JPH10111357A - Mono-pulse radar device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mono-pulse radar device which separates plural targets and detects existence of plural targets in antenna beam in many-targets searching/tracking mode, if the existence is confirmed, compares the number of targets with an existing tracking number, and selects single target tracking process or plural targets separating process in relation to target tracking method. SOLUTION: A numberof targets determining device 7c which compares number of targets detected by plural targets separating process with existing number of tracking targets and determines whether a detected target is a new target or an existing tracking target, is added in a data processor 7. In many- targets searching/tracking mode, in addition to single target tracking process for the purpose of tracking, function which separates the plural targets in antenna beam and function which performs tracking with plural targets separating process when plural targets are existed are added to an execution process controller 7b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monopulse radar device.

[0002]

FIG. 12 shows a conventional monopulse radar device. In the figure, 1 is an antenna that radiates a transmission wave in a space in a specific direction and receives a reflected wave, 2 is a beam controller that controls the beam direction of the antenna 1,
3 is an exciter for generating a transmission wave, 4 is a circulator for supplying a signal from the exciter 3 to the antenna 1 and supplying a received signal to a receiver, and 5 is a receiver for converting the received signal to a digital video reception signal. , 6a is a search target detector for detecting a target from the digital video signal output from the receiver 5 in the search mode, and 6b is a speed and distance of one tracking target from the digital video received signal output from the receiver 5. Tracking target detector for detecting azimuth and azimuth information, 6c
Separates a plurality of targets existing in the antenna beam, which cannot be detected by the search target detector 6a and the single tracking target detector 6b, into a plurality of targets by performing a finer frequency analysis than the single tracking target detector 6b A plurality of target detectors 6 for performing detection; 6 is the above-mentioned search target detector 6a;
b and a target detector having a plurality of target detectors 6c, 7a processes target information, sends a control signal to the exciter 3, and outputs beam directivity angle data to the beam controller 2; An execution processing controller that controls the next processing to be executed by the target information and the operation of the pilot (operator), and outputs the instruction to the target detector 6. Reference numeral 7 denotes an equipment controller 7a.
And a data processor having an execution processor 7b, a signal processor 8 having the target detector 6 and the data processor 7, and a display 9 displaying target information output from the data processor 7. .

A conventional monopulse radar device is configured as described above. FIG. 13 is a flowchart showing the processing of the conventional monopulse radar apparatus. In the figure, 1
0 denotes one of radar modes, a step indicating an operation performed by a pilot to output a transition command to a TWS (Track While Scan) mode which is a multi-target search and tracking mode, and 11 denotes a target by the search target detector 6a. step indicating that running search process, 12 determines whether the detected signal S in search processing 11 of the target exceeds the threshold lambda _T, i.e., the step of indicating a determination of whether the target to be tracked is detected, Reference numeral 13 denotes a step indicating that, when the determination in the step 12 is No, the target search processing is continued and the process returns to the target search processing in the step 11 again.
When it is es, it is a step indicating that the antenna beam is directed in the direction where the target exists, and the single target tracking processing by the monopulse is executed. Note that the detected distance, speed, and direction information of the tracking target is stored in the tracking target data file of the execution processing controller 7b, and the tracking target is registered in the target tracking processing slot. The target tracking processing slots are used in the multi-target search and tracking mode, and are slots prepared for the maximum number of tracking in the mode. The targets detected by the search are respectively referred to as target 1, target 2,.
And is registered as slots 1 to X (X is the maximum number of tracking targets).
When the slot is called, the called slot returns the target Y registered therein (Y is the identification number given above) to the execution controller. The execution controller calls the data such as the distance and speed of the previous target Y from the data file corresponding to the target Y returned from the slot, and issues an instruction to execute the target tracking process in that direction. Reference numeral 25 denotes a single-target tracking mode in a previous stage for separating a plurality of targets in the antenna beam.
A step indicating that the pilot decides whether or not to perform an operation for outputting a transition command to the TT (Single Target Track) mode to the target detector 6; and 21 is a transition operation performed by the pilot to the STT mode. Is not executed, this is a step indicating that the state automatically transitions to the search processing execution state. During the TWS mode, the search processing of steps 11 to 15 and the single target tracking processing are automatically repeated. In the TWS mode, target search processing and single target tracking processing are executed alternately. In the single target tracking processing, the target tracking processing is performed one slot at a time for the targets registered in the target tracking processing slots, and is sequentially performed for all slots. 26 is a step showing that a single target tracking process is executed by a single tracking target detector when the pilot executes a transition operation to the STT mode, and 27 is a step in which the pilot separates a plurality of targets in the antenna beam. RAM (Raid Assessment)
Mode: a step indicating that the search for transition to the mode has been executed; 28, a step indicating transition to the RAM mode, indicating that the multi-target separation processing by the multi-target detector is being executed; 29, a stop of the RAM mode and the STT mode Indicating that the pilot has executed the transition operation to
Step 31 indicates that the single target tracking process is being executed by the single tracking target detector by transiting to the TT mode, and step 31 indicates that the pilot executed the stop operation of the STT mode and the operation of shifting to the TWS mode. Step 32 is a step indicating transition to the TWS mode and executing the processing from the search processing step 11.

