JPH11166965A - Angle measurement signal processing device and angle measurement signal processing method in it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an angle measurement signal processing device for obtaining a more accurate incidence angle estimation result and an angle measurement signal processing method in the device when a plurality of coherent waves enter an actual array antenna that is not an equal interval linear array. SOLUTION: A correlation matrix Bc RBcH is calculated by an array conversion matrix B and a correlation matrix R, the correlation matrix Bc RBcH is subjected to space smoothing processing and a correlation matrix Rc is calculated by a second space smoothing matrix calculation means 17, the correlation matrix Rc is subjected to MUSIC angle measurement processing and the incidence angle of waves is estimated by a second MUSIC angle measurement processing means 18, and the incidence angle of waves is displayed by an angle measurement result outputting means 19.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angle-measuring signal processing apparatus capable of obtaining a more accurate result of estimation of an incident angle when a plurality of mutually coherent radio waves and sound waves are incident on a real array antenna which is not an evenly spaced linear array. And an angle measurement signal processing method in the angle measurement signal processing apparatus.

[0002]

2. Description of the Related Art FIG.
r, Weiss, @Direction Findin
g Using Spatial Smoothing
with Interpolated Array
s, IEEE Trans. AES-28,2, pp5
74 is a configuration diagram showing an angle measurement signal processing device using an array antenna disclosed in (1992),
In the drawing, 1 is an element antenna constituting an array antenna, 2 is an A / D converter for converting a received signal from each element antenna 1 into a digital signal x, and 3 is a plurality of digital antennas via an A / D converter 2. This is an angle measurement signal processing device that receives a received signal x.

[0003] The processing method of the angle measurement signal processing device 3 is MUS
This is an IC algorithm that independently estimates the incident angles (interference separation measurement angles) of a plurality of radio waves using eigenvectors obtained by eigendecomposition of the received signal correlation matrix R. Here, the correlation matrix R is an M × M Hermitian matrix, where M is the number of element antennas, and its (n, m)
Elements are those given by the correlation value between the first n received signal x _n and the m reception signals x _m. When a plurality of incident radio waves are completely correlated (coherent) with each other, the
In principle, the SIC algorithm cannot perform interference separation angle measurement. Therefore, when a coherent wave is incident, interference separation angle measurement can be realized by performing a pre-process called spatial smoothing.

[0004] The spatial smoothing process is to divide an array antenna into a plurality of sub-arrays similar to each other and average the received signal correlation matrices R _S obtained in each sub-array. That is, MUSIC processing is performed on R obtained by the following equation (1).

R = Σ _i R _S ⁱ (1)

Here, i is an integer indicating the number of the sub-array, and R _S ⁱ is a received signal correlation matrix of the i-th sub-array. In order for the spatial smoothing process to be effective, the element array of the sub-array and the directivity pattern must be similar to each other. The entire array antenna array that satisfies such conditions and maximizes the use efficiency of the element antenna 1 is a linear array at equal intervals.

However, the actual array antenna arrangement is not a linear array at regular intervals (a circular array is often used because the size of the entire antenna and observation in all directions are uniform). In such a case, the received signal X of the real array antenna is converted to a signal x￣ (hereinafter, this symbol ￣ indicates a value related to the virtual array antenna) when received by a virtual equally spaced linear array antenna, A spatial smoothing type MUSIC angle measurement process is performed on the received signal x￣. That is, x is an M × 1 received signal vector, and B is an M × M transformation matrix.

X￣ = Bx (2)

And a correlation matrix B obtained by the following equation:
A matrix R ′ obtained by spatial smoothing RB ^H
C Angle measurement processing is performed.

R ′ = Σ _i [BRB ^H ] _S ⁱ (3)

Here, [BRB ^H ] _S ⁱ is a sub-matrix of BRB ^H and is a received signal correlation matrix of the i-th sub-array. Also,
Correlation matrix BRB ^H corresponds to the correlation matrix of received signal x￣.

Next, the concept of conversion from a real array antenna to a virtual linear array antenna will be described. FIG. 13 is a conceptual diagram showing the concept of conversion from a real array antenna to a virtual linear array antenna. The conversion matrix B from the real array antenna to the virtual linear array antenna is basically defined by the following equation.

A￣ (θ) = Ba (θ) (4) a￣ (θ): Steering vector of virtual array antenna θ: Incident angle

The steering vector a (θ) of the real array antenna is an M × 1 vector, and the m-th element is an amplitude / phase change of a radio wave arriving from the incident angle θ of the m-th element antenna with respect to a certain reference value. B is ideally a transformation matrix that satisfies the expression (4) over the entire range of angles in which radio waves can enter, but is actually obtained as follows.

.., Θ ^(P) (hereinafter referred to as an angle sector) corresponding to P different angles θ ⁽¹⁾ , θ ⁽²⁾ ,. Consider a matrix A defined by an array steering vector a and a matrix defined by a virtual equally spaced linear array steering vector a ベ ク ト ル. A and A￣ are (M × P) matrices defined by the following equations, respectively.

[0016] ^{A ≡ [a (θ (1} )) ··· a (θ (P))] ··· (5) A¯≡ [a¯ (θ (1)) ··· a¯ (θ ( ^P) )] ... (6) ≡: Means to define

The angular sectors θ ⁽¹⁾ , θ ⁽²⁾ ,..., Θ ^{(P )} in the equations (5) and (6) are given so as to cover the entire angle range in which radio waves can be incident. Can be That is, if the angle range radio waves can incident 0 to 360 degrees, for example, θ ⁽¹⁾ = ¹ °, θ ⁽²⁾ = ² °, ··· θ ^(P)
= 360 degrees.

At this time, the array transformation matrix B ideally satisfies the following equation, but such a solution generally does not exist.

A￣ = BA (7)

Therefore, the array transformation matrix B is determined by considering equation (7) as a least squares problem of the following equation.

Evaluation function Ψ = {BA−A} _F ² (8) Evaluation function Ψ = {p = ₁ ^P {a} (θ (p)) − Ba (θ (p))} ^2.・ (9)

The array transformation matrix B is determined as a matrix that minimizes the matrix norm on the right side of equation (8). Note that the evaluation function の in Expression (8) is equivalent to the evaluation function Ψ in Expression (9).

Next, the operation will be described. FIG. 14 is a flowchart showing a method for processing an angle measurement signal of a conventional angle measurement signal processing apparatus. First, the angle-measuring signal processing device 3 sets a steering vector a 仮 想 (virtual array antenna array) of a virtual equally-spaced linear array (step ST1), and calculates an array transformation matrix by using equations (5), (6), and (7). B is calculated (step ST2). Next, the angle measurement signal processing device 3 receives the received signals x ₁ , x ₂ ,... X _M via the element antennas 1 of each real array, and
Is calculated (step ST3). Next, step ST2
Correlation matrix calculating the BRB ^H in obtained using the correlation matrix R obtained by the array transformation matrix B and step ST3, the determined spatial smoothing processing correlation matrix R 'by the correlation matrix BRB ^H Formula (3) (step ST4). Then, the angle measurement signal processing device 3 performs MUSIC angle measurement processing on the spatially smoothed correlation matrix R ′ using Equation (1) (step ST5), and displays the incident angle of the wave estimated in step ST5 (step ST5). ST6).

[0024]

The conventional angle-measuring signal processing apparatus and the angle-measuring signal processing method in the angle-measuring signal processing apparatus are configured as described above, so that the reception signal from the real array to the virtual linear array is Complete conversion is difficult, and an array conversion matrix B that satisfies Expression (7) over the entire angle range in which radio waves can be incident cannot be obtained.

Therefore, the received signal x￣ (= Bx) at the virtual array antenna obtained by equation (2) has an error from the received signal of the equally spaced linear array. In other words, the matrix BRB ^H generates an error from the correlation matrix of the equally spaced linear array. As a result, there is a problem in that an error is caused in the spatial smoothing process, and finally, an error occurs in the incident angle estimation result.

The present invention has been made in order to solve the above-described problems. When a plurality of coherent waves are incident on a real array antenna which is not an evenly spaced linear array,
It is an object of the present invention to provide an angle measurement signal processing device capable of obtaining a more accurate incident angle estimation result and an angle measurement signal processing method in the angle measurement signal processing device.

[0027]

An angle measurement signal processing device according to the present invention sets a steering vector of a virtual equally-spaced linear array by virtual array array setting means, and an array defined by the steering vector of the virtual equally-spaced linear array. A conversion matrix is calculated by an array conversion matrix calculation unit, a received signal from a receiving element of each real array is observed, a first correlation matrix is calculated by a correlation matrix calculation unit, and an array conversion matrix from the array conversion matrix calculation unit is calculated. And the first correlation matrix from the correlation matrix calculation means, calculate a second correlation matrix using the array transformation matrix and the first correlation matrix, and perform a spatial smoothing process on the second correlation matrix. Third
Is calculated by the first spatial smoothing matrix calculating means, and the spatial correlation smoothed third correlation matrix from the first spatial smoothing matrix calculating means is calculated by MU.
The SIC angle measurement process is performed, and only the coarse angle measurement result as an angle range in the vicinity of the estimated value of the incident direction of the wave is estimated by the first MUSIC angle measurement processing means. The result of the coarse angle measurement is set again as an angle sector, and an array transformation matrix defined by a steering vector of a virtual equally-spaced linear array in this angle sector is calculated by a transformation matrix recalculation means. The first matrix obtained by the array transformation matrix and correlation matrix calculation means
A fourth correlation matrix is calculated using the correlation matrix of
Are subjected to spatial smoothing processing, a fifth correlation matrix is calculated by a second spatial smoothing matrix calculating means, and the fifth correlation matrix obtained by the second spatial smoothing matrix calculating means is subjected to MUSIC angle measurement processing to obtain a wave Angle of incidence of the second MU
The angle of incidence of the wave estimated by the SIC angle measurement processing means is displayed by the angle measurement result output means.

