JPH09297175A - Tracking radar equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To specify the position of a target with high precision by means of tripartite range finding by providing three or more inexpensive fixed antennas having wide directivity at fixed intervals, receiving the reflected wave from the target, and detecting the distance to the target from three points. SOLUTION: A fixed transmitting and receiving antenna A1 having wide directivity, a transmitter 3 for outputting a radar transmitted radio wave, and a receiver A4 for receiving and demodulating the radar received radio wave and outputting a range video are selectively switched by a transmission-receiving switch 2 according to transmission and receiving modes. A distance detector 5 outputs a transmission trigger to the transmitter 3, and calculates the distance between the antenna A1 and a target from the time difference of the transmission trigger and the range video outputted from the receiver A4. A target position specifying device 6 specifies the position of the target by tripartite range finding by use of the distance information detected by the detector 5. The receiving system formed of the antenna A1 and the receiver A4 is needed in three sets or more, and the detector 5 calculates three or more pieces of distance information. Thus, a high position specifying precision can be provided with an inexpensive structure.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking radar device for tracking the movement locus of a target moving in space.

[0002]

2. Description of the Related Art FIG. 9 is a block diagram showing a conventional tracking radar device. In FIG. 9, reference numeral 11 denotes a movable antenna C, which is not shown, but generally, one main mirror and two sub-mirrors are provided, and one is arranged at the center of each of the four main mirrors.
A so-called parabolic antenna, which is composed of a single feed-horn antenna for both transmission and reception, is used. 2 is the antenna C1
1, a transmitter / receiver switch for selectively switching connection between a transmitter or a receiver C described later according to a transmission / reception mode, 3 a transmitter for outputting a radar transmission radio wave (also called an interrogation wave), and 12 an antenna C11. By receiving and demodulating the radar reception radio wave propagating from the target object, each reception level of the four feed horn antennas is compared, and the pointing angle error and the reception power of the antenna C11 with respect to the target object are obtained. The receivers C and 13 which output the distance information between the antenna and the target, which is a combined signal of the above, outputs a transmission trigger to the transmitter 3, and the transmission trigger and the range video (demodulation output which is the demodulation output of the receiver C12). (Distance detector), a distance detector that calculates the distance from the tracking radar device to the target object, 14 is an angle error from the receiver C12 and a reception level. Orientation of target material, the angle detector for calculating the directivity angle of altitude or the antenna, 15 the angle detector 1
4 is an antenna driver that controls and drives the directional angle of the antenna C so as to match the target object by outputting the angle information from 4.

Next, the operation of the conventional tracking radar device configured as described above will be described. Based on the transmission trigger from the distance detector C13, the transmitter 3 generates pulsed (or continuous wave) high frequency power. The transmission / reception switcher 2 switches in accordance with the transmission / reception mode, guides the high frequency power output from the transmitter 3 to the antenna C11, and radiates it as a radar transmission radio wave from the antenna C11 into space. In the format in which the reflected wave from the target object is the radar reception radio wave, the radar transmission radio wave and the radar reception radio wave have the same frequency. Therefore, the transmission trigger of the transmitter 3 or the transmission / reception switching timing of the transmission / reception switcher 2 is the transmission pulse output. It is necessary to guarantee the time and the time that the tracking radar device can receive the reflected wave from the target object. When the radar transmission radio wave is a continuous wave or the target object responds to the radar reception radio wave, two frequencies are used for transmission and reception, so there is no restriction.

When the radiated radar transmission radio wave reaches the target, a reflected wave is generated at the target or the target responds to the radar transmission radio wave and outputs a predetermined radar reception radio wave. The radar that uses this reflected wave is called the primary radar, and the one that uses the response wave is called the secondary radar. This reflected wave or response wave is received by the four feed horn antennas of the antenna C11. This reception signal is input to the receiver C12 via the transmission / reception switch 2 in the reception mode. In the receiver C12, first, the SUM system, which is the sum of the received signals of these four inputs, and the AZ, which is the received signal level difference in the lateral (left-right) direction of the four feedhorn antennas
E, which is the same as the received signal level difference in the vertical (high and low) direction
Separated into 3 signal system with L system.

Next, the receiver C12 demodulates this SUM system signal to generate a range video and outputs it to the distance detector C13. The distance detector C13 detects the time difference between this range video and the transmission trigger which is the source of the distance detector C13 itself, and calculates the result as distance information between the tracking radar device and the target. Although not shown, this distance information is used by being output to a display device adjacent to the tracking radar device or transmitted to a remote information control device.

