TGT1, n). Here, Eio is the roll angle of the platform, Zdo is the pitch angle of the platform, and Cqo is the angle in the traveling direction of the platform.

[0104]

[Equation 34]

Next, the first tracking filter device 16 calculates the target estimated position and velocity at each sampling time based on the target position observed by the first antenna device 1, according to "Equation 35", and randomly The error is reduced and the beam is made to follow the moving target, and the alignment accuracy is improved. Here, Xs1 (TGT1, n), Ys1
(TGT1, n) and Zs1 (TGT1, n) are target estimated positions subjected to tracking filtering processing, and dXs1 (T
GT1, n), dYs1 (TGT1, n), dZs1
(TGT1, n) is the target estimated speed, Xp1 (TGT1, n
n + 1), Yp1 (TGT1, n + 1), Zp1 (TG
T1, n + 1) is the target predicted position at the next sampling time. Further, ALPHA and BETA are tracking filter constants, and T is a sampling interval. It should be noted that the target predicted positions Xp1 (TGT1, n + 1), Yp1 (TGT1,
n + 1) and Zp1 (TGT1, n + 1) are output to the first beam controller 7 as the beam pointing positions at the next sampling time.

[0106]

[Equation 35]

The above processing is similarly carried out for TGT3, and Xs1 (TGT3, n), Ys1 (TGT3, n).
n) and Zs1 (TGT3, n) are calculated. And second
The same applies to the antenna device 2 and the third antenna device 3 of Xs2 (TGT1, n), Ys2 (T).
GT1, n), Zs2 (TGT1, n), Xs2 (TG
T2, n), Ys2 (TGT2, n), Zs2 (TGT
2, n), Xs3 (TGT2, n), Ys3 (TGT
2, n), Zs3 (TGT2, n), Xs3 (TGT
1, n), Ys3 (TGT1, n), Zs3 (TGT
1, n) is calculated. Next, for TGT1, the error angle E_TGT1 is calculated by the second error angle calculation device 20 based on the target positions observed by the first antenna device 1 and the second antenna device 2, according to "Equation 36". FIG. 13 shows a conceptual diagram of this error angle. In FIG.
1 is a beam for target observation by the first antenna device, 2 is a beam for target observation by the second antenna device, 3 is a target observation position by the first antenna device, 4
Indicates a target observation position by the second antenna device.

[0108]

[Equation 36]

Similarly, E_TGT2 and E_TGT3 are calculated for TGT2 and TGT3. In the square sum calculation device 22, the above E_TGT1 and E_TGT2 are calculated.
And E_TGT3, the square sum E_S of the angular error is calculated according to "Equation 37".

[0110]

[Equation 37]

In the calibration amount calculation device 25, the calibration data dAB having minute step widths with respect to the set values of the antenna mounting azimuth angle, the antenna tilt angle, and the antenna surface rotation angle, respectively.
1, dAT1, dAR1, dAB2, dAT2, dAR
2, dAB3, dAT3, dAR3 are generated while being changed, and output to the correction amount setting device 26. In the correction amount setting device 26, the antenna mounting angle A set in advance is set.
B1, AT1, AR1, AB2, AT2, AR2, AB
Calibration data is added to 3, AT3, and AR3, and the calibration data is output to the first antenna mounting angle correction device 4, the second antenna mounting angle correction device 5, and the third antenna mounting angle correction device 6.
The correction angle calculation device 24 stores the calibration data that minimizes the sum of squares of the angle error for the calibration data that changes by a small amount as the correction angle, and sets the correction angle setting device as the optimum angle correction setting value for antenna matching. To 26.

[0112]

Since the present invention is constructed as described above, it has the following effects.

As described above, according to the antenna matching apparatus of the present invention, the angle correction value is calculated based on not only the mechanically measured antenna angle but also the deviation amount of the target radar observation position generated for each antenna. In order to do this, it is possible to set the optimum angle correction, and since automatic measurement can be executed,
Labor saving and high accuracy of measurement can be expected.

Further, although the present invention shows an example of application in a radar apparatus composed of three-sided phased array antennas, it can be applied to a radar apparatus composed of four or more phased array antennas. is there.

[Brief description of drawings]

FIG. 1 is a block diagram of a first embodiment of an antenna matching device according to the present invention.