According to the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, a conversion matrix is obtained from an actual array vector indicating the amplitude and phase responses in each reception channel of a wave incident from an approximate angle of incidence on an actual array. Subtract the integrated vector value of the virtual array vector indicating the amplitude and phase responses of the waves incident on the virtual array from the approximate angles in each receiving channel, and determine the square norm expression of the subtracted vector value and the number of the incident wave. An evaluation function which is an integrated value with the total operation value is calculated, and the conversion matrix is determined so that the evaluation function is minimized.

According to the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, a conversion matrix is obtained from an actual array vector indicating the amplitude and phase responses in each reception channel of a wave incident on an actual array from an approximate incident angle. The integrated vector value of the virtual array vector indicating the response of the amplitude and phase of each of the waves incident on the virtual array from the approximate angle in each receiving channel is subtracted, and the subtracted vector value is set within a predetermined angle range of a square norm expression. An evaluation function, which is an integrated value of the average value of the values and the total operation value of the incident wave number, is calculated, and the conversion matrix is determined so that the evaluation function is minimized.

According to the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, a cross-correlation value of an actual array vector indicating a response of an amplitude and a phase in each receiving channel of a wave incident from an approximate angle of incidence on an actual array is provided. Is obtained, an averaged correlation matrix is obtained by averaging a plurality of partial matrices of the correlation matrix, and a process of estimating a wave incident direction by the MUSIC algorithm is performed on the averaged correlation matrix. The transformation matrix is determined such that the azimuth spectrum given by the reciprocal of the inner product of the eigenvector of the correlation matrix obtained by the MUSIC algorithm and the actual array vector minimizes the average value in an angle range exceeding a predetermined value. It was made.

In the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, a correlation matrix having elements as cross-correlation values of virtual reception signals of reception channels of a virtual array is obtained, and a plurality of correlation matrices are obtained. An averaged correlation matrix was obtained by averaging the partial matrices of the above, and a process of estimating the approximate incident angle of the wave by the MUSIC algorithm was performed on the averaged correlation matrix, and the processed value was set to the approximate incident angle. Things.

According to the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, a correlation matrix having elements as cross-correlation values of virtual reception signals of reception channels of a virtual array is obtained. The averaged correlation matrix is obtained by averaging the partial matrices described above, and the angle of incidence of the wave is estimated for the averaged correlation matrix by the MUSIC algorithm or the ESPRIT algorithm.

The angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention performs a process of forming a plurality of beams directed in predetermined directions different from each other using a reception signal of a reception channel of an actual array. The process of selecting several beams having the highest power of the output signal is performed, and the directional direction of the beam extracted in the process of selecting the beam is set as the approximate incident angle.

In the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, the arrangement of the virtual array including a plurality of virtual receiving elements linearly arranged at equal intervals is adjusted to the approximate incident angle of the wave. It is determined as follows.

In the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, the arrangement of the virtual array composed of a plurality of virtual receiving elements linearly arranged at regular intervals is perpendicular to the approximate incident angle of the wave. It is to be determined to be.

The angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention is a method of processing an angle measurement signal from a real array vector representing a response of amplitude and phase in each reception channel of a wave incident from an approximate angle of incidence on a real array. Subtract the integrated vector value of the virtual array vector indicating the amplitude and phase responses of the waves incident on the virtual array from the approximate angle in each receiving channel, and determine the square norm expression of the subtracted vector value and the number of the incident wave. Calculates an evaluation function that is an integrated value of the sum of the calculated values, determines a conversion matrix so that the evaluation function is minimized, and applies the conversion matrix to the reception signal of the reception channel of the real array to obtain a conversion matrix. A process for obtaining a virtual reception signal is performed, and angle measurement processing for estimating an incident angle of a wave incident on the receiving element is performed using the virtual reception signal of the reception channel. If the difference between the estimated incident angle and the approximate incident angle is smaller than a predetermined value, the estimated incident angle is output as the angle measurement result.On the other hand, if the difference is larger, the estimated incident angle is replaced with the approximate incident angle to convert the transformation matrix. The process returns to the determination process.

The angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention is directed to a method for processing an angle measurement signal from a real array vector representing the amplitude and phase response of each of the reception channels of a wave incident from an approximate angle of incidence on a real array. The integrated vector value of the virtual array vector indicating the amplitude and phase response of the wave incident on the virtual array from each of the approximate angles in each reception channel is subtracted, and the subtracted vector value is set within a predetermined angle range of a square norm expression. An evaluation function, which is an integrated value of the average value of the values and the total operation value of the incident wave number, is calculated, and a conversion matrix is determined so that the evaluation function is minimized. Performing a process of obtaining a virtual reception signal of the reception channel by acting on the reception signal of
Angle measurement processing for estimating the angle of incidence of the wave incident on the wave receiving element using the virtual reception signal of the reception channel is performed, and the difference between the estimated angle of incidence and the approximate angle of incidence is smaller than a predetermined value. For example, the estimated angle of incidence is output as the angle measurement result, and if it is larger, the estimated angle of incidence is replaced with the approximate angle of incidence and the process returns to the process of determining the conversion matrix.

In the angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention, a correlation matrix having elements as cross-correlation values of virtual reception signals of a reception channel of a virtual array is obtained. A mean correlation matrix is obtained by averaging the partial matrices of the above, and a process of estimating the approximate incident angle of the wave by the MUSIC algorithm is performed on the averaged correlation matrix so that the incident angle of the wave is set to the approximate incident angle. It was done.

The angle measurement signal processing method in the angle measurement signal processing apparatus according to the present invention obtains a correlation matrix having elements as cross-correlation values of a virtual reception signal of a reception channel of a virtual array. The averaged correlation matrix is obtained by averaging the partial matrices described above, and the angle of incidence of the wave is estimated for the averaged correlation matrix by the MUSIC algorithm or the ESPRIT algorithm.

The angle-measuring signal processing apparatus according to the present invention receives a reception signal via a receiving element of each real array, forms a multi-beam, and calculates an output signal of each beam by beam output signal calculation means. Then, the power of the output signal of each beam is calculated by the output signal power calculating means, and the power of the output signal of each beam is compared, and several beams having the highest power are selected, whereby The incident angle of the wave is determined and output from the approximate incident angle determining means as a result of the coarse angle measurement. A transformation matrix is calculated by a transformation matrix recalculating means, and a fourth correlation matrix is calculated by using a first correlation matrix obtained from the array transformation matrix. The fifth correlation matrix is calculated by the second spatial smoothing matrix calculation means, and the fifth correlation matrix is subjected to MUSIC angle measurement processing to estimate the wave incident angle, and the second MUSIC angle measurement processing means The estimated angle of incidence of the wave is displayed by the angle measurement result output means.

In the angle measurement signal processing apparatus according to the present invention, the steering vector of the virtual equally-spaced linear array is set by the virtual array arrangement setting means, and the array conversion matrix defined by the steering vector of the virtual equally-spaced linear array is converted to the array conversion matrix. Calculated by the calculating means, observes the received signals from the receiving elements of each real array, calculates their first correlation matrix by the correlation matrix calculating means, and inputs the array transformation matrix and the first correlation matrix. Calculating a second correlation matrix using these array transformation matrices and the first correlation matrix,
The second correlation matrix is subjected to spatial smoothing processing, the third correlation matrix is calculated by first spatial smoothing matrix calculation means, the third correlation matrix is subjected to MUSIC angle measurement processing, and the angle near the estimated incident direction value is calculated. Range, and only the coarse angle measurement result is estimated by the first MUSIC angle measurement processing means. With reference to the estimated coarse angle measurement result, the element array of the virtual linear array is reset by the virtual linear array resetting means.
This coarse angle measurement result is set again as an angle sector, an array conversion matrix defined by a steering vector of a virtual equally-spaced linear array in this angle sector is calculated by a conversion matrix recalculating means, and an array conversion matrix and elements of the virtual linear array are calculated. A fourth correlation matrix is calculated using the array, the fourth correlation matrix is subjected to spatial smoothing processing, a fifth correlation matrix is calculated by second spatial smoothing matrix calculation means, and the fifth correlation matrix is calculated as MUSIC The angle measurement process estimates the incident angle of the wave by the second MUSIC angle measurement processing means, and the estimated angle of incidence of the wave is displayed by the angle measurement result output means.