Further, the receiver C12 detects the angle error information of the antenna from the signals of the AZ system and the EL system and outputs it to the angle detector 12. The angle detector 14 calculates the angle at which the antenna C11 is driven and controlled, that is, the antenna angle at which the directional characteristics of the antenna match the target object direction and the angle error information approaches zero, based on the angle error information and the reception level. , To the antenna driver 15. Based on the antenna angle information, the antenna driver 15 tracks the target by swinging the directional angle of the antenna C11 in the vertical and horizontal directions.

Since this antenna angle information is the angle information of the target object at the same time, it is output from the angle detector 14 to a display (not shown) close to the tracking radar device.
It is used by being transmitted to an information management device arranged at a remote place. That is, in the conventional tracking radar, the position information of the target is composed of the distance information and the angle information.

[0008]

Since the conventional tracking radar device has the above-mentioned structure and operation, the accuracy of specifying the position of the target depends on the control accuracy of the mechanical system for controlling and driving the antenna. However, there is a limit to the improvement of the position specifying accuracy because of complicated and requires a fine adjustment. Further, in general, the structure of the movable antenna is large in scale, which requires a large cost.

Further, the receiver C detects the distance information and the angle error information, so that three systems (SUM, A) of four input signals are used.
(Z, EL) signal system is separated, and circuit configuration is required for three systems of signal correspondence, resulting in a large scale. Further, in particular, the angle error detection system requires highly accurate technology for phase and level adjustment. It was necessary and the configuration was complicated.

Further, since the four feed horn antennas for obtaining the angle information of the target object are provided relatively close to each other, the position of the target object, which is particularly important as tracking information, when the target object exists at the perigee. It was difficult to identify with high accuracy.

The present invention has been made in order to solve such a problem, and realizes a tracking radar device which does not require control of a mechanical system for driving an antenna and which has a high accuracy in locating a target object.

Further, it is possible to realize a tracking radar apparatus which simplifies a receiving system which requires delicate adjustment and has an inexpensive structure which does not require angle error detection and which has a high accuracy in locating a target object.

Further, a tracking radar device is realized which enables the optimum deployment of the tracking radar device in order to obtain good position specifying accuracy for a target moving at an unspecified position.

[0014]

A tracking radar device according to the first aspect of the present invention is a transmission / reception switching that switches a connection destination of a first antenna for both transmission and reception and an antenna connected to the first antenna according to a transmission / reception mode. And a transmitter connected to the first antenna by the switching operation of the transmitter / receiver switching device and outputting a radar transmission radio signal reaching a target, and the first antenna by the switching operation of the transmission / reception switching device. A first base station provided with a first receiver that is connected and that receives and demodulates a radar reception radio wave generated by a response or reflection of a target to a radar transmission radio wave; a second antenna dedicated to reception; Connected to a second antenna,
A tracking radar device comprising a plurality of second base stations provided with a second receiver for receiving and demodulating the radar reception radio wave, wherein the demodulation from the first and second receivers is provided. The position of the target is specified by performing a predetermined calculation using the distance detector that detects the distance between the target and each of the base stations from the signal, and the distance value detected by this distance detector. And a plurality of second base stations, wherein the first base station and the plurality of second base stations are arranged at a predetermined distance from each other. It is what

In the tracking radar device according to the second invention, the position detector is arranged in each of the base stations corresponding to the first and the plurality of second receivers.

In the tracking radar device according to the third aspect of the present invention, one or all of the base stations described above are configured as portable mobile stations.

The tracking radar device according to the fourth aspect of the present invention comprises means for detecting the location of the mobile station and registering location information in the own station and other related stations in the portable station. Be prepared.

The tracking radar device according to the fifth aspect of the present invention includes a movable first antenna for both transmission and reception, a transmission / reception switcher for switching a connection destination of the antenna connected to the first antenna according to a transmission / reception mode, By the switching operation of the transmission / reception switcher, the transmitter is connected to the first antenna and outputs the radar transmission radio wave signal that reaches the target, and the switching operation of the transmission / reception switcher is connected to the first antenna, A first receiving and demodulating radar reception radio wave generated by a response or reflection of a target to a radar transmission radio wave
A first base station provided with the receiver, a second antenna dedicated to reception, and a second receiver connected to the second antenna for receiving and demodulating the radar reception radio wave. In a tracking radar device including a plurality of second base stations, an angle detector that outputs the angle between the antenna pointing direction and the target object based on the target object angle information from the first receiver, Based on the angle output of the angle detector, an antenna driver that controls the pointing direction of the antenna and the demodulated signals from the first and second receivers are used to determine the separation distance between the target and each base station. A distance detector for detecting, a target position specifying device for specifying the position of the target object by performing a predetermined calculation using the separation distance value detected by the distance detector, the angle output and the target object. Distance value from the first antenna First a target specific position and a second target specific position which corresponds to the output of the target locator comprising,
The first base station is provided with a means for selecting according to a preset reference condition file, and the first base station and the plurality of second base stations are arranged at a predetermined distance from each other. .