FIG. 2 is a block diagram of an antenna matching device according to a second embodiment of the present invention.

FIG. 3 is a block diagram of an antenna matching device according to a third embodiment of the present invention.

FIG. 4 is a block diagram of an antenna matching device according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram of an antenna matching device according to a fifth embodiment of the present invention.

FIG. 6 is a block diagram of an antenna matching device according to a sixth embodiment of the present invention.

FIG. 7 is a block diagram of an antenna matching device according to a seventh embodiment of the present invention.

FIG. 8 is a block diagram of an antenna matching device according to an eighth embodiment of the present invention.

FIG. 9 is a diagram showing an antenna mounting azimuth angle.

FIG. 10 is a diagram showing an antenna tilt angle.

FIG. 11 is a diagram showing an antenna surface rotation angle.

FIG. 12 is a diagram of a state in which three phased array radars are combined, viewed from directly above.

FIG. 13 is a conceptual diagram of a target angular error observed by adjacent antennas.

FIG. 14 is a block diagram of a conventional antenna matching device.

[Description of Reference Signs] 1 first antenna device 2 2nd antenna device 3 3rd antenna device 4 1st antenna mounting angle correction device 5 2nd antenna mounting angle correction device 6 3rd antenna mounting angle correction device 7 1st beam control apparatus 8 2nd beam control apparatus 9 3rd beam control apparatus 10 1st average value calculation apparatus 11 2nd average value calculation apparatus 12 3rd average value calculation apparatus 13 1st shaking Correction device 14 Second motion correction device 15 Third motion correction device 16 First tracking filter device 17 Second tracking filter device 18 Third tracking filter device 19 First error angle calculation device 20 Second error Angle calculation device 21 Third error angle calculation device 22 Sum of squares calculation device 23 Display device 24 Correction angle calculation device 25 Calibration amount calculation device 26 Correction amount setting device

Claims (8)