FIG. 14 shows a transition between a radar mode and signal processing performed when detecting a plurality of targets in an antenna beam with respect to a tracking target in a multi-target search and tracking (TWS) mode in a conventional monopulse radar apparatus. And the accompanying pilot's operation. Reference numeral 30 denotes a target search process performed by the search target detector 6a. 31
Indicates a single target tracking process performed by the single tracking target detector 6b. Reference numeral 32 denotes a multiple target separation process in the antenna beam performed by the multiple target detector 6c. In the multi-target search and tracking mode, the target search processing and the single target tracking processing are performed alternately, and the single target tracking processing is obtained by performing a newly detected target in the target search processing or by performing a single target tracking processing before. A single target tracking process for the target tracking process slot is executed for the tracking target.

[0005]

In the processing of the conventional monopulse radar apparatus as described above, in the multi-target search and tracking mode, only the target search processing and the single target tracking processing are performed. Therefore, as shown in FIG. When the two targets 35 and 36 are present in the same antenna beam 34 when viewed from the own device 33 equipped with the monopulse radar device, the two targets cannot be separated.
Was to be displayed as a goal. Further, in order to separate a plurality of targets, the pilot performs a single target tracking process by performing a transition operation to a single target tracking mode, and further performs R
Unless the transition operation to the AM mode is performed and the multiple target separation process is not performed, it cannot be determined whether the multiple targets are displayed as one target or are actually one target. In the case where multiple targets are tracked simultaneously, it takes a long time to separate a plurality of targets unless the above operation is performed for each tracking target, which takes time and increases the load on the pilot. While the single target tracking mode and the RAM mode are being executed, one of the targets tracked in the multi-target search tracking mode is tracked in the single target tracking mode.
The pilot was not able to know the status of the other targets while the separation of the multiple targets was being performed, since the targets other than the targets were not displayed.

Further, in the RAM mode, a plurality of targets are detected and displayed as targets at the time of the multi-target separation processing. However, when the mode transits to the TWS mode again, the plurality of targets in the antenna beam are detected as a single target. For this reason, the display has only one goal.

Also, as shown in FIG. 17, two antenna beams separated from each other by more than the antenna beam width exist in separate antenna beams.
When the targets 37 and 38 gradually approach and enter the same antenna beam as shown by the targets 35 and 36, two targets are detected and displayed as separate targets when they exist in different antenna beams. However, when entering the same antenna beam, the target was detected and displayed as one target. Conversely, as shown in FIG. 18, the two targets 35 and 36 existing in the same antenna beam are separated, separated by more than the antenna beam width, and separated by another antenna beam as indicated by the targets 38 and 39. In the conventional multi-target search and tracking mode, when the target is located within the same antenna beam, the target is detected and displayed as one target.
Since it is detected and displayed as two targets when it is separated by more than the antenna beam width, it is displayed as if the target suddenly appeared,
In the RAM mode, the target 39 deviated from the antenna beam was lost.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. In a multi-target search / tracking mode, a plurality of target separation processes are performed on a tracked target, so that an antenna beam is obtained. If there are multiple goals within,
An object is to obtain a device having a function of separating the plurality of targets and displaying the separated targets.

Further, the present invention provides a multi-target search and tracking
In addition to performing multiple target separation processing in the antenna beam for the tracking target and detecting and displaying multiple targets in the antenna beam, when multiple targets are detected, from the data in the target data file, The number of targets tracked up to that point is compared with the number of tracking targets including targets separated as multiple targets, and if the number of tracking targets has increased beyond that, tracking the separated targets as new targets If the processing is performed and the number of tracking targets is equal to the number of tracking targets up to that time, the separated target is the existing tracking target, so that a device having a function of not performing new tracking processing on the separated target should be obtained. The purpose is.

According to the present invention, when a tracking target tracked by two antenna beams approaches during multi-target search and tracking, and the tracking targets are located within the same antenna beam, a single target is set for each target. It is an object of the present invention to obtain an apparatus having a process in which target tracking processing is performed once and two target tracking processing slots are used for registration of a target, and a single target separation processing slot is used instead. .

Further, the present invention provides a multi-target search and tracking
When a plurality of targets existing in the same antenna beam are separated from each other and are present in different antenna beams, the tracking processing performed in one of the plurality of target processing slots is changed to the target tracking processing slot 2. It is an object of the present invention to obtain an apparatus having a process of performing tracking by individuals.

According to the present invention, when a plurality of targets are detected in the multi-target separation mode and the mode is changed to the multi-target search and tracking mode, the detected targets are not tracked in the multi-target separation mode. In this case, an object is to obtain an apparatus having a function of executing a tracking process based on a plurality of target separation processes from the beginning instead of a tracking process based on a single target tracking process.