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. FIG. 1 is a block diagram showing an embodiment of a tracking radar device of the present invention. In the figure, reference numeral 1 denotes a fixed-type transmitting / receiving antenna A having no directivity and wider directivity than the antenna C shown in the prior art, and 2 denotes a transmission / reception mode between an antenna A1 and a transmitter or receiver A described later. A transmitter / receiver switch for selectively changing the connection according to the above, 3 is a transmitter for outputting a radar transmission radio wave, 4 is a receiver A for receiving and demodulating the radar reception radio wave by the antenna A1 and outputting a range video. A distance detection that outputs a transmission trigger to the transmitter 3 and calculates the distance from the placement point of the antenna A1 of the tracking radar device to the target object based on the time difference between the transmission trigger and the range video that is the demodulation output of the receiver A4. Devices A and 6 are target position specifying devices that specify the position of the target object by the three-point distance measuring method using the distance information detected by the distance detector A5. The transmission trigger may be generated by the transmitter 3 or the like, and when the transmitter 3 is the generation source, the transmission trigger is transmitted from the transmitter 3 to the distance detector A5.

In the present invention, the antenna A1 and the receiver A4
3 or more sets of receiving systems are required, and the distance detector A5 detects the time interval between the range video output of these 3 or more sets of receiving systems and the transmission trigger, and outputs 3 or more sets of distance information. To do.

Further, as will be described later, the respective receiving systems are arranged so as to be separated from each other by a target object to be tracked and the respective receiving systems with a distance determined from the position of the target object and the required position specifying accuracy. Therefore, each may be referred to as a base station. The deployment position of each receiving system is set with the position accuracy required from the position specifying accuracy by triangulation or the like, and the position information is registered in advance in the distance detector A5 and the target position specifying device 6. .

Next, the operation of the tracking radar device of the embodiment of the present invention configured as described above will be described. Based on the transmission trigger from the distance detector A5, the transmitter 3 outputs a high frequency which becomes a radar transmission radio wave. The transmission / reception switch 2 is switched according to the transmission / reception mode, guides this high frequency output to the antenna A1, and is radiated as a radar transmission radio wave from the antenna A1 to space. The output timing of the transmission trigger of the transmitter 3 or the transmission / reception switching timing of the transmission / reception switching device 2 is the same as that of the conventional technique. Therefore, when using the reflected wave from the target object, this condition depends on the distance between the tracking radar device and the target object, so it is set to a fixed value according to the maximum tracking distance, or the target object. The distance is roughly estimated from the speed of the target object, the planned trajectory, etc. and adaptively varied. If the radar transmission radio wave is a continuous wave or the target object responds to the radar reception radio wave, two
Since we use frequency, this limitation is not present.

When the radiated radar transmission radio wave reaches the target object, a reflected wave is generated at the target object, or the target object responds to the radar transmission radio wave, and, for example, information indicating the attribute of the target object or A predetermined response wave including time information of reception or response is output. It should be noted that the radar transmission radio wave is also usually provided with a code indicating its attribute. This code is represented by a pulse train in the case of a pulse wave and by modulation in the case of a continuous wave. The reflected wave or the response wave is received by each antenna A1 including the transmission / reception antenna A1 arranged at base stations at three or more points. This reception signal is input to each receiver A4 via the transmission / reception switch 2 in the reception mode or directly. In each receiver A4,
Receive and demodulate to generate range video.

The range video generated by each receiver A4 is sent to the distance detector A5. Since the distance detector A5 is generally placed in a base station for both transmission and reception, from the receiver A4 in the base station separated from this base station, the radar reception radio wave is an intermediate frequency or range video demodulation signal as it is, The signals are modulated, or these distance signals are converted into data and transmitted to a base station provided with a distance detector. The distance detector A5 detects the time difference between this range video and the transmission trigger which is the source of the distance detector A5 itself, and calculates the result as distance information between the tracking radar device and the target. The distance information obtained by the base stations at three or more points is input to the target position specifying circuit 6 provided in the base station for both transmission and reception, and combined with the position information of each reception system registered in advance, there are three points. The position information of the target is obtained using the distance measuring method. Even if the number of receiving systems is three or more, the method of specifying the position of the target object is basically the same. Although not shown, the position information of the target obtained in this way is output to a display or transmitted to an information control device for use.