[Claims] 1. A radar device having a phased array antenna arranged in three planes, comprising first to third beam control devices for instructing the antennas in a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and First to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, a correction amount setting device for outputting a correction amount to the antenna mounting angle correction device, and the observed values First to third average value calculating devices for calculating the average value for each observation time, first to third error angle calculating devices for calculating the error angle of the average value of the observed values for each antenna, and their respective errors A sum of squares calculating device for calculating a square sum of angles, a calibration amount calculating device for generating a minute angle for calibration of an antenna tilt angle, an antenna mounting azimuth angle and an antenna surface rotation angle, and an error angle of 2 with respect to the step angle. Antenna matching device characterized by comprising a display device for displaying the sum. 2. A radar device having a phased array antenna arranged in three planes, comprising first to third beam control devices for instructing an antenna of a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and First to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, a correction amount setting device for outputting a correction amount to the antenna mounting angle correction device, and the observed values First to third average value calculating devices for calculating the average value for each observation time, first to third error angle calculating devices for calculating the error angle of the average value of the observed values for each antenna, and their respective errors A sum of squares calculating device for calculating the sum of squares of angles, a calibration amount calculating device for generating a minute angle for calibration of an antenna tilt angle, an antenna mounting azimuth angle, and an antenna surface rotation angle, and an error angle of 2
An antenna matching device, comprising: a correction angle calculation device that stores a calibration minute angle when the sum of multiplications is a minimum and outputs the correction minute angle to a correction amount setting device. 3. A radar device having a phased array antenna arranged in three planes, comprising first to third beam control devices for instructing the antennas in a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and From the observation values, the first to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, the correction amount setting device for outputting the correction amount to the antenna mounting angle correction device, First to third tracking filters for calculating the target estimated position and estimated speed, first to third error angle calculation devices for calculating the error angle of the estimated position for each antenna, and the squares of the respective error angles A sum of squares calculating device for calculating the sum, a calibration amount calculating device for generating a calibration minute angle of the antenna tilt angle, the antenna mounting azimuth angle and the antenna surface rotation angle, and an error for the calibration minute angle. Antenna matching apparatus characterized by comprising a display unit for displaying the sum of squares of the corners. 4. A radar device having a phased array antenna arranged in three planes, comprising first to third beam control devices for instructing the antennas in a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and From the observation values, the first to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, the correction amount setting device for outputting the correction amount to the antenna mounting angle correction device, First to third tracking filters for calculating the target estimated position and estimated speed, first to third error angle calculation devices for calculating the error angle of the estimated position for each antenna, and the squares of the respective error angles A sum of squares calculating device for calculating the sum, a calibration amount calculating device for generating a calibration minute angle of the antenna tilt angle, the antenna mounting azimuth angle, and the antenna surface rotation angle, and the sum of squares of the error angles is the minimum. Antenna matching apparatus characterized by comprising a correction angle calculation unit for outputting the calibration small angle to the stored correction amount setting device when that. 5. A radar device having a phased array antenna arranged in three planes, comprising first to third beam control devices for instructing the antennas in a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and The first to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, the correction amount setting device for outputting the correction amount to the antenna mounting angle correction device, and the radar are mounted. A wobble correction device that corrects the roll angle that is the wobble angle of the platform, the pitch angle, and the self-needle direction, first to third average value calculation devices that calculate an average value for each observation time of the above observation values, and an antenna First to third error angle calculators for calculating the error angle of the average value of the observed values for each of the following, a square sum calculator for calculating the sum of squares of the respective error angles, an antenna tilt angle, An antenna comprising: a calibration amount calculation device for generating a small calibration angle for the tenor mounting azimuth angle and the antenna surface rotation angle; and a display device for displaying the sum of squares of error angles with respect to the calibration small angle. Matching device. 6. A radar device having a phased array antenna arranged in three planes, comprising first to third beam control devices for instructing the antennas in a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and The first to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, the correction amount setting device for outputting the correction amount to the antenna mounting angle correction device, and the radar are mounted. A wobble correction device that corrects the roll angle that is the wobble angle of the platform, the pitch angle, and the self-needle direction, first to third average value calculation devices that calculate an average value for each observation time of the above observation values, and an antenna First to third error angle calculators for calculating the error angle of the average value of the observed values for each of the following, a square sum calculator for calculating the sum of squares of the respective error angles, an antenna tilt angle, A calibration amount calculation device that generates a calibration small angle for the tenor mounting azimuth angle and the antenna surface rotation angle, and a correction that stores the calibration small angle when the sum of squared error angles is the minimum and outputs it to the correction amount setting device. An antenna matching device comprising an angle calculation device. 7. A radar device having a phased array antenna arranged in three planes, comprising first to third beam control devices for instructing the antennas in a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and The first to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, the correction amount setting device for outputting the correction amount to the antenna mounting angle correction device, and the radar are mounted. A swing correction device that corrects the roll angle, the pitch angle, and the self-needle direction, which are the swing angles of the platform, and the first that calculates the estimated position and estimated velocity of the target from the observed values.
To a third tracking filter, first to third error angle calculation devices that calculate the error angle of the estimated position for each antenna, and a square sum calculation device that calculates the sum of squares of the respective error angles,
A calibration amount calculation device for generating a calibration small angle for the antenna tilt angle, the antenna mounting azimuth angle, and the antenna surface rotation angle, and a display device for displaying the sum of squares of error angles with respect to the calibration small angle. A unique antenna matching device. 8. A radar apparatus having a phased array antenna arranged in three planes, comprising first to third beam control apparatuses for instructing the antennas in a radio wave transmission direction.
The first to third antenna devices that perform target observation by transmitting and receiving radio waves and calculate the observed values of the target distance information, antenna plane azimuth information, and antenna plane height angle information, and the antenna tilt angle of the observed values and The first to third antenna mounting angle correction devices for correcting the antenna mounting azimuth angle and the antenna surface rotation angle, the correction amount setting device for outputting the correction amount to the antenna mounting angle correction device, and the radar are mounted. A swing correction device that corrects the roll angle, the pitch angle, and the self-needle direction, which are the swing angles of the platform, and the first that calculates the estimated position and estimated velocity of the target from the observed values.
To a third tracking filter, first to third error angle calculation devices that calculate the error angle of the estimated position for each antenna, and a square sum calculation device that calculates the sum of squares of the respective error angles,
A calibration amount calculation device for generating a calibration small angle for the antenna tilt angle, antenna mounting azimuth angle, and antenna surface rotation angle, and a calibration small angle for storing the calibration small angle when the sum of squares of the error angle is the minimum, and sets the correction amount. An antenna matching device, comprising: a correction angle calculation device for outputting to the device.