[0013]

A monopulse radar apparatus according to the present invention separates one of the slots assigned to a tracking target processing slot into a plurality of target processing slots by an execution processing controller of a data processor in a conventional signal processor. A function to assign to a processing slot, a function to execute a single target tracking process for a target tracking processing slot, and then to execute a plurality of target separation processing slots for a tracking target, and the number of targets is two or more based on a result of the multiple target separation processing. In this example, a target number determiner for determining whether a target is a plurality of targets is added.

Further, the monopulse radar apparatus according to the present invention assigns one of the tracking target slots in the execution processing controller of the data processor in the conventional signal processor to a plurality of target separation processing slots, and executes the execution processing. After executing the single target tracking process for the target of the tracking target slot in the controller as a whole, next, the multiple target separation process is performed for the tracking target instead of the single target tracking process, and the In addition to adding the function of separating multiple targets, the number of targets is determined from the result of the multiple target separation processing. If the number of targets is two or more, the separated target and the number of other tracking targets are tracked until then. A target number determiner is added to determine whether a newly detected target or a target that is already being tracked depends on whether the target number has increased compared to the target number that has been tracked.

[0015] The monopulse radar device according to the present invention comprises:
In the multi-target search and tracking mode, the number of targets is determined from the result of the multi-target separation processing. By comparing whether the target number is increasing or not, a target number determiner for determining whether the target is a newly detected target or a target already being tracked is added, and the target number determiner is added to the execution processing controller. If it is determined that the target already being tracked exists in the same antenna beam,
A single target tracking process is executed by allocating a total of two tracking target slots to each other, but a function of executing a plurality of target separation processes in one slot is added.

Further, in the monopulse radar apparatus according to the present invention, in the multi-target search and tracking mode, the number of targets is determined from the result of the multiple-target separation processing, and when the number of targets is two or more,
Compare the separated target and the number of other tracking targets with the total number of tracking targets so far, and determine whether the target number has increased.
A target number determiner for determining whether the target is a newly detected target or a target that is already being tracked is added. When a plurality of targets are present in the antenna beam, one of the tracking target slots is added to the execution processing controller. Is assigned to the multiple target separation process and the tracking process is performed by the multiple target separation process.If the target number is smaller than the previous time when the multiple target separation process assigned above is performed, that is, the same antenna beam When the target that existed within moves to a different antenna beam apart, the multiple target separation processing slot allocated for tracking is changed to a single tracking activation slot,
A function of tracking each target by a single target tracking process is added.

The monopulse radar device according to the present invention is:
The execution processing controller compares the information of the target detected in the multi-target search and tracking mode with the target information in the multi-target separation mode when the radar mode transitions from the multi-target search and tracking mode to the multi-target search and tracking mode. In the case of the same target, a function is added in which the target is registered in a plurality of target separation processing slots, and tracking is performed in the plural target separation processing.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a configuration diagram of an apparatus showing a first embodiment of the present invention.
Is exactly the same as the above-mentioned conventional device. In the conventional execution processing controller 7b, in the multi-target search and tracking mode, the target search processing by the search target detector 6a and the detection processing of the speed, distance, and direction of the single tracking target by the single tracking target detector 6b are alternately performed. Although the processing instruction has been output to be executed, a single target tracking process is newly performed on all the targets in the target tracking processing slot, and then the multiple target separation process by the multiple target detector 6c is performed. This is an execution processing controller with added functions. Reference numeral 7c denotes a target number determiner that instructs the display 9 to display the target when the target number is two or more based on the result of the multiple target separation processing. Reference numeral 8 denotes a signal processor having a target detector 6 and a data processor 7.

FIG. 2 is a flowchart showing the processing in the monopulse radar device configured as described above.
Processes 3, 15, and 21 are exactly the same as those of the above-described conventional apparatus. Reference numeral 14 indicates whether the single target tracking process has been executed for the target tracking process slots (in the first embodiment, the case of 3 is shown as an example), that is, the target tracking process slots for which the single target tracking process has not been executed. Indicates the presence or absence. Reference numeral 15 indicates that the single target tracking process is executed when the above determination is Yes. Reference numeral 16 indicates that the slot number T is incremented by 1 and the process moves to the next target tracking processing slot. 17 is when the above determination is No, that is, when the single target tracking process has been executed for all the tracking targets,
7 illustrates performing a multiple target separation processing slot that separates multiple targets in an antenna beam. Reference numeral 18 indicates that the tracking target slot number T is reset to the initial value. 1
Reference numeral 9 indicates that if the target number is two or more as a result of performing the multiple target separation processing, the targets corresponding to the detected target number are displayed. Reference numeral 20 denotes a determination as to whether to stop the execution of the TWS mode.