The distance detection, which is one of the elemental techniques of the present invention, will be described with reference to FIG. FIG. 2 is an example of a secondary tracking radar device in which the target object transmits radar reception radio waves in response to radar transmission radio waves. In the figure, 100a transmits and receives radar transmission radio waves, and at the same time each base station and the target R
Base station A, 100b, 100 for calculating the distance to 200
c is a base station B and a base station C that receive the radar transmission radio wave from the target R200 and transmit and output a demodulation signal that is a distance signal to the base station A100a.
A target to be tracked that receives a radar transmission radio wave from the antenna and transmits a radar reception radio wave including self-identification data, T _AA is a radar transmission radio wave transmission delay time in the base station A, T _A , T _B ,
T _C is the delay time of radar transmission radio wave reception from the target R200 in the base stations A, B and C, T _R is the delay time from reception of radar transmission radio wave in the target R200 to transmission of another radar transmission radio wave, T _AB , T _AC is a distance signal transmission delay time between the base station A and the base stations B and C, T _AR , T _BR , T _CR is a radar transmission radio wave propagation delay time between each base station and the target R200. It shows the distance information between the objects R200.
Note that the T _R 0 is the primary tracking radar system that utilizes reflections from a target R200 radar transmission wave.

Next, FIG. 3 is a timing chart showing the concept of distance detection. The radar transmission radio wave transmitted from the base station A 100a includes the transmission delay time T _AA from the transmission reference timing and the target R from the base station A 100a.
The radar transmission radio wave propagation delay time T _AR of up to 200 to reach the elapse target R200, transmits the target R200R receives this radar transmission wave another radar transmission wave after an internal delay time T _R of the target R200 . The radar transmission radio wave transmitted from the target R200 is the target R20.
0 and each base station 100 after the propagation delay time between each base station 100
Received at. In each base station 100, after the radar transmission radio wave reception delay time has passed, the reception frequency
It transmits a demodulated range signal of intermediate frequency or range video. Instead of transmitting the demodulated signal, time information of the received and demodulated radar transmission radio waves may be expressed as data and transmitted. Each base station 100 with respect to the base station A 100a
This distance signal arrives at the base station A 100a after the distance signal transmission delay time from (1) has passed. In the base station A100a, it is possible to know in advance the internal delay time of each element, which is a fixed value, and the transmission delay time between base stations, so that the radar transmission from each base station 100 to the target R200 is performed. The radio wave propagation delay time can be calculated, and can be further calculated as the distance from each base station 100 to the target R200.

That is, in the base station A100a, the total delay time from the transmission of the radar transmission radio wave to the reception of the radar transmission radio wave from the target R200 is T _AA + based on the transmission reference timing reference.
T _{A- R} + T _R + T _AR + T _A = T _AA + 2T _AR + T _R + T _A , and for the base station B100b, T _AA + T _AR + T _R
+ T _BR + T _B + T _AB , T _AA + T at base station C100c
_A- the _{R + T R + T CR +} T C + T AC. Base station A100
By subtracting a fixed value for a, the base station A10
The radar transmission radio wave propagation delay time T _RA from 0a to the target R200 is obtained, and the radar transmission radio wave propagation delay time T _RB from the base station B to the target R200 and the base station C The radar transmission radio wave propagation delay time T _RC up to the target R200 is obtained. Since the propagation speed of radio waves in the free space is known, the distance from each base station to the target R200 can be calculated by multiplying the propagation delay time by the speed of light. It should be noted that the distance signal may be added with a reception level for transmission in order to be used for position identification.