In the angle measurement signal processing apparatus according to the present invention, the steering vector of the virtual equally-spaced linear array is set by the virtual array arrangement setting means, and the defined array conversion matrix is calculated by the array conversion matrix calculation means. A received signal from a receiving element of the array is observed, a first correlation matrix is calculated by a correlation matrix calculation means, and an array transformation matrix and a first correlation matrix are input.
A second correlation matrix is calculated using the correlation matrix, and the second correlation matrix is subjected to a spatial smoothing process, and a third correlation matrix is calculated by a first spatial smoothing matrix calculating unit.
This third correlation matrix is subjected to MUSIC angle measurement processing, and only the coarse angle measurement result as an angle range near the incident direction estimation value is used as the first angle.
And the estimated angle measurement result is stored in the angle measurement result storage means, and the coarse angle measurement result is reset as an angle sector, and the steering of the virtual equally-spaced linear array in this angle sector is performed. An array transformation matrix defined by a vector is calculated by a transformation matrix recalculating means, a fourth correlation matrix is calculated using the array transformation matrix and the first correlation matrix, and the fourth correlation matrix is subjected to a spatial smoothing process. The fifth correlation matrix is calculated by the second spatial smoothing matrix calculation means, the fifth correlation matrix is subjected to MUSIC angle measurement processing, and the wave incident angle is estimated by the second MUSIC angle measurement processing means. The measured angle measurement result is compared with the stored angle measurement result, and it is determined whether or not the difference is smaller than a predetermined threshold.
The angle measurement result estimated by the angle measurement processing means is output by the angle measurement result update width determination means, and the angle of incidence of the estimated wave is displayed by the angle measurement result output means.

[0043]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. Embodiment 1 FIG. FIG. 1 is a configuration diagram showing an angle measurement signal processing apparatus according to Embodiment 1 of the present invention. In FIG.
Reference numeral 2 denotes an A / D converter for converting a received signal of each element antenna into a digital signal x, and reference numeral 11 denotes a steering vector a￣ of a virtual equally spaced linear array (virtual array antenna array).
, A virtual array array setting means for setting equation (5),
An array transformation matrix calculating means 13 for calculating an array transformation matrix B according to the equations (6) and (7) observes the received signals x ₁ , x ₂ ,... X _M from the element antenna 1 of each real array. , A correlation matrix calculating means for calculating the correlation matrix R.

Reference numeral 14 inputs an array transformation matrix B from the array transformation matrix calculation means 12 and a correlation matrix R from the correlation matrix calculation means 13, and these array transformation matrix B and correlation matrix R
Is used to calculate a correlation matrix BRB ^H , and the correlation matrix B
A first spatial smoothing matrix calculating means 15 for calculating a correlation matrix R 'by performing a spatial smoothing process on RB ^H by equation (3) is a correlation matrix R' having undergone the spatial smoothing process from the first spatial smoothing matrix calculating means 14. Is the first MUSIC angle measurement processing means for performing MUSIC angle measurement processing on the basis of equation (1) and estimating an angle range near the radio wave incident angle estimated value (hereinafter, abbreviated as a coarse angle measurement result). 16 is the first
A conversion matrix for re-establishing the coarse angle measurement result estimated by the MUSIC angle measurement processing means 15 as an angle sector and calculating the array conversion matrix B again by the equations (5), (6) and (7) This is a recalculation means.

Reference numeral 17 denotes an array transformation matrix B obtained by the transformation matrix recalculation means 16 and a correlation matrix R obtained by the correlation matrix calculation means 13.
Is used to calculate the correlation matrix B _C RB _C ^H , and this correlation matrix B
The _C RB _C ^H a second spatial smoothing matrix calculation means for calculating a correlation matrix R _C and treated space smoothing. 18
Is second MUSIC angle measurement processing means for performing MUSIC angle measurement processing on the correlation matrix _RC obtained by the second spatial smoothing matrix calculation means 17 to estimate the incident angle of a wave, and 19 is second MUSIC angle measurement processing means.
C is an angle measurement result output means for displaying the incident angle of the wave estimated by the angle measurement processing means 18.

Next, the operation will be described. FIG. 2 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the first embodiment of the present invention. First, the virtual array arrangement setting means 11 sets a steering vector a￣ (virtual array antenna arrangement) of the virtual equally-spaced linear array (step ST11), and the array transformation matrix calculation means 12 calculates the equations (5), (6), and (6). An array transformation matrix B is calculated by (7) (step ST12). Next, the correlation matrix calculating means 13 receives the received signals x ₁ , x ₂ ,... X _M via the element antennas 1 of each real array, and
Is calculated (step ST13). Next, the first spatial smoothing matrix calculation means 14 calculates the array transformation matrix B obtained in step ST12 and the correlation matrix R obtained in step ST13.
Is used to calculate a correlation matrix BRB ^H , and this correlation matrix BR
B ^H is subjected to a spatial smoothing process by equation (3) to obtain a correlation matrix R ′ (step ST14).

Then, the first MUSIC angle measurement processing means 1
5 performs MUSIC angle measurement processing on the spatially smoothed correlation matrix R ′ from the first spatial smoothing matrix calculation unit 14 using Equation (1), and calculates an angle range near the radio wave incident angle estimated value (hereinafter referred to as coarse angle measurement). (Abbreviated as a result) is estimated (step ST15). Next, the transformation matrix recalculation means 16
Resets the coarse angle measurement result estimated by the first MUSIC angle measurement processing means 15 as an angle sector again, and again calculates the array transformation matrix B _C by the equations (7), (5), and (6). It is calculated (step ST16).

[0048] Then, the second spatial smoothing matrix calculating unit 17 the correlation matrix using the correlation matrix R obtained by the array transformation matrix B _C and correlation matrix calculating means 13 obtained by the conversion matrix recalculation unit 16 B _C RB _C ^H is calculated and the correlation matrix B _C RB
A _C ^H to the processing space smoothing calculates a correlation matrix R _C (step ST17). Next, the second MUSIC angle-measuring processing means 18 calculates the second spatial smoothing matrix calculating means 17
The MUSIC angle measurement process is performed on the correlation matrix _RC obtained in (1) to estimate the wave incident angle (step ST18), and the angle measurement result output means 19
Displays the incident angle of the wave estimated by the second MUSIC angle measurement processing means 18 (step ST19).

Next, the calculation of the array transformation matrix B _C to determine in step ST16, step ST with reference to FIG. 3
12 will be described in more detail. FIG. 3 is an explanatory diagram showing the relationship between the angle sector used for calculating the array transformation matrix, the true value of the incident angle, and the coarse angle measurement result in the angle measurement signal processing device according to the first embodiment of the present invention. In FIG. 3, θ ₁ , θ ₂ , and θ ₃ are the true values of the incident angles of the waves, θ ₁ ,
theta ₂ ¯ coarse angle measurement results estimated in step ST15, theta ₁
⁼ , Θ ₂ ⁼ , and θ ₃ ⁼ are final angle measurement results estimated in step ST18. In step ST12 which is common to step ST2 of the conventional example, as described above, the angle sectors θ ⁽¹⁾ , θ ⁽²⁾ ,... Θ used in equations (5) and (6) are used.
^(Q) is given so as to cover the entire angle range in which radio waves can be incident. For example, θ ⁽¹⁾ = 1 degree, θ ⁽²⁾ = 2 degrees, ...
θ ^(Q) = 360 degrees.

On the other hand, in step ST16, the angle sectors used in equations (5) and (6) are the same as those in step ST1.
The angle range (| θ) near θ ₁ ￣ and θ ₂出力 output at 5
￣ | <Δθ). For example, if it is output that θ ₁ ￣ = 30 degrees and θ ₂ ￣ = 80 degrees in step ST15,
The angle sector in step ST16 is, for example, θ ⁽¹⁾ = 25
Degrees, θ ⁽²⁾ = 26 degrees, ..., θ ⁽¹¹⁾ = 35 degrees, θ ⁽¹²⁾ =
75 degrees, θ ⁽¹³⁾ = 76 degrees,... Θ ⁽²²⁾ = 85 degrees, (Q
= 22, Δθ = 5 degrees).

In the conventional angle measurement method and step ST12,
The array transformation matrix B has been determined based on a criterion that minimizes Expression (8) over the entire angle range in which radio waves can be incident. But,
It is sufficient for the array transformation matrix B to minimize only the equation (8) at the wave incident angle, and the conversion error at the wave incident angle is smaller in the array transformation matrix B obtained in this way. In step ST16 of the first embodiment, since the transformation matrix is obtained near the incident angle of the wave, this array transformation matrix B _C
Is used, the received signal x￣ at the virtual array antenna is
(= B _C x) comes closer to the received signal of the equally spaced linear array.

As described above, in the side angle method according to the first embodiment, the error of the matrix B _C RB _C ^H used in step ST17 from the correlation matrix of the equally spaced linear array becomes smaller, so that the statistical method is smaller than the conventional example. The effect of improving the estimation accuracy of the incident angle is obtained.

In the example shown in FIG. 3, step ST12 is performed.
Since BRB ^{H based} on the array transformation matrix B obtained in step (1) has a large error from the correlation matrix of the equally-spaced linear array, the result of the coarse angle measurement not only has a large angle measurement error but also has true values θ ₂ and θ _3.
Cannot be decomposed and is estimated together as θ ₂ま と め. However, since B _C RB _C ^{H based on} the array transformation matrix B _C obtained in step ST16 approaches the correlation matrix of the equally spaced linear array, the final angle measurement result is obtained by correctly decomposing the true values θ ₂ and θ ₃ and measuring the angle. The error is smaller.

[0054] Note that the estimation error of the coarse angle measurement results theta _K ¯ is large, even if the angular sector in step ST16 is completely free of incident angle true value theta _K wave, uniform linear array of B _C RB _C ^H The error from the correlation matrix becomes sufficiently small, and a higher angle measurement accuracy can be obtained in many cases as compared with the conventional example.

The MUSIC performed in step ST15
The processing calculates the eigenvector e corresponding to the minimum eigenvalue of the correlation matrix R ′, and calculates the peak P
The result of the coarse angle measurement θ _Kか ら is determined from (θ).

P (θ) = 1 / | e ^H a (θ) | (10) e ^H : the commutative value of the vector e

In the first embodiment, step ST16
In the angular sector to be used for calculation of the array transformation matrix B _C, coarse angle measurement results theta _K ¯ near the angle range output in step ST15 is taken (| | θ¯ <Δθ), step ST1
The angle at which the peak P (θ) of the azimuth spectrum appearing in the MUSIC angle measurement processing of No. 5 exceeds a predetermined threshold value is set in step ST1.
6 can be used as an angle sector.

In the first embodiment, step ST
The angular sectors used for calculating the array transformation matrix B _C at 16, the coarse angle measurement results theta _K ¯ near the angle range output in step ST15 is taken (| | θ¯ <Δθ), simply crude angle measurement results The same effect can be obtained by using only θ _Kと し て as the angle sector.

Further, in the first embodiment, step S
Although the conversion matrix is calculated at T16, the processing may be such that the conversion matrix is calculated in advance according to the incident angle and stored in the memory, and the conversion matrix is selected according to the result of the coarse angle measurement and loaded from the memory. .

Further, in the first embodiment, the case where the MUSIC algorithm is used as the angle measurement algorithm has been described. However, for example, as in the ESPRIT algorithm, an angle measurement algorithm that requires a spatial smoothing process for separating angles of coherent waves is also used. Similar effects can be obtained. Also,
Although the case where the incident angle of a radio wave is measured has been described, the present invention is also applicable to the case where the incident angle of a sound wave, a light wave, or the like is estimated.

Embodiment 2 FIG. 4 is a configuration diagram illustrating an angle measurement signal processing device according to a second embodiment of the present invention. In the figure, the same reference numerals as in the first embodiment denote the same or corresponding parts, and a description thereof will not be repeated. 23 indicates received signals x ₁ , x ₂ ,... Via the element antennas 1 of each real array
Beam output signal calculating means for receiving x _M , forming a multi-beam and calculating an output signal of each beam, 2
4 is an output signal power calculation means for calculating the power of the output signal of each beam calculated by the beam output signal calculation means 23;
Compares the power of the output signal of each beam from the output signal power calculation means 24, selects several beams having the highest power, determines the approximate incident angle of the wave, and obtains the coarse angle measurement result. Approximate incident angle determining means for outputting as

Next, the operation will be described. FIG. 5 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the second embodiment of the present invention. First, the beam output signal calculating means 23 receives the received signals x ₁ , x ₂ ,... X _M via the element antennas 1 of each real array, forms a multi-beam, and calculates the output signal of each beam. (Step ST21). Next, the output signal power calculation means 24 calculates the power of the output signal of each beam calculated by the beam output signal calculation means 23 (step ST22). Then, the approximate incident angle determining means 25 compares the power of the output signal of each beam from the output signal power calculating means 24 and selects several beams having the highest power, thereby obtaining the approximate incident angle of the wave. Is determined and output as a coarse angle measurement result (step ST23).

Next, the transformation matrix recalculation means 16 calculates the first M
USIC reconfigure anew angular sector crude angle measurement results estimated by the angle measuring process unit 15, Equation (5), equation (6), again by the formula (7), calculates the array transformation matrix B _C (step ST16). The second space smoothing matrix calculating unit 17 calculates a correlation matrix B _C RB _C ^H with an array transformation matrix B _C obtained by the conversion matrix recalculating unit 16, space the correlation matrix B _C RB _C ^H A smoothing process is performed to calculate a correlation matrix _RC (step ST17). Next, the second MUSIC angle measurement processing means 18 performs MUSIC angle measurement processing on the correlation matrix _RC obtained by the second spatial smoothing matrix calculation means 17 to estimate a wave incident angle (step ST18), and the angle measurement result is obtained. The output means 19 is a second MUSIC angle measurement processing means 18
Is displayed (step ST1).
9). In step ST21, the output signal b _j of the j-th beam is obtained as in the following equation.

[0064] ^{_{b j = Σ m w m j}} x m ··· (11) where w _m ^j is a load for the first j beamforming, beam pointing direction, arrangement of antenna elements, the wavelength of the incident radio wave Is determined.

Next, the process of determining the approximate wave incident angle in step ST23 will be described with reference to the example shown in FIG.
FIG. 6 shows an angle selector used for calculating an array transformation matrix in the angle measurement signal processing apparatus according to Embodiment 2 of the present invention;
FIG. 4 is a waveform diagram illustrating a relationship between beam directivity and a true value of an incident angle. In FIG. 6, eight beams pointing in different directions are formed. The output powers of these eight beams | b ₁ | ² , | b ₂ | ² ,.
Comparing | b ₈ | ² , since three radio waves are incident from the directional directions of the beams # 2 and # 6, the output powers of these beams | b ₂ | ² and | b ₆ | ² are different from each other. It is larger than that of

Thus, the directivity directions of beam # 2 and beam # 6 are output as coarse angle measurement results θ ₁ ￣ and θ ₂ ￣. The angle sector at the time of calculating the array transformation matrix B _C in step ST16 has a range of Δθ around θ ₁ ￣ and θ ₂ 、,
Δθ is determined to be half of the beam width. In addition, Embodiment 2
In the above, Δθ is set to half of the beam width, but may not be half. The angle sector is Δθ centered on θ ₁ ￣ and θ ₂中心.
The same effect can be expected by simply setting θ ₁ ￣ and θ ₂ ￣.

As described above, according to the second embodiment, similarly to the first embodiment, the error of the correlation matrix B _C RB _C ^H used in step ST17 from the correlation matrix of the equally spaced linear array is reduced. In addition, the accuracy of estimation of the incident angle is statistically improved as compared with the conventional example, and at this time, effects such as a reduction in calculation load can be obtained because the coarse angle measuring process is performed by the beam forming process.

Embodiment 3 FIG. 7 is a configuration diagram showing an angle measurement signal processing apparatus according to Embodiment 3 of the present invention. In the figure, the same reference numerals as those in Embodiments 1 and 2 denote the same or corresponding parts, and a description thereof will be omitted. Reference numeral 31 denotes a virtual linear array resetting unit that resets the element array of the virtual linear array with reference to the coarse angle measurement result estimated by the first MUSIC angle measurement processing unit 15.

Next, the operation will be described. FIG. 8 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the third embodiment of the present invention, and FIG. 9 is a flowchart illustrating the operation of the angle measurement signal processing device according to the third embodiment of the present invention. FIG. 3 is a configuration diagram showing the relationship of FIG. First, the virtual array arrangement setting means 11 sets a steering vector a￣ (virtual array antenna arrangement) of the virtual equally-spaced linear array (step ST31), and the array transformation matrix calculation means 12 calculates the equations (5), (6), and (6). An array transformation matrix B is calculated according to (7) (step ST32). Next, the correlation matrix calculation means 13 receives the received signals x ₁ , x ₂ ,... X _M via the element antennas 1 of each real array, and calculates their correlation matrix R (step ST33). Next, the first
The spatial smoothing matrix calculating means 14 of step ST1
Calculating a correlation matrix BRB ^H using the correlation matrix R obtained by the array transformation matrix B and step ST13 obtained in 2, obtaining the spatial smoothing processing and correlation matrix R 'to the correlation matrix BRB ^H by equation (3) ( Step ST34).

Then, the first MUSIC angle measurement processing means 1
5 performs MUSIC angle measurement processing on the spatially smoothed correlation matrix R ′ from the first spatial smoothing matrix calculation unit 14 using Equation (1), and calculates an angle range near the radio wave incident angle estimated value (hereinafter referred to as coarse angle measurement). (Abbreviated as a result) is estimated (step ST35). Next, the virtual linear array resetting means 31 resets the element array of the virtual linear array with reference to the coarse angle measurement result estimated by the first MUSIC angle measurement processing means 15 (step ST36). Then, the transformation matrix recalculation means 16 resets the coarse angle measurement result estimated by the first MUSIC angle measurement processing means 15 as an angle sector again, and obtains the angle sector by the equations (5), (6), and (7). again, it calculates the array transformation matrix B _C (step ST37).

[0071] Then, the second spatial smoothing matrix calculating unit 17 the correlation matrix using the element array of the virtual linear array obtained from the array transformation matrix B _C a virtual linear array resetting means 31 obtained from the conversion matrix recalculating unit 16 B _C RB _C ^H
Is calculated, and the correlation matrix B _C RB _C ^H is subjected to spatial smoothing processing to calculate a correlation matrix R _C (step ST38).
Next, the second MUSIC angle measurement processing means 18 calculates the correlation matrix _RC obtained by the second spatial smoothing matrix calculation means 17 as M
USIC angle measurement processing is performed to estimate the incident angle of the wave (step ST
39), the angle measurement result output means 19 displays the incident angle of the wave estimated by the second MUSIC angle measurement processing means 18 (step ST40).

In step ST31, the direction of the element array of the virtual linear array to be set is not particularly specified. On the other hand, in step ST36, as shown in FIG. 9, the element arrangement of the virtual linear array is determined such that the opening direction of the virtual linear array is substantially directed to the incident angle of the wave. The rotation angle φ of the virtual linear array in step ST36 shown in FIG. 9 is given, for example, as φ = (θ ₁ ￣ + θ ₂ ￣) / 2.

As described above, according to the third embodiment, similarly to the first embodiment, the error of the correlation matrix B _C RB _C ^H used in step ST38 from the correlation matrix of the equally spaced linear array is reduced. In addition, effects such as the statistically improved estimation accuracy of the incident angle as compared with the conventional example can be obtained. Also,
In addition, since radio waves are incident from the front in the opening direction of the virtual linear array antenna, effects such as an improvement in angle measurement accuracy can be obtained.

Embodiment 4 FIG. 10 is a configuration diagram showing an angle measurement signal processing apparatus according to Embodiment 4 of the present invention. In the figure, the same reference numerals as those in Embodiments 1 to 3 denote the same or corresponding parts, and a description thereof will be given. Omitted. 41 is an angle measurement result storage unit that stores the angle measurement result θ _K推定 estimated by the first MUSIC angle measurement processing unit 15, and 42 is an angle measurement result θ _K記憶 stored in the angle measurement result storage unit 41.
Is set again as an angular sector, and the conversion matrix recalculation means for calculating the array conversion matrix B again by the equations (7), (5), and (6). 43 is the second MUSI
C The angle measurement result θ _K ⁼ estimated by the angle measurement processing means 18 is compared with the angle measurement result θ _K記憶 stored in the angle measurement result storage means 41, and whether or not the difference is smaller than a predetermined threshold value is determined. It is angle measurement result update width determination means that outputs the angle measurement result θ _K ⁼ to the angle measurement result output means 19 when it is determined smaller.

Next, the operation will be described. FIG. 11 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the fourth embodiment of the present invention. First, the virtual array arrangement setting unit 11 sets a steering vector a￣ (virtual array antenna arrangement) of the virtual equally-spaced linear array (step ST41), and the array transformation matrix calculation unit 12 calculates the equations (5), (6), and (6). The array transformation matrix B is calculated by (7) (step ST42). Next, the correlation matrix calculating means 13 receives the received signals x ₁ , x ₂ ,... X _M via the element antennas 1 of each real array, and
Is calculated (step ST43). Next, the first spatial smoothing matrix calculation means 14 calculates the array transformation matrix B obtained in step ST12 and the correlation matrix R obtained in step ST13.
Is used to calculate a correlation matrix BRB ^H , and this correlation matrix BR
B ^H is subjected to spatial smoothing processing according to equation (3) to obtain a correlation matrix R ′ (step ST44).

Then, the first MUSIC angle measurement processing means 1
5 performs MUSIC angle measurement processing on the spatially smoothed correlation matrix R ′ from the first spatial smoothing matrix calculation unit 14 using Equation (1), and calculates an angle range near the radio wave incident angle estimated value (hereinafter referred to as coarse angle measurement). Only the result θ _K } is estimated (step ST45). Next, the angle measurement result storage means 4
1 stores the angle measurement result θ _{K K} estimated by the first MUSIC angle measurement processing means 15 (step ST46). And
The transformation matrix recalculation means 42 resets the angle measurement result θ _K記憶 stored in the angle measurement result storage means 41 to an angle sector again, and re-sets the array according to the equations (7), (5), and (6). calculating the transformation matrix B _C (step ST47).

[0077] Then, the second correlation matrix space smoothing matrix calculating unit 17 using the correlation matrix R obtained by the array transformation matrix B _C a correlation matrix calculating unit 13 from the conversion matrix recalculation unit 42 B _C RB _C ^H And calculate the correlation matrix B _C RB
A _C ^H to the processing space smoothing calculates a correlation matrix R _C (step ST48). Next, the second MUSIC angle-measuring processing means 18 calculates the second spatial smoothing matrix calculating means 17
The MUSIC angle measurement process is performed on the correlation matrix _RC obtained in step (1) to estimate the wave incident angle (step ST49). Then, the angle measurement results update width determining means 43 the angle measurement results theta _K ¯ and stored in the angle measurement results theta _K ⁼ the angle measuring result storage means 41 estimated by the second MUSIC angle measuring processing means 18 To determine whether or not the difference is smaller than a predetermined threshold.
_K ⁼ is output to the angle measurement result output means 19 (step ST5).
0). Then, the angle measurement result output means 19 outputs the second MUSI
The angle of incidence of the wave estimated by the C angle measuring means 18 is displayed (step ST51).

As described above, according to the fourth embodiment, steps ST46, ST47, ST48, ST4
9. While repeatedly executing and processing ST50,
Since the error of the correlation matrix of the uniform linear array of the correlation matrix B _C RB _C ^H becomes small for use in step ST48,
Effects such as an improvement in estimation accuracy of the angle measurement result are obtained.

[0079] Also, the angle measuring if the estimation accuracy of the result goes up, since angular sector used in step ST47 is more consistent with the true value of the angle of incidence of the waves, further correlation matrix of equally spaced linear array of the correlation matrix B _C RB _C ^H The error from is small. Therefore, effects such as an improvement in estimation accuracy can be obtained.

[0080]

As described above, according to the present invention, the steering vector of the virtual equally-spaced linear array is set by the virtual array arrangement setting means, and the array transformation matrix defined by the steering vector of the virtual equally-spaced linear array is arrayed. The correlation matrix is calculated by the conversion matrix calculating means, the received signal from the receiving element of each real array is observed, the first correlation matrix is calculated by the correlation matrix calculating means, and the array conversion matrix from the array conversion matrix calculating means and the correlation are calculated. The first correlation matrix from the matrix calculation means is input, and the array transformation matrix and the first
A second correlation matrix is calculated using the correlation matrix, and the second correlation matrix is subjected to a spatial smoothing process, and a third correlation matrix is calculated by a first spatial smoothing matrix calculating unit.
The third correlation matrix subjected to the spatial smoothing processing from the first spatial smoothing matrix calculating means is subjected to MUSIC angle measurement processing, and only the coarse angle measurement result as an angle range near the estimated value of the incident direction of the wave is used as the first angle. Estimated by the MUSIC angle measurement processing means, the coarse angle measurement result estimated by the first MUSIC angle measurement processing means is reset as an angle sector, and is defined by the steering vector of the virtual equally-spaced linear array in this angle sector. An array transformation matrix is calculated by a transformation matrix recalculation means, and a fourth correlation matrix is calculated using the array transformation matrix obtained by the transformation matrix recalculation means and the first correlation matrix obtained by the correlation matrix calculation means. , The fourth correlation matrix is subjected to a spatial smoothing process, and the fifth correlation matrix is calculated by a second spatial smoothing matrix calculating means.
Of the fifth correlation matrix obtained by the spatial smoothing matrix calculating means of FIG.
Since the angle of incidence is estimated by the angle measurement processing means and the estimated angle of incidence of the wave is displayed by the angle measurement result output means, the error from the correlation matrix of the equally spaced linear array is reduced,
There is an effect that the estimation accuracy of the incident angle can be statistically improved as compared with the conventional example.

According to the present invention, a wave incident on a real array at an approximate angle of incidence is incident on the transformation matrix and the virtual array from an approximate angle from an actual array vector indicating the response of the amplitude and phase in each receiving channel at each reception channel. The sum vector value of the virtual array vector indicating the response of the amplitude and the phase in each reception channel of the wave is subtracted, and the sum of the square norm expression of the subtracted vector value and the total operation value of the incident wave number is obtained. Since a certain evaluation function is calculated and the above conversion matrix is determined so that this evaluation function is minimized, the error from the correlation matrix of the equally-spaced linear array is small, and the incidence angle is statistically smaller than in the conventional example. There is an effect that the estimation accuracy of can be improved.

According to the present invention, a wave incident on a real array at an approximate angle of incidence is incident on the transformation matrix and the virtual array at an approximate angle from the actual array vector indicating the response of the amplitude and phase in each receiving channel at each reception channel. An integrated vector value of a virtual array vector indicating a response of amplitude and phase in each reception channel of a wave is subtracted, and an average value of values of the subtracted vector value in a predetermined angle range of a square norm expression and an incident wave number An evaluation function, which is an integrated value of the sum of the calculated values, is calculated, and the conversion matrix is determined so that the evaluation function is minimized. Therefore, an error from the correlation matrix of the equally-spaced linear array is reduced. This has the effect that the accuracy of estimation of the incident angle can be statistically improved as compared with the conventional example.

According to the present invention, a correlation matrix having as elements the cross-correlation values of the real array vectors indicating the amplitude and phase responses of the waves incident on the real array from the approximate incident angles in each receiving channel is obtained. An averaged correlation matrix is obtained by averaging a plurality of sub-matrices of the matrix, a process of estimating the wave incident direction by the MUSIC algorithm is performed on the averaged correlation matrix, and an eigenvector of the correlation matrix obtained by the MUSIC algorithm is obtained. Since the azimuth spectrum given by the reciprocal of the inner product of the real array vector and the actual array vector is configured to determine the conversion matrix so as to minimize the average value of the values in the angle range exceeding a predetermined value, The error from the correlation matrix is reduced, and the accuracy of incidence angle estimation can be statistically improved compared to the conventional example. There is that effect.

According to the present invention, the correlation matrix having the cross-correlation value of the virtual reception signal of the reception channel of the virtual array as an element is obtained, and a plurality of partial matrices of the correlation matrix are averaged to obtain an averaged correlation. A matrix is obtained, a process of estimating the approximate incident angle of the wave by the MUSIC algorithm is performed on the averaged correlation matrix, and the processing value is configured to be the approximate incident angle. The error is reduced, and there is an effect that the estimation accuracy of the incident angle can be statistically improved as compared with the conventional example.

According to the present invention, a correlation matrix having a cross-correlation value of a virtual reception signal of a reception channel of a virtual array as a component is obtained, and a plurality of sub-matrices of the correlation matrix are averaged to obtain an averaged correlation. A matrix is obtained, and the MUSIC algorithm or ESPRI is used for the averaged correlation matrix.
Since the angle of incidence of the wave is estimated by the T algorithm, the error from the correlation matrix of the equally-spaced linear array is reduced, and the accuracy of estimation of the angle of incidence can be statistically improved as compared with the conventional example. .

According to the present invention, a process for forming a plurality of beams directed in predetermined directions different from each other is performed by using the reception signals of the reception channels of the real array, and several beams having the highest power of the output signals of the beams are performed. Since the beam selection process is performed and the directional direction of the beam extracted in the beam selection process is configured to be the approximate incident angle, the error from the correlation matrix of the equally-spaced linear array is reduced. In comparison with this, there is an effect that the accuracy of estimation of the incident angle can be statistically improved and the calculation load can be reduced.

According to the present invention, the arrangement of the virtual array composed of a plurality of virtual receiving elements linearly arranged at equal intervals is determined in accordance with the approximate incident angle of the wave. The error from the correlation matrix becomes smaller, and the accuracy of the estimation of the incident angle can be improved statistically compared to the conventional example. In addition, since the radio wave enters from the front of the opening direction of the virtual linear array antenna, the angle measurement accuracy can be improved. There is an effect that can be improved.

According to the present invention, the arrangement of the virtual array consisting of a plurality of virtual receiving elements linearly arranged at equal intervals is determined so as to be perpendicular to the approximate incident angle of the wave. The error from the correlation matrix of the equally spaced linear array is small, and the accuracy of estimation of the incident angle can be statistically improved compared to the conventional example. There is an effect that the angle measurement accuracy can be improved.

According to the present invention, a transformation matrix is obtained from a real array vector indicating the amplitude and phase response of each of the reception channels of a wave incident on a real array at an approximate angle of incidence and a wave of the wave incident on a virtual array at an approximate angle. An evaluation is performed by subtracting an integrated vector value of a virtual array vector indicating a response of amplitude and phase in each reception channel, and an integrated value of a square norm expression of the subtracted vector value and a total operation value of an incident wave number. Calculate a function, determine a conversion matrix such that this evaluation function is minimized, perform a process of obtaining a virtual reception signal of the reception channel by applying this conversion matrix to the reception signal of the reception channel of the real array, Using the virtual reception signal of this reception channel, angle measurement processing is performed to estimate the incident angle of the wave incident on the receiving element, and the difference between the estimated incident angle and the approximate incident angle is calculated. If it is smaller than the predetermined value, the estimated angle of incidence is output as the angle measurement result, while if it is larger, the estimated angle of incidence is replaced with the approximate angle of incidence and the process returns to the process of determining the transformation matrix. The error from the correlation matrix and the estimation error of the angle measurement result are synergistically reduced, which has the effect of further improving the estimation accuracy.

According to the present invention, a conversion matrix is obtained from a real array vector indicating the amplitude and phase response of each of the reception channels of a wave incident on a real array at an approximate angle of incidence, and a wave incident on the virtual array at an approximate angle. The integrated vector value of the virtual array vector indicating the response of the amplitude and phase in each reception channel is subtracted, and the average value of the values of the subtracted vector value in a predetermined angle range of the square norm expression and the number of the incident wave are calculated. An evaluation function, which is an integrated value with the total operation value, is calculated, a conversion matrix is determined so that the evaluation function is minimized, and this conversion matrix is applied to a reception signal of a reception channel of a real array to generate a virtual reception channel. Performs a process of obtaining a typical received signal, performs an angle measurement process of estimating an incident angle of a wave incident on the receiving element using the virtual received signal of the received channel, and performs the estimation. If the difference between the launch angle and the approximate incident angle is smaller than a predetermined value, the estimated incident angle is output as the angle measurement result, while if the difference is larger, the estimated incident angle is replaced with the approximate incident angle to determine the conversion matrix. Therefore, the error from the correlation matrix of the equally-spaced linear array and the estimation error of the angle measurement result are synergistically reduced, and the estimation accuracy can be further improved.

According to the present invention, the correlation matrix having the cross-correlation values of the virtual reception signals of the reception channels of the virtual array as elements is determined, and the average of a plurality of sub-matrices of the correlation matrix is obtained. A process of estimating the approximate incident angle of the wave by the MUSIC algorithm with respect to this averaged correlation matrix is performed so that the incident angle of the wave is set to the approximate incident angle, so from the correlation matrix of the equally spaced linear array And the estimation error of the angle measurement result are synergistically reduced, which has the effect of further improving the estimation accuracy.

According to the present invention, the correlation matrix having the cross-correlation value of the virtual reception signal of the reception channel of the virtual array as an element is obtained, and a plurality of partial matrices of the correlation matrix are averaged to obtain an averaged correlation. A matrix is obtained, and the MUSIC algorithm or ESPRI is used for the averaged correlation matrix.
Since the angle of incidence of the wave is estimated by the T algorithm, the error from the correlation matrix of the equally spaced linear array and the estimation error of the angle measurement result are synergistically reduced, and the estimation accuracy can be further improved. There is.

According to the present invention, a reception signal is received via the receiving element of each real array, a multi-beam is formed, and an output signal of each beam is calculated by the beam output signal calculation means. The output signal power is calculated by output signal power calculation means, the power of the output signal of each beam is compared, and several beams having the highest power are selected, so that the approximate incident angle of the wave is obtained. Determined and output from the approximate incident angle determining means as a coarse angle measurement result, resetting this coarse angle measurement result as an angle sector again, and an array transformation matrix defined by a steering vector of a virtual equally spaced linear array in this angle sector. A fourth correlation matrix is calculated by using a first correlation matrix calculated by the conversion matrix recalculation means and obtained from the array conversion matrix, and the fourth correlation matrix is spatially smoothed. The fifth correlation matrix is calculated by the second spatial smoothing matrix calculation means, and the fifth correlation matrix is subjected to MUSIC angle measurement processing to estimate the wave incident angle, and the second MUSIC angle measurement processing means Since the estimated angle of incidence of the wave is configured to be displayed by the angle measurement result output means, the error from the correlation matrix of the equally spaced linear array is reduced, and the accuracy of the estimation of the angle of incidence is statistically improved compared to the conventional example. In addition to this, there is an effect that the calculation load can be reduced.

According to the present invention, the steering vector of the virtual equally-spaced linear array is set by the virtual array arrangement setting means, and the array transformation matrix defined by the steering vector of the virtual equally-spaced linear array is calculated by the array transformation matrix calculation means. The received signals from the receiving elements of each real array are observed, their first correlation matrices are calculated by the correlation matrix calculation means, and an array transformation matrix and a first correlation matrix are input. And a first correlation matrix to calculate a second correlation matrix, perform spatial smoothing processing on the second correlation matrix, and calculate a third correlation matrix by first spatial smoothing matrix calculating means. 3 is subjected to MUSIC angle measurement processing to obtain an angle range near the estimated value of the incident direction, and only the result of the coarse angle measurement is used as the first MUS
Estimated by the IC angle measurement processing means, referring to the estimated coarse angle measurement result, resetting the element array of the virtual linear array by the virtual linear array resetting means, and resetting the coarse angle measurement result as an angle sector again. Calculating an array transformation matrix defined by the steering vector of the virtual equally-spaced linear array in this angular sector by a transformation matrix recalculating means, and calculating a fourth correlation matrix using the array transformation matrix and the element array of the virtual linear array; The fourth correlation matrix is subjected to spatial smoothing processing, the fifth correlation matrix is calculated by the second spatial smoothing matrix calculation means, and the fifth correlation matrix is subjected to MUSIC angle measurement processing to determine the incident angle of the wave to the second MUSIC.
Since the angle of incidence of the wave is estimated by the IC angle measurement processing means and the estimated angle of incidence of the wave is displayed by the angle measurement result output means, the error from the correlation matrix of the equally spaced linear array is reduced, and the statistical In addition, the accuracy of estimation of the incident angle can be improved, and the radio wave is incident from the front of the virtual linear array antenna in the opening direction, so that the angle measurement accuracy can be improved.

According to the present invention, the steering vector of the virtual equally-spaced linear array is set by the virtual array array setting means, and the defined array conversion matrix is calculated by the array conversion matrix calculation means. , A first correlation matrix is calculated by a correlation matrix calculation unit, an array transformation matrix and a first correlation matrix are input, and a first correlation matrix is calculated using the array transformation matrix and the first correlation matrix. 2, the second correlation matrix is subjected to spatial smoothing processing, the third correlation matrix is calculated by first spatial smoothing matrix calculation means, and the third correlation matrix is subjected to MUSIC angle measurement processing. Only the coarse angle measurement result as the angle range near the incident direction estimation value is estimated by the first MUSIC angle measurement processing means, and the estimated angle measurement result is stored in the angle measurement result storage means. The result of the coarse angle measurement is set again as an angle sector, and an array transformation matrix defined by a steering vector of a virtual equally-spaced linear array in this angle sector is calculated by a transformation matrix recalculating means. The fourth correlation matrix is calculated by using the correlation matrix of (5), the fourth correlation matrix is subjected to spatial smoothing processing, and the fifth correlation matrix is calculated by the second spatial smoothing matrix calculation means. Is subjected to MUSIC angle measurement processing, the wave incidence angle is estimated by the second MUSIC angle measurement processing means, the estimated angle measurement result is compared with the stored angle measurement result, and the difference is smaller than a predetermined threshold value. The angle measurement result estimated by the second MUSIC angle measurement processing means is output by the angle measurement result update width determination means, and the angle of incidence of the estimated wave is determined if the angle is small. Since it is configured to be displayed by the angle result output means, the error from the correlation matrix of the equally spaced linear array is reduced, and the accuracy of estimation of the incident angle can be statistically improved as compared with the conventional example. Since a radio wave is incident from the front in the opening direction, there is an effect that the angle measurement accuracy can be improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating an angle measurement signal processing device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a relationship among an angle sector, an incident angle true value, and a coarse angle measurement result used for calculating an array transformation matrix in the angle measurement signal processing device according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram showing an angle measurement signal processing device according to a second embodiment of the present invention.

FIG. 5 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the second embodiment of the present invention.

FIG. 6 is a waveform diagram illustrating a relationship between an angle selector used for calculating an array transformation matrix, a beam directivity, and a true incident angle value in the angle measurement signal processing device according to the second embodiment of the present invention.

FIG. 7 is a configuration diagram illustrating an angle measurement signal processing device according to a third embodiment of the present invention.

FIG. 8 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the third embodiment of the present invention.

FIG. 9 is a configuration diagram illustrating a relationship between a true value of an incident angle and a virtual equally-spaced linear array in the angle measurement signal processing device according to the third embodiment of the present invention;

FIG. 10 is a configuration diagram illustrating an angle measurement signal processing device according to a fourth embodiment of the present invention.

FIG. 11 is a flowchart showing an operation procedure of the angle measurement signal processing device according to the fourth embodiment of the present invention.

FIG. 12 is a configuration diagram showing a conventional angle measurement signal processing device using an array antenna.

FIG. 13 is a conceptual diagram showing the concept of conversion from a real array antenna to a virtual linear array antenna.

FIG. 14 is a flowchart illustrating an angle measurement signal processing method of a conventional angle measurement signal processing apparatus.

[Explanation of symbols]

1 element antenna, 11 virtual array arrangement setting means, 1
2 array transformation matrix calculation means, 13 correlation matrix calculation means, 14 first spatial smoothing matrix calculation means, 15
First MUSIC angle measurement processing means, 16, 42 Conversion matrix recalculation means, 17 Second spatial smoothing matrix calculation means, 18 Second MUSIC angle measurement processing means, 19 Angle measurement result output means, 23 Beam output signal calculation Means, 24
Output signal power calculation means, 25 approximate incident angle determination means, 31 virtual linear array resetting means, 41 angle measurement result storage means, 43 angle measurement result update width determination means.

Claims (16)

[Claims] 1. A virtual array arrangement setting means for setting a steering vector of a virtual equally-spaced linear array; an array transformation matrix calculating means for calculating an array transformation matrix defined by the steering vector of the virtual equally-spaced linear array; A correlation matrix calculating means for observing a received signal from the receiving element and calculating a first correlation matrix; and an array transformation matrix from the array transformation matrix calculating means and a first correlation matrix from the correlation matrix calculating means. And enter
A first spatial smoothing matrix calculating means for calculating a second correlation matrix using the array transform matrix and the first correlation matrix, and performing a spatial smoothing process on the second correlation matrix to calculate a third correlation matrix And MUSIC angle measurement processing of the spatially smoothed third correlation matrix from the first space smoothing matrix calculation means, and estimates only the coarse angle measurement result as an angle range near the wave incident direction estimation value. First MUSIC angle measurement processing means, and a coarse angle measurement result estimated by the first MUSIC angle measurement processing means is set again as an angle sector, and is defined by a steering vector of a virtual equally-spaced linear array in this angle sector. Transformation matrix recalculation means for calculating an array transformation matrix to be calculated, an array transformation matrix obtained by the transformation matrix recalculation means, and a first phase obtained by the correlation matrix calculation means. A second spatial smoothing matrix calculating means for calculating a fourth correlation matrix using the matrix, performing a spatial smoothing process on the fourth correlation matrix to calculate a fifth correlation matrix, and calculating the second spatial smoothing matrix. A second MUSIC angle measurement processing means for performing MUSIC angle measurement processing on the fifth correlation matrix obtained by the means and estimating an incident angle of the wave; An angle measurement signal processing device comprising: an angle measurement result output unit for displaying. 2. A virtual reception signal of a reception channel of a virtual array composed of a plurality of virtual reception elements in which reception signals of a reception channel of a real array composed of a plurality of reception elements are linearly arranged at regular intervals. A conversion matrix to be converted is obtained, a process for obtaining a virtual reception signal of the reception channel by applying the conversion matrix to a reception signal of the reception channel of the real array is performed, and reception is performed using the virtual reception signal of the reception channel. In the angle measurement signal processing method in the angle measurement signal processing device for estimating the incident direction of the wave incident on the wave element, the actual array showing the amplitude and phase response in each reception channel of the wave incident from the approximate incident angle on the actual array. The product of the transformation matrix from the array vector and the virtual array vector indicating the amplitude and phase response of each of the channels incident on the virtual array at an approximate angle. The calculated vector value is subtracted, and an evaluation function that is an integrated value of the square norm expression of the subtracted vector value and the total operation value of the incident wave number is calculated, and the conversion is performed so that the evaluation function is minimized. An angle measurement signal processing method in an angle measurement signal processing device, wherein a matrix is determined. 3. A reception signal of a reception channel of a real array composed of a plurality of reception elements is linearly arranged at equal intervals linearly into a virtual reception signal of a reception channel of a virtual array composed of a plurality of virtual reception elements. A conversion matrix to be converted is obtained, a process for obtaining a virtual reception signal of the reception channel by applying the conversion matrix to a reception signal of the reception channel of the real array is performed, and a reception is performed using the virtual reception signal of the reception channel. In the angle measurement signal processing method in the angle measurement signal processing apparatus for estimating the incident direction of the wave incident on the wave element, the actual array showing the amplitude and phase response of each of the reception channels of the wave incident from the approximate incident angle on the actual array The product of the transformation matrix from the array vector and the virtual array vector indicating the amplitude and phase response of each of the channels incident on the virtual array at an approximate angle. The calculated vector value is subtracted, and an evaluation function that is an integrated value of an average value of values of a predetermined angle range of a square norm expression of the subtracted vector value and a total operation value of an incident wave number is calculated. An angle measurement signal processing method in an angle measurement signal processing device, wherein the conversion matrix is determined so that an evaluation function is minimized. 4. A reception signal of a reception channel of a real array composed of a plurality of reception elements is converted into a virtual reception signal of a reception channel of a virtual array composed of a plurality of virtual reception elements linearly arranged at equal intervals linearly. A conversion matrix to be converted is obtained, a process for obtaining a virtual reception signal of the reception channel by applying the conversion matrix to a reception signal of the reception channel of the real array is performed, and reception is performed using the virtual reception signal of the reception channel. In the angle measurement signal processing method in the angle measurement signal processing device for estimating the incident direction of the wave incident on the wave element, the actual array showing the amplitude and phase response in each reception channel of the wave incident from the approximate incident angle on the actual array. A correlation matrix having the cross-correlation value of the array vector as an element is obtained, and an averaged correlation matrix is obtained by averaging a plurality of partial matrices of the correlation matrix. For the column, MUS
A process for estimating the incident direction of the wave by the IC algorithm is performed. An angle measurement signal processing method in an angle measurement signal processing device, wherein the conversion matrix is determined so as to minimize an average value. 5. A correlation matrix having a cross-correlation value of a virtual reception signal of a reception channel of a virtual array as an element, and an averaged correlation matrix is obtained by averaging a plurality of partial matrices of the correlation matrix. MUS for this averaged correlation matrix
4. The angle measurement signal processing in the angle measurement signal processing device according to claim 2, wherein a process of estimating a rough incident angle of the wave is performed by an IC algorithm, and the processed value is used as a rough incident angle. Method. 6. A correlation matrix having a cross-correlation value of a virtual reception signal of a reception channel of the virtual array as an element, and an averaged correlation matrix is obtained by averaging a plurality of partial matrices of the correlation matrix. MUS for this averaged correlation matrix
3. The wave incident angle is estimated by an IC algorithm or an ESPRIT algorithm.
An angle measurement signal processing method in the angle measurement signal processing device according to any one of claims 1 to 4. 7. A process of forming a plurality of beams directed in predetermined directions different from each other by using reception signals of reception channels of a real array, and selecting several beams having the highest power of output signals of the beams. 7. The method according to claim 2, wherein a direction of the beam extracted in the process of selecting the beam is set to an approximate incident angle. An angle measurement signal processing method in an angle measurement signal processing device. 8. The arrangement of a virtual array comprising a plurality of virtual receiving elements linearly arranged at regular intervals from each other, wherein the arrangement of the virtual array is determined in accordance with the approximate incident angle of the wave. Angle measurement signal processing method in the angle measurement signal processing device of the above. 9. The arrangement of a virtual array composed of a plurality of virtual receiving elements linearly arranged at equal intervals from each other is determined so as to be perpendicular to the approximate incident angle of the wave. Item 4. A method of processing an angle measurement signal in the angle measurement signal processing device according to Item 3. 10. A reception signal of a reception channel of a real array including a plurality of reception elements is linearly arranged at equal intervals linearly into a virtual reception signal of a reception channel of a virtual array including a plurality of virtual reception elements. A conversion matrix to be converted is obtained, a process for obtaining a virtual reception signal of the reception channel by applying the conversion matrix to a reception signal of the reception channel of the real array is performed, and a reception is performed using the virtual reception signal of the reception channel. In the angle measurement signal processing method in the angle measurement signal processing device for estimating the incident angle of the wave incident on the wave element, the actual array showing the response of the amplitude and the phase in each reception channel of the wave incident from the approximate incident angle to the actual array. The transformation matrix from the array vector and the virtual array vector indicating the response of the amplitude and phase in each receiving channel of the wave incident on the virtual array at an approximate angle. The integrated vector value is subtracted, and an evaluation function that is an integrated value of the square norm expression of the subtracted vector value and the total operation value of the incident wave number is calculated. A matrix is determined, a process for obtaining a virtual reception signal of the reception channel by applying the conversion matrix to a reception signal of the reception channel of the real array is performed, and a receiving element is generated using the virtual reception signal of the reception channel. Perform angle measurement processing to estimate the incident angle of the wave incident on the, if the difference between the estimated incident angle and the approximate incident angle is smaller than a predetermined value, output the estimated incident angle as the angle measurement result,
On the other hand, if the angle is larger, the estimated angle of incidence is replaced with the approximate angle of incidence and the process returns to the process of determining the conversion matrix. 11. A reception signal of a reception channel of a real array composed of a plurality of reception elements is converted into a virtual reception signal of a reception channel of a virtual array composed of a plurality of virtual reception elements linearly arranged at equal intervals. A conversion matrix to be converted is obtained, a process for obtaining a virtual reception signal of the reception channel by applying the conversion matrix to a reception signal of the reception channel of the real array is performed, and a reception is performed using the virtual reception signal of the reception channel. In the angle measurement signal processing method in the angle measurement signal processing apparatus for estimating the incident direction of the wave incident on the wave element, the actual array showing the amplitude and phase response of each of the reception channels of the wave incident from the approximate incident angle on the actual array. The transformation matrix from the array vector and the virtual array vector indicating the response of the amplitude and phase in each receiving channel of the wave incident on the virtual array at an approximate angle. The integrated vector value is subtracted, and an evaluation function which is an integrated value of an average value of values of a predetermined angle range of a square norm expression of the subtracted vector value and a total calculated value of the incident wave number is calculated. The conversion matrix is determined so that the evaluation function is minimized, and the conversion matrix is applied to the reception signal of the reception channel of the real array to perform processing for obtaining a virtual reception signal of the reception channel. Angle measurement processing for estimating the incident angle of the wave incident on the receiving element using a typical received signal, and if the difference between the estimated incident angle and the approximate incident angle is smaller than a predetermined value, the estimated incident angle is calculated. Outputting the angle as the angle measurement result, and if the angle is large, returning to the process of determining the conversion matrix by replacing the estimated incident angle with the approximate angle of incidence. Law. 12. A correlation matrix having a cross-correlation value of a virtual reception signal of a reception channel of a virtual array as an element, and an averaged correlation matrix is obtained by averaging a plurality of partial matrices of the correlation matrix. MU for this averaged correlation matrix
The angle measurement in the angle measurement signal processing device according to claim 10 or 11, wherein a process of estimating a rough incident angle of the wave is performed by an SIC algorithm, and the wave incident angle is set to the rough incident angle. Signal processing method. 13. A correlation matrix having a cross-correlation value of a virtual reception signal of a reception channel of a virtual array as an element, and an averaged correlation matrix is obtained by averaging a plurality of partial matrices of the correlation matrix. MU for this averaged correlation matrix
The angle measurement signal processing method in the angle measurement signal processing device according to claim 10 or 11, wherein the wave incident angle is estimated by an SIC algorithm or an ESPRIT algorithm. 14. A beam output signal calculating means for receiving a received signal via a receiving element of each real array, forming a multi-beam and calculating an output signal of each beam, and a beam output signal calculating means. An output signal power calculating means for calculating the calculated power of the output signal of each beam, and comparing the power of the output signal of each beam from the output signal power calculating means, select several beams having the highest power. By doing so, the approximate incident angle determining means for determining the approximate incident angle of the wave and outputting the result as a coarse angle measurement result, and resetting the coarse angle measurement result estimated by the general incident angle determining means as an angle sector again Again, a transformation matrix recalculation means for calculating an array transformation matrix defined by the steering vector of the virtual equally-spaced linear array, and an array transformation matrix obtained by the transformation matrix recalculation means. A second spatial smoothing matrix calculating means for calculating a fourth correlation matrix using the obtained first correlation matrix, performing a spatial smoothing process on the fourth correlation matrix to calculate a fifth correlation matrix, MUSIC angle measurement processing of the fifth correlation matrix obtained by the second spatial smoothing matrix calculation means to estimate the angle of incidence of the wave; and An angle measurement result output unit for displaying an angle of incidence of the wave. 15. A virtual array arrangement setting means for setting a steering vector of a virtual equally-spaced linear array; an array transformation matrix calculating means for calculating an array transformation matrix defined by the steering vector of the virtual equally-spaced linear array; A correlation matrix calculating means for observing the received signals from the receiving elements and calculating a first correlation matrix thereof; an array transformation matrix from the array transformation matrix calculating means; and a first matrix from the correlation matrix calculating means. Enter the correlation matrix and
Using the array transformation matrix and the first correlation matrix, a second
A first spatial smoothing matrix calculating means for calculating a third correlation matrix by performing a spatial smoothing process on the second correlation matrix, and a spatial smoothing process from the first spatial smoothing matrix calculating means. First MUSIC angle measurement processing means for performing MUSIC angle measurement processing on the obtained third correlation matrix and estimating only a coarse angle measurement result as an angle range near the incident direction estimation value; Virtual linear array resetting means for resetting the element array of the virtual linear array with reference to the coarse angle measurement result estimated by the processing means; A conversion matrix recalculating means for resetting the sector as a sector and calculating an array conversion matrix defined by a steering vector of a virtual equally-spaced linear array in this angular sector , Using the element array of the virtual linear array obtained from the array transformation matrix and the virtual linear array resetting means obtained from the transformation matrix recalculation unit calculates a fourth correlation matrix, the fourth
A second spatial smoothing matrix calculating means for calculating a fifth correlation matrix by performing spatial smoothing processing on the correlation matrix of (i) and a MUSIC angle measurement processing of the fifth correlation matrix obtained by the second spatial smoothing matrix calculating means. Angle measuring signal processing device comprising: a second MUSIC angle measuring unit for estimating the incident angle of the wave; and an angle measuring result output unit for displaying the incident angle of the wave estimated by the second MUSIC angle measuring unit. . 16. A virtual array arrangement setting means for setting a steering vector of a virtual equally-spaced linear array, an array conversion matrix calculating means for calculating an array transformation matrix defined by the steering vector of the virtual equally-spaced linear array, A correlation matrix calculating means for observing a received signal from the receiving element of the above and calculating a first correlation matrix; and an array transformation matrix from the array transformation matrix calculating means and a first correlation matrix from the correlation matrix calculating means. And enter
Using the array transformation matrix and the first correlation matrix, a second
A first spatial smoothing matrix calculating means for calculating a third correlation matrix by performing a spatial smoothing process on the second correlation matrix, and a spatial smoothing process from the first spatial smoothing matrix calculating means. First MUSIC angle measurement processing means for performing MUSIC angle measurement processing on the obtained third correlation matrix and estimating only a coarse angle measurement result as an angle range in the vicinity of the incident direction estimation value; Angle measurement result storage means for storing the estimated angle measurement result, and a coarse angle measurement result stored in the angle measurement result storage means is reset as an angle sector, and a steering vector of a virtual equally-spaced linear array in this angle sector A transformation matrix recalculating means for calculating an array transformation matrix defined by: A second spatial smoothing matrix calculating means for calculating a fourth correlation matrix using the first correlation matrix obtained in the step, performing a spatial smoothing process on the fourth correlation matrix to calculate a fifth correlation matrix, A second MUSIC angle measurement processing means for performing MUSIC angle measurement processing on the fifth correlation matrix obtained by the second spatial smoothing matrix calculation means and estimating an incident angle of a wave; and a second MUSIC angle measurement processing means Is compared with the angle measurement result stored in the angle measurement result storage means 41, and it is determined whether the difference is smaller than a predetermined threshold. If the difference is smaller, the second MUSIC Angle measurement result update width determination means for outputting the angle measurement result estimated by the angle measurement processing means; and angle measurement result output means for displaying the incident angle of the wave estimated by the angle measurement result update width determination means. Angle measurement signal processing device.