According to the first embodiment, when the target moves as shown in FIG.
In the case of 8, two targets are detected and registered in the target tracking processing slots, respectively, whereby the targets 37 and 38 are tracked by the single target tracking processing. After the single tracking target process is executed for the target registered in the target tracking slot, a plurality of target separation processes are executed for the target 37, and the target 37 is registered again in the target tracking slot. A single target tracking process is performed on each of the targets 37 and 38, and then a multiple target separation process is performed on the target 38. In the case of the targets 37 and 38, since there is no other target in the same antenna beam, there is no change in display due to the execution of the multiple target separation processing. In the case of the targets 35 and 36, the target is detected as one target, and one target (here, the target 35 is detected) is registered in the target tracking processing slot. Tracking is performed by tracking processing. After the single tracking target process is executed for one target registered in the target tracking slot, a plurality of target separation processes are performed for the target 35, and it is detected that the target 36 exists in addition to the target 35. You. Therefore, the target 35 is added to the display of only the target 35 and the target 1 so far, and the two targets are displayed.

FIG. 3 is a diagram showing the transition of the radar mode and signal processing of the first embodiment based on the processing flow chart of FIG. 2 and the operation of the pilot. The signal processing contents of 30 to 32 are the same as those of the conventional monopulse radar apparatus. Is the same as the signal processing in. In Embodiment 1, a plurality of targets in the antenna beam are separated and
The pilot search for detection and the change of radar mode are not performed.Instead, the monopulse radar device automatically performs separation processing of multiple targets for each tracking target during multi-target search tracking mode. To indicate that

Embodiment 2 FIG. FIG. 4 is a configuration diagram of an apparatus showing a second embodiment of the present invention.
7a and 9 are exactly the same as the above-mentioned conventional apparatus. In the multi-target search / tracking mode, the conventional execution processing controller 7b alternately performs target search processing by the search target detector and detection processing of the speed, distance, and orientation of the single tracking target by the single tracking target detector. As described above, a processing instruction was output, but a new function has been added to perform multiple target separation processing by multiple target detectors after single target tracking processing has been executed for all targets in the target tracking processing slot. This is the execution processing controller. 7c, when the number of targets is two or more based on the result of the multiple target separation processing, a comparison is made with the number of tracking targets to determine whether the target is a new target or a target already being tracked. Is a target number determiner for executing tracking processing. Reference numeral 8 denotes a signal processor having a target detector 6 and a data processor 7.

FIG. 5 is a flowchart showing the processing in the monopulse radar device configured as described above.
Processes 3, 15, and 21 are exactly the same as those of the above-described conventional apparatus. Numeral 14 indicates whether the single target tracking process has been executed for the target tracking process slots (in the second embodiment, the case of 3 is shown as an example), that is, the target tracking process slots for which the single target tracking process has not been executed. Indicates the presence or absence. Reference numeral 15 indicates that the single target tracking process is executed when the above determination is Yes. Reference numeral 16 indicates that the slot number T is incremented by 1 and the process moves to the next target tracking processing slot. 17 is to execute a multi-target separation process for separating a plurality of targets in an antenna beam when the determination in the above 14 is No, that is, when the single target tracking process has been executed for all the tracking targets. Is shown. Reference numeral 18 indicates that the slot number T is reset to the initial value. 19, when the target number is 2 or more as a result of performing the multiple target separation process,
Indicates that the display of the detected target is performed. 41 is
This indicates that it is determined whether or not the target number B _O that has been tracked so far is smaller than the tracking target number B _N obtained by adding the separated targets and the tracking target number other than the execution of the multiple target separation processing. Reference numeral 42 denotes that when the determination in the above 41 is Yes, that is, when the number of targets has increased, the separated target is registered as a new target, and a single target tracking process is performed on the newly registered new target. Is carried out. Reference numeral 20 denotes a determination as to whether or not to suspend the execution of the TWS mode.

According to the above-described processing, in the second embodiment, the following processing is performed in addition to the detection and display of two targets existing in the same antenna beam performed in the first embodiment. When two or more targets are detected in the same antenna beam, the number of tracking targets is compared. As a result, when the number of targets is increasing, that is, as shown in FIG. When a target 36 that is not detected in the same antenna as the target 35 but is not detected as shown in FIG. 16 is newly detected instead of the target that has entered the same antenna beam, the detected target 36 is set as a target tracking processing slot. The registration is performed, and the single target tracking process is also performed for the target 36.

Embodiment 3 FIG. 6 is a configuration diagram of an apparatus showing a third embodiment of the present invention.
7a and 9 are exactly the same as the above-mentioned conventional apparatus. In the conventional execution processing controller 7b, in the multi-target search and tracking mode, the search target detection processing by the search target detector and the detection processing of the speed, distance and direction of the single tracking target by the single tracking target detector are alternately performed. Output a processing instruction so that a single target tracking process is newly performed on all targets in the target tracking processing slot, and then a function of performing a multi-target separation process by a multi-target detector is performed. In addition, the tracking target existing in another antenna beam approaches the other tracking target, and there are two tracking targets in the same antenna beam, and separation cannot be performed by single target tracking processing When the separation is possible by the multiple target separation process, the execution processor is provided with a function of executing the multiple target separation process instead of performing the single target tracking process for each of the two targets. 7c, when the number of targets is two or more based on the result of the multiple target separation processing, a comparison is made with the number of tracking targets to determine whether the target is a new target or a target already being tracked. Is a target number determiner for executing tracking processing. Reference numeral 8 denotes a signal processor having a target detector 6 and a data processor 7.