Next, referring to FIG. 4, description will be given of a position specifying method by three-point distance measurement which is another elemental technique of the present invention. In the figure, base stations A, B, C and a target R200 are shown.
The coordinates of each are as follows. Base station A (0, 0,
0), base station B (X ₂ , Y ₂ , Z ₂ ), base station C (X ₃ , Y 2
_3, Z ₃ ), the target (X ₀ , Y ₀ , Z ₀ ), base station A,
When the distances from B and C to the target R200 are l ₁ , l ₂ and l ₃ , the following formula is established. ^{_{l 1 2 = X 0 2 +}} Y 0 2 + Z 0 2 l 2 2 = (X 0 -X 2) 2 + (Y 0 -Y 2) 2 + Z 0 2 l 3 2 = (X 0 -X 3) 2 + (Y ₀ −Y ₃ ) ² + Z ₀ ^{2 When} this equation is solved, X ₀ = (X ₃ ² Y ₂ −X ₂ ² Y ₃ + Y ₂ Y ₃ ² −Y ₂ ² Y ₃ + l ₁ ² Y ₂
-L ₃ ² Y ₂ + l ₂ ² Y ₃ ) /-(2X ₂ Y ₃ -2X ₃ Y ₂ ) Y ₀ = (X ₂ X ₃ ² -X ₂ ² X ₃ + X ₂ Y ₃ ² -X ₃ Y ₂ ² + 1 ₁ ² X _{2
^{-L 1 2 X 3 -l 3 2}} X 2 + l 2 2 X 3) / (2X 2 Y 3 -2X 3 Y
₂ ) Z ₀ = √ (l ₁ ² −X ₀ ² −Y ₀ ² ) and the position of the target R200 can be specified. In this way, the position information of the target object R200 can be specified three-dimensionally. In addition,
Even when there are four or more pieces of distance information, the above is basically the same.

Since the accuracy of the output of the distance detector generally has an error depending on the receiving sensitivity, the inherent accuracy of the constituent devices, and ambient conditions such as temperature, the above-mentioned position can be obtained by the distance information including this error. When specifying, the position of the target object is not obtained by points in the above equation, but is obtained by three-dimensional space. When the target position is to be obtained from the three-dimensional space by points, the center of gravity of the three-dimensional space may be obtained. Further, at this time, taking into consideration the reception level and the like transmitted from each receiver A4 to the target position specifying device 6 via the distance detector A5, that is, the distance information having a high reception level has high accuracy. The weight of the sphere surface based on the distance information may be weighted to obtain the center of gravity of the overlapping portion.

Further, FIG. 5 shows the relationship between the required base station interval and the position specifying error. In the figure, the position specifying error ΔP is calculated when the distance between the base stations A and B is 1, the altitude of the target object is h, and the distance measurement error is ΔR. sin (θ / 2) = ΔR / ΔP ΔP = ΔR / sin (θ / 2) On the other hand, θ / 2 = tan ⁻¹ (l / 2h) Therefore ΔP = ΔR / sin {tan ⁻¹ (l / 2h)} For example , The distance measurement error max20 for an object with an altitude of 3 km
When trying to track with a position measuring error of 60 m or less using a distance measuring device of m, ΔP = 60 m, ΔR =
Substituting 20 m and h = 3000 m, l = 2121.3
m, and the required distance between the base stations is 2.2 km or more. The figure shows a state in which spheres centering on each base station and having a distance having a ranging error determined by the performance of the receiving system intersect. In the figure, the spherical surface (arc) is simply represented by a straight line.

The antenna according to the present invention has a simple structure and can be realized at a low cost because it has no mechanical control as compared with the movable parabolic antenna shown in the prior art. is there. Further, electrically, a conventional horn antenna having a strict directivity and a dedicated one can be used, whereas a general-purpose horn antenna or the like having less demanded temperature characteristics and dimensional accuracy can be used. Further, the same effect can be obtained by omitting the transmission / reception switcher 2 from the above configuration and newly providing a transmission-only antenna equivalent to the antenna A1 and directly connecting it to the transmitter 3. This can be adopted because the present invention can be realized with a simple structure having wide antenna directivity for both transmission and reception. As the type of antenna, in addition to a horn antenna, an omnidirectional pole antenna or the like can be used if the antenna gain meets the requirements.

Embodiment 2 FIG. In the tracking radar device having the configuration of the present invention, the first embodiment. As described above, the antenna A and the receiver A have a simple structure, and adjustment is easy and downsizing is possible. Embodiment 2 FIG. Then, using this feature, of the receiving system that requires three or more,
A system dedicated to reception is configured to be portable, and this mobile station is deployed at a predetermined point in accordance with the trajectory of the target object and the required position specifying accuracy. The size image of this mobile station is such that it is sufficiently mounted on a light vehicle when the 5 GHz band is used for radar transmission radio waves.

