JPS6037906B2 - 3D radar device - Google Patents

Description

[Detailed description of the invention] This invention relates to three-dimensional radar.

Conventionally, a three-dimensional radar, like a two-dimensional radar, usually has a relatively complicated structure that rotates continuously in the azimuth direction as shown in FIG. PPI) 15. Therefore, in order to convert a conventional two-dimensional radar (primary radar or secondary radar) into a three-dimensional one, it is necessary to make considerable modifications to the antenna 11 in particular, or to replace the entire antenna. Much new construction and replacement will be required.

In any case, the problem with converting to 3D was that it required a considerable amount of downtime and repair work.

This invention has been made in view of the above-mentioned points, and is installed alongside a conventional two-dimensional radar (primary radar or secondary radar) to detect reflected signals or response signals from targets by this two-dimensional radar. The present invention provides a three-dimensional radar device that is easy to install by performing reception processing and further receiving and data processing antenna azimuth information from the two-dimensional radar.

Hereinafter, one embodiment of the present invention will be described with reference to FIG. 2.

In Figure 2, 16 is a two-dimensional radar that rotates the fan beam in the azimuth direction, receives reflected signals or response signals from the target, obtains azimuth angle information, and locates the target. The purpose of this is to conduct a search. The pattern in the vertical plane of the three-dimensional radar device 2 of the present invention attached to the radar device 16 is shaped to match the required cover, but the pattern in the horizontal plane seems to be non-directional. It is composed of an antenna 21, a receiving section 13, a data processing section 14, a coordinate conversion section 22, and an instruction section (PPI) 15.

Next, the operation of the device shown in FIG. 2 will be explained.

First, a transmission signal emitted in a certain direction from a conventional radar device 16, such as a two-dimensional radar (primary radar or secondary radar), hits a target and is reflected as a reflected signal or response signal. come. A part of this reflected signal or response signal is transmitted to the antenna 2 of the three-dimensional radar device 20 located in parallel.
The signal is captured by one non-directional pattern and reaches the receiving section 13.
The receiving section 13 receives a trigger etc. from the radar device 16, synchronizes it, performs frequency tuning with the radar transmission signal in the area, creates a local oscillation frequency, etc., and has the ability to perform reception processing independently of the radar device 16. ing. The output of the receiving section 13 is processed by the data processing section 14 to extract target three-dimensional information.

Further, upon receiving azimuth information (synchronized signal, etc.) from the radar device 16, the coordinate conversion unit 22 converts the radar devices 16 and 3 into two.
Next, the target position measurement deviation (parallax) due to the deviation in the installation position with respect to the radar device 20 is corrected. The signals and data processed by the receiving section 13, data processing section 14, and coordinate conversion section 22 are displayed on the instruction section 15. Now, the three-dimensional radar device 20 will be further explained in detail based on FIGS. 4 to 7.

The relationship between the conventional radar device 16, the three-dimensional radar device 20, and the target is shown geometrically as shown in FIG. To derive h), first, use the difference in azimuth from the suppression angle 8, which is the arrival direction of the radio wave. −g, is required. Therefore, a method for detecting the depression angle ◇ is described, for example, in Hakama Kosho No. 42-16474.

That is, as shown in FIG. 5, the antenna 21 is formed with a vertical plane pattern in the form of a slot array according to the required coverage, and omnidirectional element antennas 211, 212, 213 are formed in the vertical plane as a horizontal plane pattern. A system in which each received signal is arranged in
Input phase difference between 212 and between 212 and 213 core, core 2
is detected (at this time, the interval between each element antenna is d,), and then the phase detector 133 detects the input phase difference center, -peak 2, which is the suppression angle signal, and this is processed as data. Part 14
The target suppression angle 0 can be found from the well-known arithmetic formula 8=sin-1 [Kozo Teishu]; where input is the wavelength of the radio wave.

Also, with azimuth difference.

- Gu, is the azimuth sent from the radar device 16? , and is detected by the coordinate transformation unit 12. In other words, as is clear from FIG. 4, the target azimuth from the radar device 16 is set to ◇. ,
The azimuth angle when viewing the three-dimensional radar device 20 from the radar device 16 is J. Then, the azimuth difference is Jo-0. Next, the relationship between the transmitted signal and the received signal with respect to the target is as shown in FIG. 6, and distances r and r2 can be detected. In other words,
The apparent elapsed time t'' between the transmission trigger signal of the three-dimensional radar device 20 shown in FIG. 6 and the reception signal of the three-dimensional radar device 20 shown in FIG. Delay time number of trigger signal to 20; d
By adding the distance between the radar devices, C is the radio wave propagation speed, the transmitted signal from the radar device 16 hits the target at distance r, and reaches the 3D radar device 2 at distance r2, which is detected by Ranma Ushiji. Therefore, r, 10r2 can be found. Therefore, the data processing unit 14 can obtain three-dimensional information (distance r2, azimuth J2, height h) of the target by performing the following calculations.