FIG. 7 is a flow chart showing processing in the monopulse radar apparatus configured as described above.
Processes 13, 15, and 21 are exactly the same as those in the above-described conventional apparatus. Reference numeral 14 denotes whether the single target tracking process has been executed for the target tracking process slots (the third embodiment shows an example of 3), that is, the target tracking process slots for which the single target tracking process has not been executed are determined. Indicates the presence or absence. Reference numeral 15 indicates that the single target tracking process is executed when the above determination is Yes. 16 is the slot number T
Is increased by 1 to indicate that the process moves to the next target tracking processing slot. 17 is when the above determination is No, that is, when the single target tracking process has been executed for all the tracking targets,
Indicates that a multi-target separation process for separating a plurality of targets in the antenna beam is performed. 18 is the slot number T
Is reset to the initial value. Reference numeral 19 indicates that if the number of targets is two or more as a result of performing the multiple target separation processing, display for the detected targets is performed. 41 indicates that it is determined whether or not the target number B _O that has been tracked so far is smaller than the tracking target number B _N obtained by adding the tracking targets other than the separated target and the multiple target separation processing. 4
2 indicates that if the determination in 41 is Yes, that is, if the number of targets has increased, the separated target is registered as a new target, and a single target tracking process is performed on the newly registered new target. Is carried out. Reference numeral 43 denotes a case where the determination of the above 41 is No, that is, when two targets that have already been tracked enter the same antenna beam as shown in FIG.
One of the two target tracking processing slots allocated to the tracking targets is allocated to one multiple target separation processing slot, and two targets are tracked by the multiple target separation processing. The slot indicates that it is used for the single target tracking process. Reference numeral 20 denotes a determination as to whether to stop the execution of the TWS mode.

According to the above-described processing, in the third embodiment, the detection and display of two targets existing in the same antenna beam performed in the second embodiment and the case where the target in the same antenna beam is a new target The following processing is performed in addition to the processing for performing the single target tracking processing. When two targets are detected in the same antenna beam, the number of tracking targets is compared, and as a result, when the target number does not change, that is, the target existing in another antenna beam as shown in FIG. When the target antennas are present in the same antenna beam, the targets 35 and 36 registered in the target tracking processing slots are released, and the tracking processing of the targets 35 and 36 is performed using one target separation processing slot instead. I do. As a result, the number of slots to be activated decreases from two target tracking processing slots to one target separation processing slot.

Embodiment 4 FIG. 8 is a configuration diagram of an apparatus showing a fourth embodiment of the present invention.
7a and 9 are exactly the same as the above-mentioned conventional apparatus. In the conventional execution processing controller 7b, in the multi-target search and tracking mode, the search target detection processing by the search target detector and the detection processing of the speed, distance and direction of the single tracking target by the single tracking target detector are alternately performed. Output a processing instruction so that a single target tracking process is newly performed on all targets in the target tracking processing slot, and then a function of performing a multi-target separation process by a multi-target detector is performed. In addition, the tracking target existing in another antenna beam approaches the other tracking target, and there are two tracking targets in the same antenna beam, and separation cannot be performed by single target tracking processing When the separation can be performed by the multiple target separation processing, a function of executing the multiple target separation processing instead of the single target tracking processing for the two targets is added, and the two targets that are tracked by the multiple target separation processing are added. When the target is reduced to one, which is executing process controller by adding a process of switching to single target tracking process. 7c compares the target number with the tracking target number when the target number is two or more from the result of the multiple target separation processing,
A target number determiner that determines whether the target is a new target or a target that is already being tracked, and executes a tracking process in the case of a new target. 8
Is a signal processor having a target detector 6 and a data processor 7.

FIG. 9 is a flow chart showing processing in the monopulse radar apparatus configured as described above.
Processes 13, 15, and 21 are exactly the same as those in the above-described conventional apparatus. Numeral 14 indicates whether the single target tracking process has been executed for the target tracking process slots (the case of 3 is shown as an example in the fourth embodiment), that is, the target tracking process slots for which the single target tracking process has not been executed. Indicates the presence or absence. Reference numeral 15 indicates that the single target tracking process is executed when the above determination is Yes. 16 is the slot number T
Is increased by 1 to indicate that the process moves to the next target tracking processing slot. 17, when the above determination is No, that is, when the single target tracking process has been executed for all the tracking targets, the multiple target separation process for separating the multiple targets in the antenna beam is executed. Show. Reference numeral 18 indicates that the slot number T is reset to the initial value. Reference numeral 44 indicates that it is determined whether the target number as a result of performing the multiple target separation process is two or more. Reference numeral 45 indicates that when the determination in the above step 44 is No, the determination is made as to whether or not the target number is two or more in the previous multiple target separation process. 46, when the determination in the above 45 is Yes, that is, when two targets in the same antenna beam are separated as shown in FIG. 18, the tracking performed by allocating a plurality of target separation processing slots is performed by a single target. This indicates that the processing is performed by the tracking processing.
41 indicates that it is determined whether or not the target number B _O that has been tracked so far is smaller than the tracking target number B _N obtained by adding the tracking targets other than the separated target and the multiple target separation processing. Reference numeral 42 denotes that when the determination in the above 41 is Yes, that is, when the number of targets has increased, the separated target is registered as a new target, and a single target tracking process is performed on the newly registered new target. Is carried out. 43, when the determination in 41 is No, one of the two target tracking processing slots allocated to the two tracking targets is assigned to the multiple target separation processing, and
Target tracking is performed, and the remaining one slot is used for single target tracking processing. Reference numeral 20 denotes a determination as to whether to stop the execution of the TWS mode.