As shown in the configuration of FIG. 6, in addition to the portable reception-only system, the first embodiment shown in FIG.
Basically, there is no difference. In FIG. 6, 7
The antenna B is designed to be easily stored and carried.
Further, the receiver B 8 has a signal transmission capability because it transmits the range video output from the receiver to a fixed station that is separated by a predetermined distance. This signal transmission can be performed by wire communication using a coaxial cable or an optical fiber, but a wireless system such as a micro circuit is suitable when the expandability of the mobile station is taken into consideration. Further, the signal to be transmitted / received is not the demodulated signal itself, but is preferably in the format of data transmission after converting the demodulated signal into digital data. Accordingly, the distance detector A5 of the fixed station needs to have a function of receiving this signal.

Also. Although not shown, the mobile station has mobile station position confirmation and transmission functions. That is, the mobile station can be freely deployed, and the target position locating method of the present invention is the same as in the first embodiment. As described above, the positional relationship between the fixed station, which is a transmitting / receiving station, and each receiving station is a prerequisite for calculation. As a position confirmation function of this mobile station, GP has been recently used.
It has become easy to realize using S. GPS
The receiving device can be easily incorporated in a mobile station. This mobile station position information is detected at each mobile station at the start of operation, and is transmitted to a fixed station or the like where the mobile station position information is required. The distance detector A5 of the fixed station receives this and stores it as a prerequisite for distance detection and position determination with respect to the target. Since the position detection accuracy of this mobile station is greatly related to the distance detection and position identification accuracy with respect to the target object, the first embodiment. In some cases triangulation may be required as described in.

The operation relating to the distance detection and the position identification of the target object is described in the first embodiment. Since it is the same as, it is omitted. Although the station that performs transmission / reception has been described as a fixed station, the antenna A1 and the receiver A4 are still different from those in the related art.
In the first embodiment. Since it can be miniaturized as shown in, it can be configured as a mobile station using only light vehicles.

Embodiment 3. Embodiment 2 FIG. The main configuration of the mobile station is the receiving antenna, the receiver B, and the own station position confirming and transmitting means. However, in the third embodiment, each mobile station demodulates the radar reception radio wave received by the own station to obtain the target. A distance detector is also a component in order to detect the distance of an object.

FIG. 7 shows this configuration. Embodiment 1. Alternatively, the second embodiment. Unlike, the mobile station consists of an antenna B7, a receiver B8 and a distance detector B8.
On the other hand, in the fixed station configuration, the distance detector A5 is responsible for the distance detection function of only the output of the receiver A4 of the own station. The transmission trigger is transmitted from the distance detector A5 of the fixed station to the distance detector A of each mobile station. As the transmission method of this transmission trigger, the first embodiment is described. Alternatively, the second embodiment.
This is the same as the transmission of the demodulated signal described in. As another method other than those, although not shown, the reference time information synchronized with each base station is detected from the GPS reception signal, and once the time between the base stations is adjusted, the reference time information is obtained at each base station. There is also a method of generating a transmission trigger from the. At each mobile station,
The range detector B9 detects the distance between the target and the mobile station based on the range video from the receiver B8 and this transmission trigger.
In addition, when the transmission trigger is transmitted from the fixed station when the distance is detected by each mobile station, the transmission delay also affects, so in order to correct this, for example, at the time of initial setting of the entire tracking radar device, etc. Embodiment 2. On the contrary, it is assumed that the position information of the fixed station is transmitted to each mobile station in advance and stored in each mobile station. For this correction, the fixed station may perform a phase adjustment in consideration of the transmission delay for each mobile station with respect to the transmission trigger.

With the above configuration, each mobile station transmits the distance information detected by each mobile station to the fixed station together with its own station position information. The position information of the mobile station does not have to be sent every time the distance is detected, and the distance information of the target is transmitted in the first embodiment. Is the same as In the fixed station, the target position locator receives the distance information transmitted from each of the mobile stations, and the position of the target object is determined based on the output of the distance detector of the fixed station according to the first embodiment. It is calculated by the three-point distance measuring method shown in.

Fourth Embodiment In the above embodiments, the antennas for both transmission and reception and reception are fixed type,
The position of the target object was specified by the three-point distance measuring method. However, in this embodiment, the tracking radar device using the movable parabolic antenna shown in the prior art and the three-point distance measuring method of the present application are used. The tracking radar device is used together. Generally speaking, if the tracking radar devices of the two types are configured at the same cost, when the target object is close,
The three-point distance measuring method can be realized with high accuracy, and the accuracy of the conventional movable antenna becomes superior as the distance increases. For this reason, in this embodiment, a tracking radar device selection circuit is provided to select the output of the tracking radar device by the three-point distance measuring method at a short distance according to the predetermined position condition of the target object, and the conventional technique at a long distance. The output of the tracking radar device by the movable antenna described in 1 is selected. In addition to the above, the selection conditions are to compare the received electric field strengths and select the one with the higher accuracy in detecting the distance to the target object, or to focus not only on the distance to the target object but also on the azimuth angle or elevation angle. There is also.