'j} Distance r2 From Figure 4, (r2cos8)2 = d20(rtei-r
cost sino) - gen no r tei r vine sin28 x cos (0.

-,) holds true, and 0, ◇. 1◇,,r・10r2,
Since d is known as described above, r and r2 are uniquely determined. 'ii' Azimuth gu 2 From Figure 4, r Kiichi r Tei S form 8 = is 10 r room COS 28 - 2
dr〆os8×cossmall3 is established.

Therefore, COS◇3 = is 10r≧cos28−rtei+r
San202dr2Cos8#10rki・r≧1 2dr2Cos8 ◇3=COS-1 (d trench Sanji) So,? 2=Gei-◇3 Height h From Figure 4, h=r2Sina.

Furthermore, in order to display the video of the target in the instruction unit 15, the distance r from the center of the three-dimensional radar device 20 is
2. Azimuth? 2 to create a sweep signal, and use it to display rope points on the video.

That is, in FIG. 7, a mirror signal is created that starts from the center of the three-dimensional radar device 20 and scans in the order of →■→■→@→@→.... Note that the trigger signal is used for synchronizing each calculation process. With this configuration, it is possible to easily configure a conventional two-dimensional radar (primary radar or secondary radar) into a three-dimensional radar device with dramatically improved search capability.

Next, another embodiment of the present invention is shown in FIG. 3 and will be described.

In FIG. 3, the same reference numerals as in FIG. 2 indicate the same or equivalent.
Reference numeral 31 denotes an antenna, which is provided with two three-dimensional radar devices. In the embodiment of the present invention shown in FIG. It is designed to have .

In this case, the search area is a specific azimuth angle range. The operation of the device shown in FIG. 3 is similar to that shown in FIG.
Here, the antennas 21 and 31 themselves may be fixed or semi-fixed, and may also be continuously rotated in conjunction with azimuth information from the radar device 16. Also, three-dimensional radar device 20'
The provided antenna is not limited to one that is omnidirectional in the azimuth direction. As is clear from the above, the present invention can be applied to various radar systems (phase difference type, phased array type, etc.) as a three-dimensional radar device.
This can be applied by adapting the configurations of the antennas 21 and 31. As explained above, the present invention is installed in conjunction with a conventional radar device, and receives and processes the reflected signal or response signal from the target by the radar device as well as the antenna azimuth information at this time. It is possible to construct a dimensional radar device.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a conventional three-dimensional radar machine, FIG. 2 is a block diagram of a three-dimensional radar device according to an embodiment of the present invention, and FIG. FIG. Further, FIG. 4 is a diagram showing the geometrical relationship between the radar device located in the area, the third-order radar device which is an embodiment of the present invention, and the target, and FIG. 5 is a detailed configuration diagram of the antenna 21 and the receiving section 13. FIG. 6 is a time chart showing the relationship between the transmitted signal and the received signal with respect to the target, and FIG. 7 is a diagram illustrating the display of the instruction section 15. In the figure, 13 is a receiving section, 14 is a data processing section, 15
1 is an instruction unit, 16 is a radar device which is a transmitting and receiving device having a first antenna, 2 Kawama 3D radar bag counterfeit, 21, 31
is an antenna which is a second antenna, and 22 is a coordinate section that determines coordinates. Note that the same reference numerals in the figures indicate the same or equivalent parts. Figure 4 Figure 1 Figure 5 Figure 6 Figure 7 Figure 2 Figure 3

Claims (1)

[Claims] 1. Has a plurality of element antennas, is provided close to or separated from another two-dimensional radar, and receives a reflected signal or response signal from a target based on a transmission signal radiated from this two-dimensional radar. a receiving section that detects an input phase difference between each element antenna from a received signal of this antenna;
A coordinate transformation unit receives the antenna azimuth from the dimensional radar and detects the difference in direction angle from the antenna azimuth of the antenna, and a target suppression angle from the antenna is determined based on the input phase difference obtained by the reception unit. Based on the target suppression angle, the azimuth difference obtained by the coordinate conversion section, and the distance from the two-dimensional radar to the antenna via the target, which is determined by the time difference between the transmitted signal and the reflected signal or response signal. , 3D position (distance, azimuth, height) of the target from the above antenna
A three-dimensional radar device equipped with a data processing unit that extracts the signals and an instruction unit that displays the processed signals and data. 2. The three-dimensional radar device according to claim 1, wherein the antenna is constructed of an antenna having a non-directional pattern in the azimuth direction. 3. Claim 1, characterized in that the antenna is constituted by an antenna having a directional pattern in the azimuth direction.
The three-dimensional radar device described in Section 3. 4. The three-dimensional radar device according to claim 3, wherein the antenna is semi-fixed or continuously rotatable.