According to the above-described processing, in the fourth embodiment, two targets 35 and 36 existing within the same antenna beam and being tracked by one multiple target separation processing slot are connected to different antenna beams as shown in FIG. , The two targets registered in the plurality of target separation processing slots are canceled, each is registered again in the target tracking processing slot, and the single target tracking processing is executed for each.

Embodiment 5 FIG. 10 is a configuration diagram of an apparatus according to Embodiment 5 of the present invention.
6, 7a and 9 are exactly the same as the conventional apparatus described above. In the conventional execution processing controller 7b, in the multi-target search and tracking mode, the search target detection processing by the search target detector and the detection processing of the speed, distance and direction of the single tracking target by the single tracking target detector are alternately performed. Output a processing instruction so that a single target tracking process is newly performed on all targets in the target tracking processing slot, and then a function of performing a multi-target separation process by a multi-target detector is performed. Add
Further, when the detected target is a target that has been set as a plurality of targets in the multi-target separation mode, the execution processing controller adds processing for executing tracking in the multi-target separation processing. 7c is
This is a target number determination unit that instructs the display unit to display the target when the target number is two or more based on the result of the multiple target separation processing. Reference numeral 8 denotes a signal processor having a target detector 6 and a data processor 7.

FIG. 11 is a flowchart showing the processing in the monopulse radar apparatus configured as described above.
Processes 13, 15, and 21 are exactly the same as those of the above-described conventional apparatus. 47, a multiple target separation mode is executed,
Indicates that multiple targets are present in the antenna beam. 4
Reference numeral 8 indicates that the target detected in the multi-target search and tracking mode is compared with the target information of the target tracked in the multiple-target separation mode to determine whether the target is another target or the same target. 49 is a case where the determination of the above 48 is No, that is, when the detected target and the target tracked in the multiple target separation mode are the same, the target is registered in the multiple target separation processing slot, and the tracking is performed by the multiple target separation processing. Indicates that processing is to be performed. Numeral 14 indicates whether the single target tracking process has been executed for the target tracking process slots (the case of 3 is shown as an example in the fourth embodiment), that is, the target tracking process slots for which the single target tracking process has not been executed. Indicates the presence or absence. Reference numeral 15 indicates that the single target tracking process is executed when the determination in the above 14 is Yes. Reference numeral 16 indicates that the slot number T is incremented by 1 and the process moves to the next target tracking processing slot. 17 is to execute a multi-target detection process for separating a plurality of targets in an antenna beam when the determination in the above 14 is No, that is, when the single tracking target process has been executed for all the tracking targets. Is shown. Reference numeral 18 indicates that the slot number T is reset to the initial value. 20 is T
This shows a determination as to whether to suspend the execution of the WS mode.

According to the fifth embodiment by the above processing, FIG.
As shown in FIG. 5, when a transition is made to the multi-target search and tracking mode after performing the multiple target separation processing mode (RAM mode) for two targets in the same antenna beam, the detected target is tracked in the RAM mode. If the target is the same as the target, the detected target is registered not in the target tracking processing slot but in the multiple target separation processing slot, and tracking by the multiple target separation processing is performed from the beginning.

[0034]

According to the present invention, in addition to the single target tracking processing for each tracking target in the multi-target search and tracking mode,
Since the monopulse radar device performs the separation processing of multiple targets in the antenna beam, it is not necessary for the pilot to perform radar mode change operation for separation of multiple targets,
The load on the pilot can be reduced. In addition, to detect multiple targets in the antenna beam of the tracking target while displaying the detection result of multi-target search and tracking, confirm the multiple target information in the antenna beam while always displaying the status of all tracking targets. can do.

According to the present invention, in the multi-target search / tracking mode, a plurality of targets in the antenna beam are separated, and tracking processing is performed on the separated targets in the case of a new target.
Multi-target search and tracking can be performed on all detected targets.