FIG. 8 shows the configuration of the tracking radar device according to this embodiment. FIG. 9 of the conventional example and the first embodiment.
Compared with the configuration diagram of FIG. 3, the insertion of 10 selection circuits is different. Although not shown, the selection conditions of the selection circuit 10 are assumed to have the above contents written in the selection condition reference memory. The operation is described in the related art, the first embodiment. Since it is as described above, it is omitted. Also in this embodiment, Embodiment 2. As described above, the reception-only station may be configured as a mobile station to be a mobile station. Furthermore, regarding the realization of the distance detection function, the third embodiment will be described. It is also possible to disperse and configure.

This embodiment is also useful from the aspect of reliability, since the tracking radar device has redundancy in addition to improvement in performance even when a new system is constructed. Furthermore, when the tracking radar device of the prior art exists as an existing facility, a large performance can be obtained with a small additional cost.

[0042]

The tracking radar device according to the first aspect of the present invention includes a first antenna for both transmission and reception, a transmission / reception switcher for switching the connection destination of the antenna connected to the first antenna according to the transmission / reception mode, and A transmitter that is connected to the first antenna by the switching operation of the transmission / reception switch and outputs a radar transmission radio signal that reaches the target, and a transmitter that is connected to the first antenna by the switching operation of the transmission / reception switch, A first base station provided with a first receiver for receiving and demodulating radar reception radio waves generated by a response or reflection of a target to a transmission radio wave, a second antenna dedicated to reception, and this second antenna A tracking radar device comprising a plurality of second base stations each having a second receiver for receiving and demodulating the radar reception radio wave, the tracking radar device comprising: From the demodulated signal from the transmitter, a distance detector that detects the distance between the target and each of the base stations, and by performing a predetermined calculation using the distance value detected by the distance detector. A target position locator that specifies the position of a target object is provided in either the first base station or the plurality of second base stations, and the first base station and the plurality of second base stations are each at a predetermined distance. Since the antenna control drive system that requires complicated machine control is unnecessary and only one reception system is required, high positioning accuracy can be obtained with an inexpensive configuration. And,
The size can be reduced.

In the tracking radar device according to the second aspect of the invention, the position detector is arranged in each of the base stations corresponding to the first and the plurality of second receivers. Since signal transmission between base stations can be transmission of digital data that does not require strict timing accuracy, an inexpensive and highly reliable transmission system can be configured in addition to the above effects.

In the tracking radar device according to the third aspect of the present invention, one or all of the above base stations are configured as portable mobile stations, so that a low cost configuration and high position specifying accuracy can be obtained. Furthermore, it is possible to expand to a position where the tracking characteristic is optimized for tracking a target whose position is unspecified.

The tracking radar apparatus according to the fourth aspect of the present invention comprises means for detecting the location of the mobile station in the mobile station constructed as described above and registering location information in the own station and other related stations. Since it is provided, it is possible to obtain high position specifying accuracy with an inexpensive structure. Furthermore, it is possible to expand to a position where the tracking characteristic is optimized for tracking a target whose position is unspecified.

A tracking radar device according to the fifth aspect of the present invention includes a movable first antenna for both transmission and reception, a transmission / reception switcher for switching a connection destination of the antenna connected to the first antenna according to a transmission / reception mode. By the switching operation of the transmission / reception switcher, the transmitter is connected to the first antenna and outputs the radar transmission radio wave signal that reaches the target, and the switching operation of the transmission / reception switcher is connected to the first antenna, A first receiving and demodulating radar reception radio wave generated by a response or reflection of a target to a radar transmission radio wave
A first base station provided with the receiver, a second antenna dedicated to reception, and a second receiver connected to the second antenna for receiving and demodulating the radar reception radio wave. In a tracking radar device including a plurality of second base stations, an angle detector that outputs the angle between the antenna pointing direction and the target object based on the target object angle information from the first receiver, Based on the angle output of the angle detector, an antenna driver that controls the pointing direction of the antenna and the demodulated signals from the first and second receivers are used to determine the separation distance between the target and each base station. A distance detector for detecting, a target position specifying device for specifying the position of the target object by performing a predetermined calculation using the separation distance value detected by the distance detector, the angle output and the target object. Distance value from the first antenna First a target specific position and a second target specific position which corresponds to the output of the target locator comprising,
The first base station is provided with a means for selecting according to a preset reference condition file, and the first base station and the plurality of second base stations are arranged at a predetermined distance from each other. Since the redundant configuration can be obtained at low cost, the reliability is improved, and the optimum position specifying method is selected in accordance with various conditions of the target, so that higher position specifying accuracy can be obtained. Further, when the conventional tracking system is already installed, the above effect can be obtained with a small additional cost.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a tracking radar device of the present invention.

FIG. 2 is an explanatory diagram showing the concept of distance detection of the present invention.

FIG. 3 is a timing chart showing the concept of distance detection according to the present invention.

FIG. 4 is an explanatory view showing the concept of specifying the position of a target object by three-point distance measurement according to the present invention.

FIG. 5 is an explanatory diagram showing a relationship between required base station intervals and position specifying errors of the present invention.

FIG. 6 is a block diagram showing a configuration of another tracking radar device of the present invention.

FIG. 7 is a block diagram showing a configuration of another tracking radar device of the present invention.

FIG. 8 is a block diagram showing a configuration of another tracking radar device of the present invention.

FIG. 9 is a block diagram showing a configuration of a conventional tracking radar device.

[Explanation of symbols]

 1: Antenna A 2: Transmission / reception switcher 3: Transmitter 4: Receiver A 5: Distance detector A 6: Target position locator 7: Antenna B 8: Receiver B 9: Distance detector B 10: Selection circuit 11 : Antenna C 12: Receiver C 13: Distance detector C 14: Angle detector 15: Antenna driver 100: Base station 100a: Base station A 100b: Base station B 100c: Base station C 200: Target

Claims (5)

[Claims] 1. A tracking radar device for tracking a target moving in space, comprising: a first antenna for both transmission and reception; and a transmission / reception switcher for switching a connection destination of an antenna connected to the first antenna according to a transmission / reception mode. , A transmitter that is connected to the first antenna by the switching operation of the transmission / reception switch and outputs a radar output radio wave signal that reaches a target, and a transmitter that is connected to the first antenna by the switching operation of the transmission / reception switch. A first base station provided with a first receiver for receiving and demodulating a radar reception radio wave generated by a response or reflection of a target to a radar output radio wave; a second antenna dedicated to reception; A plurality of second receivers each of which is connected to the antenna of the second receiver and receives and demodulates the radar reception radio wave.
And a distance detector that detects a separation distance between the target object and each of the base stations from the demodulated signals from the first and the plurality of second receivers. A target position specifying device for specifying the position of a target by performing a predetermined calculation using the separation distance value detected by the distance detector, which is one of the first base station or the plurality of second base stations. A tracking radar device, characterized in that the first base station and the plurality of second base stations are arranged at a predetermined distance apart from each other. 2. The tracking radar device according to claim 1, wherein the position detector is arranged at each of the base stations corresponding to the first and the plurality of second receivers. . 3. The tracking radar device according to claim 1 or 2, wherein one or all of the base stations are configured as portable mobile stations. 4. In the mobile station configured as described above,
4. The tracking radar device according to claim 2, further comprising means for detecting a location of the mobile station and registering location information in the own station and other related stations. 5. A tracking radar device for tracking a target moving in space, wherein a movable first antenna for transmission / reception and a transmission / reception for switching a connection destination of an antenna connected to the first antenna according to a transmission / reception mode. A switching device, a transmitter that is connected to the first antenna by the switching operation of the transmission / reception switching device, and outputs a radar output radio wave signal reaching a target, and the first antenna by the switching operation of the transmission / reception switching device. A first base station provided with a first receiver for receiving and demodulating a radar reception radio wave generated by a response or reflection of a target to a radar output radio wave, and a second antenna dedicated to reception, A plurality of second receivers each of which is connected to the second antenna and includes a second receiver for receiving and demodulating the radar reception radio wave.
In the tracking radar device, the angle detector outputs the angle between the antenna pointing direction and the target based on the target angle information from the first receiver, and the angle of the angle detector. From the antenna driver that controls the pointing direction of the antenna by the output, and the demodulated signals from the first and second receivers,
A distance detector that detects the separation distance between the target object and each base station, and a target position that specifies the position of the target object by performing a predetermined calculation using the separation distance value detected by this distance detector. An identifying device, a first object identifying position formed by the angle output and the distance value between the object and the first antenna, and a second object identifying position that is the output of the target position identifying device are set in advance. The first base station is provided with means for selecting according to the set reference condition file, and the first base station and the plurality of second base stations are arranged at a predetermined distance from each other. Tracking radar device.