According to the present invention, when the tracking targets that existed in different antenna beams in the multi-target search and tracking mode enter the same antenna beam, a total of two tracking targets are separately provided until then. Since the single target tracking processing that has been executed twice is replaced with one multiple target separation processing, the processing time for the tracking target is reduced. As a result, the time required for re-pointing the antenna beam and performing the tracking process for the tracking target that once performed the tracking process also decreases, so the possibility of losing the target even if the tracking target changes suddenly decreases. I do.

According to the present invention, when a plurality of targets existing in the same antenna beam in the multi-target search and tracking mode are separated into separate antenna beams, the plurality of targets up to that point are collectively separated into a plurality of targets. In order to change the tracking performed by the processing to single target tracking processing,
Target distance and speed information can be detected in more detail.

According to the present invention, if it has been previously confirmed that a plurality of targets exist in the same antenna beam in the multi-target separation mode, even if the mode transits to the multi-target search-and-tracking mode, the plurality of confirmed targets are determined. Since the target is tracked by the multiple target separation processing without performing the single target tracking processing, the multiple targets can be detected earlier.

[Brief description of the drawings]

FIG. 1 is a diagram showing Embodiment 1 of a monopulse radar device according to the present invention.

FIG. 2 is a diagram showing processing of the first embodiment of the monopulse radar device according to the present invention.

FIG. 3 is a diagram showing a process of the monopulse radar device according to the first embodiment of the present invention and a relationship between radar mode transition and operation.

FIG. 4 is a diagram showing Embodiment 2 of the monopulse radar device according to the present invention.

FIG. 5 is a diagram showing a process in a second embodiment of the monopulse radar device according to the present invention.

FIG. 6 is a diagram showing Embodiment 3 of the monopulse radar device according to the present invention.

FIG. 7 is a diagram showing processing of a third embodiment of the monopulse radar device according to the present invention.

FIG. 8 is a diagram showing a fourth embodiment of the monopulse radar device according to the present invention.

FIG. 9 is a diagram showing a process of a fourth embodiment of the monopulse radar device according to the present invention.

FIG. 10 is a diagram showing Embodiment 5 of a monopulse radar device according to the present invention.

FIG. 11 is a diagram illustrating a process of a fifth embodiment of the monopulse radar device according to the present invention;

FIG. 12 is a diagram showing a conventional monopulse radar device.

FIG. 13 is a diagram showing processing of a conventional monopulse radar device.

FIG. 14 is a diagram showing the processing of a conventional monopulse radar apparatus and the relationship between radar mode transition and operation.

FIG. 15 is a diagram showing a case where two targets exist in the same antenna beam.

FIG. 16 shows two targets in the same antenna beam,
FIG. 7 is a diagram illustrating a case where one target exists in another antenna beam.

FIG. 17 is a diagram illustrating an example of a flight in a case where two targets existing in different antenna beams approach each other and two targets exist in the same antenna beam.

FIG. 18 is a diagram illustrating an example of a flight in a case where two targets existing in the same antenna beam are separated from each other and exist in different antenna beams.

[Explanation of symbols]

Reference Signs List 1 antenna, 2 beam controller, 3 exciter, 4 circulator, 5 receiver, 6 target detector, 6a search target detector, 6b single tracking target detector, 6c multiple target detector, 7 data processor, 7a Equipment controller, 7
b Execution processing controller, 7c Target number judgment unit, 8 signal processor, 9 display.

Claims (5)

[Claims] 1. An antenna that radiates a transmission wave in a space in a specific direction and receives a reflected wave from a target, a beam controller that controls the beam direction of the antenna, an exciter that generates a transmission wave, A receiver for converting a reception signal received by the antenna into a digital video reception signal; a search target detector for detecting the presence of a target in an antenna beam from the digital video reception signal; and an antenna directed to a tracking target direction A single tracking target detector for detecting the presence of a single target in the beam, a multiple target detector for separating multiple targets in the same antenna beam, the search target detector, the single tracking target detector, and a plurality A target detector having a target detector, and a device for performing a single target tracking process for all the tracking targets during multi-target search tracking and then performing a multiple target separation process for the tracking target. An execution processing controller for controlling the processing to be executed by the target information and the operation from the operator, and processing the target information from the target detector and sending a control signal to the exciter, and converting the beam directivity angle data. A device controller for sending to the beam controller, a target number determiner for determining a target number from a result of the multiple target separation processing, and a data processor having the execution processing controller, a device controller, and a target number determiner A signal processor having the target detector and a data processor, and a display for displaying target information output from the data processor.
Monopulse radar device. 2. An antenna that radiates a transmission wave in a space in a specific direction and receives a reflected wave from a target, a beam controller that controls beam directivity of the antenna, an exciter that generates a transmission wave, A receiver for converting a reception signal received by the antenna into a digital video reception signal; a search target detector for detecting the presence of a target in an antenna beam from the digital video reception signal; and an antenna directed to a tracking target direction A single tracking target detector for detecting the presence of a single target in the beam, a multiple target detector for separating multiple targets in the same antenna beam, the search target detector, the single tracking target detector, and a plurality A target detector having a target detector, and a device for performing a single target tracking process for all the tracking targets during multi-target search tracking and then performing a multiple target separation process for the tracking target. An execution processing controller for controlling the processing to be executed by the target information and the operation from the operator, and processing the target information from the target detector and sending a control signal to the exciter, and converting the beam directivity angle data. Determines the target number from the device controller to be sent to the beam controller and the result of the multiple target separation processing, compares the total target number of the results with the tracking target number up to then, and checks whether a new target is already being tracked. Target number determiner having a function of determining whether the target is a tracking target, a data processor having the execution processing controller, the device controller and the target number determiner, and a signal processor having the target detector and a data processor And a display for displaying target information output from the data processor,
Monopulse radar device. 3. An antenna that radiates a transmission wave to a space in a specific direction and receives a reflected wave from a target, a beam controller that controls a beam direction of the antenna, an exciter that generates a transmission wave, A receiver for converting a reception signal received by the antenna into a digital video reception signal; a search target detector for detecting the presence of a target in an antenna beam from the digital video reception signal; and an antenna directed to a tracking target direction A single tracking target detector for detecting the presence of a single target in the beam, a multiple target detector for separating multiple targets in the same antenna beam, the search target detector, the single tracking target detector, and a plurality A target detector having a target detector, and a device for performing a single target tracking process for all the tracking targets during multi-target search tracking and then performing a multiple target separation process for the tracking target. When there are two or more tracking targets in the same antenna beam, it has a function to execute target tracking processing by multiple target separation processing, and controls processing executed by target information and operation by an operator. An execution controller for processing the target information from the target detector, transmitting a control signal to the exciter, and transmitting beam directivity angle data to the beam controller; The target number is determined from the result, the total target number of the result is compared with the tracking target number up to that point, and the function of determining whether the target is a new target or a tracking target that is already being tracked is separated from the target by another antenna beam. A target number determiner having a function of determining whether the two targets detected in the above are within the same antenna beam, and a data processor having the execution processing controller, the equipment controller, and the target number determiner. And vessels, characterized by comprising a signal processor having the target detector and a data processor, and a display for displaying the target information output from the data processor, a monopulse radar apparatus. 4. An antenna that radiates a transmission wave in a space in a specific direction and receives a reflected wave from a target, a beam controller that controls a beam direction of the antenna, an exciter that generates a transmission wave, A receiver for converting a reception signal received by the antenna into a digital video reception signal; a search target detector for detecting the presence of a target in an antenna beam from the digital video reception signal; and an antenna directed to a tracking target direction A single tracking target detector for detecting the presence of a single target in the beam, a multiple target detector for separating multiple targets in the same antenna beam, the search target detector, the single tracking target detector, and a plurality After performing a single target tracking process for all the tracking targets during multi-target search tracking with a target detector having a target detector, the multi-target separation process is automatically performed for the tracking targets. When a plurality of tracking targets existing in the same antenna beam move away from each other and the number of targets existing in the antenna beam becomes one, the tracking by the multiple target separation process is performed. An execution processing controller that has a function of switching to one target tracking processing and controls processing performed by target information and an operation by an operator; and a processing signal that processes target information from the target detector and sends a control signal to the exciter. A device controller that sends beam directivity angle data to the beam controller, a target number is determined from the result of the multiple target separation processing, and the total target number of the result is compared with the tracking target number until then, Number of targets with a function to determine whether the target is a new target or a tracking target that is already being tracked, and a function to determine whether two targets whose separated targets are detected by different antenna beams are within the same antenna beam A data processor having an execution processing controller, an equipment controller, and a target number determiner; a signal processor having the target detector and a data processor; and target information output from the data processor. A monopulse radar apparatus comprising: 5. An antenna that radiates a transmission wave in a space in a specific direction and receives a reflected wave from a target, a beam controller that controls the beam directivity of the antenna, an exciter that generates a transmission wave, A receiver for converting a reception signal received by the antenna into a digital video reception signal; a search target detector for detecting the presence of a target in an antenna beam from the digital video reception signal; and an antenna directed to a tracking target direction A single tracking target detector for detecting the presence of a single target in the beam, a multiple target detector for separating multiple targets in the same antenna beam, the search target detector, the single tracking target detector, and a plurality A target detector having a target detector, and a device for performing a single target tracking process for all the tracking targets during multi-target search tracking and then performing a multiple target separation process for the tracking target. Having a function of performing a multi-target separation process and tracking a target that has been tracked in the multi-target separation mode when transitioning from the multi-target separation mode to the multi-target search and tracking mode, An execution processing controller for controlling the target information and processing to be executed by an operation from an operator, and processing the target information from the target detector and sending a control signal to the exciter, and transmitting beam pointing angle data to the beam controller. A device controller for sending, a target number determiner having a function of determining a target number from a result of the multiple target separation processing,
A data processor having the execution processing controller, a device controller, and a target number determiner; a signal processor having the target detector and a data processor; and a display for displaying target information output from the data processor. A monopulse radar device, comprising: