JPWO2017187949A1 - Radar apparatus, apparatus, method and program - Google Patents

Abstract

An object of the present invention is to realize a high resolution radar which can be mounted on a flight device accompanied by intense vibration.
An apparatus according to the present invention includes a first information acquisition unit for acquiring first information on position or attitude from a first sensor attached to a radar antenna mounted on a flight device; A second information acquisition unit for acquiring second information related to position or attitude from the second sensor having higher accuracy than the first sensor, and Based on the first information and the second information, an information generation unit that generates third information on the position or attitude and the position or attitude of the radar antenna are controlled on the basis of the third information. And a control unit.
[Selected figure] Figure 2

Description

  The present invention relates to a radar apparatus, apparatus, method and program.

  In the remote sensing field using spacecraft such as satellites and aircraft, Synthetic Aperture Radar (SAR) using microwaves is used as a sensor for observing the state of the earth's surface and sea surface. ing. The ground surface reading method using SAR is to reproduce image data from the amplitude and phase data (complex data) of the received wave obtained by the SAR, and read the surface and the sea surface state.

  SAR uses chirp compression technology and synthetic aperture technology to image the ground surface and sea surface with high resolution. In particular, synthetic aperture techniques require information on the exact position and orientation of the antenna.

  For example, Patent Document 1 discloses an SAR technique for correcting received data based on movement information obtained by a GPS (Global Positioning System) receiver and an acceleration sensor attached to an antenna. Further, for example, Patent Document 2 discloses an SAR that can be mounted on a small aircraft, a helicopter or the like.

JP, 2005-024395, A JP, 2011-007572, A

  For example, as disclosed in Patent Document 2, SAR is not only large fixed wing aircraft with less vibration such as artificial satellites and large aircraft, but also intense vibrations such as small aircraft (propeller aircraft or helicopter) It can also be mounted on a flight vehicle. For example, the helicopter, in particular, vibrates violently as the propeller rotates, and the position and attitude of the antenna mounted on the helicopter are unstable. As a result, the beam emitted from the antenna may deviate from the observation direction. In addition, intense vibrations can make it difficult to obtain accurate position and attitude information from which the SAR antenna emitted a beam.

  Above all, in order to realize a high resolution SAR, accurate position and attitude information is required, and therefore, a highly accurate sensor for obtaining position and attitude information is required. However, because the mass and size of the high precision sensor is large, even though it is possible to attach the high precision sensor to a helicopter, it is difficult to attach it to a small antenna mounted on a helicopter. Because the relative position and attitude relationship between the helicopter and the antenna is not kept constant by vibration, it is difficult to obtain accurate information on the antenna's position and attitude using only high-precision sensors attached to the helicopter. It can be

  An object of the present invention is to make it possible to realize a high resolution radar that can be mounted on a flight device accompanied by severe vibrations.

  An apparatus or a radar apparatus according to the present invention includes a first information acquisition unit for acquiring first information on a position or an attitude from a first sensor attached to a radar antenna mounted on a flight apparatus; A second information acquisition unit configured to acquire second information related to a position or an attitude from the second sensor having a higher accuracy than the first sensor, the second information mounted on the second sensor; Control for controlling the position or attitude of the radar antenna based on the third information and an information generation unit for generating third information on the position or attitude based on the second information and the second information And a unit.

  A method according to the present invention comprises: acquiring first information on position or attitude from a first sensor attached to a radar antenna mounted on a flight device; and a second sensor mounted on the flight device Acquiring second information on position or attitude from the second sensor having higher accuracy than the first sensor, and based on the first information and the second information. And generating third information on the position or attitude, and controlling the position or attitude of the radar antenna based on the third information.

  A program according to the present invention comprises: acquiring first information on position or attitude from a first sensor attached to a radar antenna mounted on a flight device; and a second sensor mounted on the flight device Acquiring second information on position or attitude from the second sensor having higher accuracy than the first sensor, and based on the first information and the second information. It is a program for making a processor perform generation of the 3rd information about a position or an attitude, and control of a position or an attitude of the above-mentioned antenna for radar based on the above-mentioned 3rd information.

  According to the present invention, it is possible to realize a high resolution radar that can be mounted on a flight device accompanied by severe vibration. According to the present invention, other effects may be exhibited instead of the effects or together with the effects.

It is an explanatory view for explaining a synthetic aperture technique. It is a block diagram showing an example of rough composition of a radar installation concerning a 1st embodiment. It is an explanatory view for explaining an example of the 2nd position / posture information. It is an explanatory view for explaining an example of the 3rd position / posture information. It is an explanatory view for explaining an example of the 4th position / posture information. It is a flow of calculation of position / posture information. It is a flowchart for demonstrating the example of the flow of the 1st process which concerns on 1st Embodiment. It is a flowchart for demonstrating the example of the flow of the 2nd process which concerns on 1st Embodiment. It is a block diagram which shows the example of a rough structure of the apparatus which concerns on 2nd Embodiment. It is a flowchart for demonstrating the example of the flow of the process which concerns on 2nd Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, redundant description may be omitted by giving the same reference numerals to elements that can be similarly described.

The description will be made in the following order.
1. Technologies related to SAR Overview of the embodiment of the present invention 3. First embodiment 3.1. Configuration of radar device 3.2. Process flow 3.3. Modifications 4. Second Embodiment 4.1. Configuration of device 4.2. Flow of processing

<< 1. SAR Technology >>
First, with reference to FIG. 1, techniques relating to SAR (pulse compression technique and synthetic aperture technique) will be described.

(1) Pulse Compression Technology The pulse compression technology is a technology for achieving high resolution in the range direction (distance direction) of the radar.

  The radar measures the distance based on the time it takes for the transmitted pulse to reflect back. Therefore, the range direction resolution of the radar is determined by the pulse width of the transmission pulse. Usually, to achieve high resolution, a narrow pulse width transmission signal is used.

  In the chirp compression technique, a chirp signal having a wide bandwidth is emitted as a transmission signal, and the signal is concentrated within a narrow time width by correlating the observation data obtained by receiving the reflected signal with the transmission signal. As a result, even if the pulse width of the actual transmission signal is long, the pulse width after chirp compression can be narrowed, so that high resolution in the range direction is realized.

(2) Synthetic Aperture Technology Synthetic aperture technology is a technology to realize high resolution in the azimuth direction (traveling direction, azimuth direction).

  In a conventional radar, the resolution in the azimuth direction is determined by the beam width in the azimuth direction of the antenna, and the product of the distance and the beam width is the resolution in the azimuth direction. Therefore, to achieve high resolution, it is necessary to narrow the beam width of the antenna, but since the beam width is inversely proportional to the size of the antenna, it is necessary to make the antenna larger.

  In synthetic aperture technology, SAR mounted on an aircraft or satellite is made to fly along an orbit, and radio waves are continuously irradiated on the surface for a fixed period of time to form a virtually huge antenna and realize high resolution in the azimuth direction. Do. That is, as shown in FIG. 1, by performing transmission and reception from different positions for each pulse repetition period, the actual antenna is regarded as an antenna element of a virtual giant antenna, and the virtual giant antenna is processed by signal processing. Form. This provides the same effect as observed with a narrow beam width. This is realized by synthetic aperture processing of signal processing of observation data, but information of accurate position and attitude of SAR is required.

<< 2. Overview of the embodiment of the present invention >>
Subsequently, an outline of the embodiment of the present invention will be described.

(1) Technical issues SAR can be mounted not only on large fixed-wing aircraft with little vibration such as artificial satellites and large aircraft, but also on aircrafts with strong vibration such as small aircraft (propeller aircraft or helicopters) . For example, the helicopter, in particular, vibrates violently as the propeller rotates, and the position and attitude of the antenna mounted on the helicopter are unstable. As a result, the beam emitted from the antenna may deviate from the observation direction. In addition, intense vibrations can make it difficult to obtain accurate position and attitude information from which the SAR antenna emitted a beam.

  Above all, in order to realize a high resolution SAR, accurate position and attitude information is required, and therefore, a highly accurate sensor for obtaining position and attitude information is required. However, because the mass and size of the high precision sensor is large, even though it is possible to attach the high precision sensor to a helicopter, it is difficult to attach it to a small antenna mounted on a helicopter. Because the relative position and attitude relationship between the helicopter and the antenna is not kept constant by vibration, it is difficult to obtain accurate information on the antenna's position and attitude using only high-precision sensors attached to the helicopter. It can be

  Also, in synthetic aperture processing that achieves high resolution in the azimuth direction, the observation time and synthetic aperture time required to process the same one-point data become longer, and during that time, position and / or attitude information is accurately corrected. It is desirable to be done.

  Therefore, in the embodiment of the present invention, it is possible to realize a high resolution radar that can be mounted on a flight device accompanied by intense vibration.

(2) Technical Features In the embodiment of the present invention, for example, position / attitude information from each of a sensor attached to a radar antenna mounted on a flight device and a high-precision sensor mounted on the flight device Position / posture information is generated based on Then, based on the generated position / attitude information, control of the position and / or attitude of the radar antenna is performed.

  Thereby, for example, more accurate position and / or attitude information of the antenna can be obtained without attaching a highly accurate sensor to the antenna. Therefore, for example, the position and / or attitude of the antenna can be controlled more accurately, and as a result, the position and / or attitude of the antenna can be more stable, and the beam emitted from the antenna can be more accurately The desired location can be observed. Thereby, more accurate radar images can be obtained. Therefore, a high resolution radar that can be mounted on a flight device accompanied by severe vibration can be realized.

  Also, since the high precision sensor is mounted on the flight device and the small and light sensor is attached to the antenna, the increase in the size of the antenna unit can be suppressed. Thus, the mass and power consumption of the system may be smaller.

  The above-mentioned technical feature is a specific example of the embodiment of the present invention, and naturally, the embodiment of the present invention is not limited to the above-described technical feature.

<< 3. First embodiment >>
Subsequently, a first embodiment of the present invention will be described with reference to FIGS.

<3.1. Configuration of radar device>
First, an example of the configuration of the radar device 100 according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing an example of a schematic configuration of the radar device 100 according to the first embodiment. Referring to FIG. 2, the radar device 100 includes an antenna unit 110, a transmission / reception unit 120, a high accuracy sensor 130, a first information acquisition unit 140, a second information acquisition unit 150, an information generation unit 160, a control unit 170, and smoothing processing. A unit 180 and an image generation unit 190 are provided.

  For example, the radar device 100 is a SAR device. For example, the radar device 100 is a device mounted on a flight device. For example, the flight device is a small aircraft. As one example, the flight device is a helicopter (or propeller aircraft).

  The radar device 100 may be configured by a plurality of independent devices. For example, the radar device 100 may include an image processing device including an image generation unit 190 (and a smoothing processing unit 180). For example, high precision sensor 130 may be an independent device.

(1) Antenna unit 110
The antenna unit 110 includes an antenna 111, a sensor 113 and a motion control mechanism 115.

-Antenna 111
The antenna 111 radiates the transmission signal from the radar device 100 into space, and receives a signal that is a reflected wave of the transmission signal. The antenna 111 is a radar antenna mounted on a flight device, and is, for example, an SAR antenna.

-Sensor 113
The sensor 113 is a sensor attached to the antenna 111, and generates first information (hereinafter referred to as "first position / posture information") on the position and / or attitude.

  For example, sensor 113 includes one or more inertial sensors. Specifically, for example, the one or more inertial sensors include an acceleration sensor or a gyroscope. As an example, sensor 113 includes both an acceleration sensor and a gyroscope. Of course, the high accuracy sensor 130 may be another type of sensor.

  For example, the first position / posture information is information indicating acceleration and / or angular acceleration. As an example, the first position / posture information is information indicating both acceleration and angular acceleration. That is, the first position / posture information includes acceleration information indicating acceleration and angular acceleration information indicating angular acceleration.

  The first position / orientation information may be information indicating velocity and / or angular velocity, or information indicating position and / or orientation, instead of information indicating acceleration and / or angular acceleration. In this case, the sensor 113 may generate the first position / posture information by performing an inertia operation (such as integration).

  The sensor 113 is a small and light sensor. Also, for example, the sensor 113 generates and outputs the first position / posture information at high frequency.

-Motion control mechanism 115
The movement control mechanism 115 changes the position and / or posture of the antenna 111 according to the control by the control unit 170.

  For example, the motion control mechanism 115 slides the position of the antenna 111 in the direction of one axis, or in the direction of two axes (orthogonal to each other) or three axes.

  For example, the motion control mechanism 115 rotates the antenna 111 around one axis or around each of two axes (orthogonal to each other) or three axes.

  For example, the motion control mechanism 115 includes a motor for moving the antenna 111.

(2) Transmission / reception unit 120
The transmitting and receiving unit 120 transmits and receives signals via the antenna 111. For example, the transmission and reception unit 120 transmits a transmission pulse to the surface or the sea surface via the antenna 111. Furthermore, the transmission / reception unit 120 receives the reflected wave of the transmission pulse, and generates observation data from the received signal.

  For example, the transmission / reception unit 120 may be implemented by a radio frequency (RF) circuit and / or a baseband processor.

(3) High precision sensor 130
The high accuracy sensor 130 is a sensor mounted on the flight device, and generates second information (hereinafter referred to as “second position / attitude information”) on the position and / or attitude. The high accuracy sensor 130 has higher accuracy than the sensor 113.

  For example, the high accuracy sensor 130 includes an INS (Inertial Navigation System) or a GPS (Global Positioning System) receiver. Of course, the high accuracy sensor 130 may be another type of sensor.

  For example, the second position / posture information is information indicating a position and / or attitude. As one example, the second position / posture information is information indicating both the position and the attitude. That is, the second position / posture information includes position information indicating a position and attitude information indicating an attitude. For example, the position information is information indicating one-dimensional, two-dimensional or three-dimensional coordinates, and the posture information is information indicating rotational angles of one axis, two axes or three axes.

  The high accuracy sensor 130 is a large and heavy sensor. Also, for example, the high accuracy sensor 1309 generates and outputs the second position / posture information at low frequency. That is, the sensor 113 generates the first position / posture information at a first frequency, and the high accuracy sensor 130 generates the second position / at a second frequency lower than the first frequency. Generate posture information.

(4) First information acquisition unit 140
The first information acquisition unit 140 acquires the first position / posture information from the sensor 113.

  For example, the first information acquisition unit 140 frequently acquires the first position / posture information.

(5) Second information acquisition unit 150
The second information acquisition unit 150 acquires the second position / posture information from the high accuracy sensor 130.

  For example, the second information acquisition unit 150 acquires the second position / posture information at low frequency. That is, the first information acquisition unit 140 acquires the first position / posture information at a first frequency, and the second information acquisition unit 150 generates a second frequency lower than the first frequency. The second position / posture information is acquired.

(6) Information generation unit 160
The information generation unit 160 generates third information (hereinafter referred to as “third position / posture information”) related to the position and / or attitude based on the first position / posture information and the second position / posture information. Generate).

  For example, the third position / posture information is information indicating a position and / or attitude. As one example, the third position / posture information is information indicating both the position and the attitude. That is, the third position / posture information includes position information indicating a position and attitude information indicating an attitude. For example, the position information is information indicating one-dimensional, two-dimensional or three-dimensional coordinates, and the posture information is information indicating rotational angles of one axis, two axes or three axes.

  For example, the information generation unit 160 corrects the position / posture information generated based on the first position / posture information or the first position / posture information using the second position / posture information. Thus, the third position / posture information is generated.

  Specifically, for example, the first position / attitude information includes acceleration information and angular acceleration information, and the information generation unit 160 calculates the acceleration information and the angular acceleration information by inertia calculation (such as integration). Generate position information and attitude information. Then, the information generation unit 160 (for example, periodically) corrects the position information and the attitude information using the second position / posture information as a reference.

  FIG. 3 is an explanatory view for explaining an example of the second position / posture information, and FIG. 4 is an explanatory view for explaining an example of the third position / posture information. For example, as shown in FIG. 3, the second position / posture information is acquired at low frequency, and as shown in FIG. 4, correction using the second position / posture information is performed. Thus, the third position / posture information is continuously generated as time passes. Incidentally, as shown in FIG. 4, the correction may generate a discontinuous point.

  This makes it possible, for example, to obtain more accurate position / attitude information without attaching a highly accurate sensor to the antenna.

(7) Control unit 170
The control unit 170 controls the position and / or attitude of the antenna 111 based on the third position / attitude information. For example, the control unit 170 performs prediction control in real time.

  For example, the control unit 170 controls the position and / or posture of the antenna 111 by transmitting a control signal or control command to the movement control mechanism 115 so as to change the position and / or posture of the antenna 111.

  For example, the control unit 170 controls the position and / or posture of the antenna 111 so that the position and / or posture of the antenna 111 is stabilized. For example, if the attitude of the antenna 111 deviates from a desired attitude, the control unit 170 controls the attitude of the antenna 111 such that the attitude of the antenna 111 approaches the desired attitude. For example, if the position of the antenna 111 is deviated from the desired position, the control unit 170 controls the position of the antenna 11 so that the position of the antenna 111 approaches the desired position.

  Thereby, for example, even if the flight device vibrates violently, the position and / or attitude of the antenna 111 becomes more stable. Therefore, the beam emitted from the antenna 111 does not deviate from the observation direction, and it becomes possible to observe a desired place more accurately. In addition, the stability of the antenna 111 may make position and / or posture information more accurate.

  For example, the control unit 170 controls both the position and the attitude of the antenna 111. The control unit 170 may control only one of the position and the attitude of the antenna 111. As a result, the motion control mechanism 115 may be simplified, and as a result, the weight of the antenna unit 110 may be reduced and power consumption may be reduced.

(8) Smoothing processing unit 180
The smoothing processing unit 180 performs smoothing on the third information to generate fourth information (hereinafter referred to as “fourth position / posture information”) related to the position and / or attitude.

  For example, the smoothing processing unit 180 performs smoothing on the third position / posture information using a filter (for example, a Kalman filter or a particle filter).

  FIG. 5 is an explanatory view for explaining an example of the fourth position / posture information. For example, as shown in FIG. 4, the position and / or posture indicated by the third position / attitude information includes discontinuities, but as shown in FIG. The position and / or attitude indicated by the position / posture information 4 does not include the discontinuities.

  FIG. 6 is a flow of calculation of position / posture information. The second position / posture information is generated by the high accuracy sensor 130, and the first position / posture information is generated by the sensor 113. Third position / posture information is generated based on the first position / posture information and the second position / posture information by the information generation processing by the information generation unit 160. Then, the smoothing processing by the smoothing processing unit 180 generates fourth position / posture information based on the third position / posture information.

  Thereby, for example, even when two sensors are used, position / posture information without discontinuity can be obtained.

(9) Image generation unit 190
The image generation unit 190 generates a radar image based on observation data generated from a reception signal received via the antenna 111 and the fourth position / attitude information. For example, the radar image is a SAR image.

  For example, the image generation unit 190 corrects the position / attitude of the observation data based on the fourth position / attitude information, and generates the radar image based on the corrected observation data.

  Thereby, for example, observation data is corrected more accurately, and as a result, a more accurate radar image is obtained.

  For example, each of the first information acquisition unit 140, the second information acquisition unit 150, the information generation unit 160, the control unit 170, the smoothing processing unit 180, and / or the image generation unit 190 may be a processor, a memory, and / or the The memory may be implemented by a stored program. For example, the processor executes the program (instruction) to execute the first information acquisition unit 140, the second information acquisition unit 150, the information generation unit 160, the control unit 170, the smoothing processing unit 180, and / or the image generation unit. Perform the operation of 190.

  The example of the configuration of the radar device 100 according to the first embodiment has been described above. The radar apparatus 100 may include an apparatus (independent apparatus or module) including the first information acquisition unit 140, the second information acquisition unit 150, the information generation unit 160, and the control unit 170. The device may further include other components. As one example, the apparatus may further include an antenna unit 110 and / or a transceiver unit 120. As another example, the apparatus may further include a smoothing processor 180 and / or an image generator 190. As yet another example, the device may include a high precision sensor 130.

<3.2. Flow of processing>
Next, an example of the flow of processing according to the first embodiment will be described with reference to FIGS. 7 and 8.

(1) Control of Antenna FIG. 7 is a flowchart for explaining an example of the flow of a first process according to the first embodiment. The first process is a process for controlling the antenna 111.

  The first information acquisition unit 140 acquires first position / posture information from the sensor 113 (S201).

  The second information acquisition unit 150 acquires second position / posture information from the high accuracy sensor 130 (S203).

  The information generation unit 160 generates third position / posture information based on the first position / posture information and the second position / posture information (S205).

  The control unit 170 controls the position and / or attitude of the antenna 111 based on the third position / attitude information (S207). Then, the process returns to step S201.

(2) Generation of Radar Image FIG. 8 is a flowchart for explaining an example of the flow of second processing according to the first embodiment. The second process is a process for generating a radar image.

  Steps S201 to S205 are as described above with reference to FIG.

  The smoothing processing unit 180 generates fourth position / posture information by performing smoothing on the third information (S217).

  The image generation unit 190 generates a radar image based on observation data generated from the reception signal received via the antenna 111 and the fourth position / attitude information (S219). Then, the process returns to step S201.

  The first embodiment has been described above. According to the first embodiment, more accurate position and / or attitude information of the antenna can be obtained without attaching a highly accurate sensor to the antenna. Therefore, for example, the position and / or attitude of the antenna can be controlled more accurately, and as a result, the position and / or attitude of the antenna can be more stable, and the beam emitted from the antenna can be more accurately The desired location can be observed. Also, for example, position / posture correction of observation data can be performed more accurately. From these, more accurate radar images can be obtained. Therefore, a high resolution radar that can be mounted on a flight device accompanied by severe vibration can be realized.

  Also, since the high precision sensor is mounted on the flight device and the small and light sensor is attached to the antenna, the increase in the size of the antenna unit can be suppressed. Thus, the mass and power consumption of the system may be smaller.

<3.3. Modified example>
Next, a modification of the first embodiment will be described.

(1) First Modified Example As a first modified example, the radar device 100 may not include some of the components shown in FIG.

  As an example, the radar device 100 may not include the image processing device (the image generation unit 190 (and the smoothing processing unit 180)). In this case, the radar device 100 records the observation data and the position / attitude information (for example, the third position / attitude information or the fourth position / attitude information) in the recording device. Thereafter, the image processing apparatus may generate a radar image based on the observation data and the position / attitude information read from the recording apparatus. In this manner, off-line radar image generation may be performed instead of real-time radar image generation.

  As another example, the radar device 100 may not include the antenna unit 110, and the antenna unit 110 may be a device independent of the radar device 100.

  As yet another example, the radar device 100 may not include the high accuracy sensor 130, and the high accuracy sensor 130 may be a device independent of the radar device 100.

(2) Second Modification As a second modification, the smoothing processing unit 180 may be included in the information generation unit 160, and the information generation unit 160 may perform a smoothing process. In this case, the third position / posture information may be smoothed position / posture information (that is, the fourth position / posture information).

(3) Third Modification As a third modification, the radar device 100 may not be a device mounted on a flight device, but may be the flight device itself.

<< 4. Second embodiment >>
Next, with reference to FIGS. 9 and 10, a second embodiment of the present invention will be described. The first embodiment described above is a specific embodiment, but the second embodiment is a more generalized embodiment.

<4.1. Device configuration>
First, an example of the configuration of an apparatus 300 according to the second embodiment will be described with reference to FIG. FIG. 9 is a block diagram showing an example of a schematic configuration of an apparatus 300 according to the second embodiment. Referring to FIG. 9, the apparatus 300 includes a first information acquisition unit 310, a second information acquisition unit 320, an information generation unit 330, and a control unit 340.

  The first information acquisition unit 310 acquires first information (first position / attitude information) on the position and / or attitude from the first sensor attached to the radar antenna mounted on the flight device.

  The second information acquisition unit 320 is a second sensor mounted on the flight device, and a second information related to position and / or attitude from the second sensor having higher accuracy than the first sensor. Information (second position / posture information) is acquired.

  The information generation unit 330 generates third information (third position / posture information) related to the position and / or attitude based on the first position / posture information and the second position / posture information.

  The control unit 340 controls the position and / or attitude of the radar antenna based on the third position / attitude information.

  As an example, the first information acquisition unit 310, the second information acquisition unit 320, the information generation unit 330, and the control unit 340 respectively correspond to the first information acquisition unit 140, the second information acquisition unit 150, and the like according to the first embodiment. It operates in the same manner as the information generation unit 160 and the control unit 170. Therefore, duplicate explanations are omitted here.

  The apparatus 300 includes one or more components (for example, the antenna unit 110, the transmission / reception unit 120, the high accuracy sensor 130, the smoothing processing unit 180, and / or the image) included in the radar apparatus 100 according to the first embodiment. The generation unit 190) may further be provided. The device 300 may be the radar device 100 itself or a flight device itself.

<4.2. Flow of processing>
Next, with reference to FIG. 10, an example of the flow of processing according to the second embodiment will be described. FIG. 10 is a flowchart for explaining an example of the flow of processing according to the second embodiment.

  The first information acquisition unit 310 acquires first position / attitude information from the first sensor attached to the radar antenna mounted on the flight device (S401).

  The second information acquisition unit 320 is a second sensor mounted on the flight device, and acquires second position / attitude information from the second sensor having higher accuracy than the first sensor. (S403).

  The information generation unit 330 generates third position / posture information based on the first position / posture information and the second position / posture information (S405).

  The control unit 340 controls the position and / or attitude of the radar antenna based on the third position / attitude information (S407).

  The second embodiment has been described above. Note that according to the second embodiment, more accurate position and / or attitude information of the antenna can be obtained without attaching a highly accurate sensor to the antenna. Therefore, for example, the position and / or attitude of the antenna can be controlled more accurately, and as a result, the position and / or attitude of the antenna can be more stable, and the beam emitted from the antenna can be more accurately The desired location can be observed. Thereby, more accurate radar images can be obtained. Therefore, a high resolution radar that can be mounted on a flight device accompanied by severe vibration can be realized.

  Also, since the high precision sensor is mounted on the flight device and the small and light sensor is attached to the antenna, the increase in the size of the antenna unit can be suppressed. Thus, the mass and power consumption of the system may be smaller.

  The embodiments of the present invention have been described above. The present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the present invention. The embodiment described above is an exemplification, and it is possible that various modifications can be made to the combination of the embodiments and their respective components and the combination of each processing process, and such modifications are also within the scope of the present invention. It is a place understood by the trader.

  For example, the steps in the processes described herein may not necessarily be performed chronologically in the order described in the flowcharts. For example, the steps in the process may be performed in an order different from the order described as the flowchart or may be performed in parallel.

  Also, modules of components of the radar apparatus or apparatus described herein may be provided. Also, a method including processing of the component may be provided, and a program for causing a processor to execute the processing of the component may be provided. In addition, a recording medium (non-transitory recording medium readable by a computer) recording the program may be provided. Of course, such modules, methods, programs and recording media are also included in the present invention.

  Although a part or all of the above-mentioned embodiment may be described like the following supplementary notes, it is not restricted to the following.

(Supplementary Note 1)
A first information acquisition unit for acquiring first information on a position or an attitude from a first sensor attached to a radar antenna mounted on a flight device;
A second information acquiring unit which is a second sensor mounted on the flight device, and acquires second information on position or attitude from the second sensor having higher accuracy than the first sensor; ,
An information generation unit configured to generate third information on a position or an attitude based on the first information and the second information;
A control unit configured to control the position or attitude of the radar antenna based on the third information;
A device comprising

(Supplementary Note 2)
The device according to claim 1, wherein the second information and the third information are information indicating position or attitude.

(Supplementary Note 3)
The device according to claim 1 or 2, wherein the first information is information indicating acceleration or angular acceleration.

(Supplementary Note 4)
The device according to any one of the preceding claims, wherein the first sensor comprises one or more inertial sensors.

(Supplementary Note 5)
5. The apparatus according to clause 4, wherein the one or more inertial sensors include acceleration sensors or gyroscopes.

(Supplementary Note 6)
The device according to any of the preceding claims, wherein the second sensor comprises an INS (Inertial Navigation System) or a GPS (Global Positioning System) receiver.

(Appendix 7)
The information generation unit generates the third information by correcting the information on the position or orientation generated based on the first information, or the first information using the second information. The device according to any one of appendices 1 to 6,

(Supplementary Note 8)
The first information acquisition unit acquires the first information at a first frequency,
The device according to any one of appendices 1 to 7, wherein the second information acquisition unit acquires the second information at a second frequency lower than the first frequency.

(Appendix 9)
The device according to any one of appendices 1 to 8, wherein the control unit controls the position or attitude of the radar antenna such that the position or attitude of the radar antenna is stabilized.

(Supplementary Note 10)
The device according to any one of appendices 1 to 9, further comprising: a smoothing processing unit that generates fourth information on position or attitude by performing smoothing on the third information.

(Supplementary Note 11)
The apparatus according to claim 10, further comprising an image generation unit that generates a radar image based on observation data generated from a reception signal received via the radar antenna and the fourth information.

(Supplementary Note 12)
The apparatus according to any one of the preceding claims, further comprising the radar antenna.

(Supplementary Note 13)
The device according to any one of appendices 1 to 12, wherein the radar antenna is a synthetic aperture radar antenna.

(Supplementary Note 14)
A device according to any of the preceding claims, wherein the flight device is a small aircraft.

(Supplementary Note 15)
The device according to any one of the preceding claims, wherein the device is a radar device.

(Supplementary Note 16)
The device according to appendix 15, wherein the radar device is a synthetic aperture radar device.

(Supplementary Note 17)
A first information acquisition unit for acquiring first information on a position or an attitude from a first sensor attached to a radar antenna mounted on a flight device;
A second information acquiring unit which is a second sensor mounted on the flight device, and acquires second information on position or attitude from the second sensor having higher accuracy than the first sensor; ,
An information generation unit configured to generate third information on a position or an attitude based on the first information and the second information;
A control unit configured to control the position or attitude of the radar antenna based on the third information;
Radar equipment.

(Appendix 18)
Obtaining first information on position or attitude from a first sensor attached to a radar antenna mounted on a flight device;
Acquiring a second information regarding position or attitude from the second sensor mounted on the flight device, the second sensor having higher accuracy than the first sensor;
Generating third information regarding position or attitude based on the first information and the second information;
Controlling the position or attitude of the radar antenna based on the third information;
Method including.

(Appendix 19)
Obtaining first information on position or attitude from a first sensor attached to a radar antenna mounted on a flight device;
Acquiring a second information regarding position or attitude from the second sensor mounted on the flight device, the second sensor having higher accuracy than the first sensor;
Generating third information regarding position or attitude based on the first information and the second information;
Controlling the position or attitude of the radar antenna based on the third information;
A program to make a processor execute.

  This application claims priority based on Japanese Patent Application No. 2016-089153 filed on April 27, 2016, the entire disclosure of which is incorporated herein.

  It is possible to realize a high resolution radar that can be mounted on a flight device accompanied by intense vibration.

100 radar device 111 antenna 113 sensor 130 high accuracy sensor 140 first information acquisition unit 150 second information acquisition unit 160 information generation unit 170 control unit 180 smoothing processing unit 190 image generation unit 300 device 310 first information acquisition unit 320 second Information acquisition unit 330 Information generation unit 340 Control unit

Claims (19)

A first information acquisition unit for acquiring first information on a position or an attitude from a first sensor attached to a radar antenna mounted on a flight device;
A second information acquiring unit which is a second sensor mounted on the flight device, and acquires second information on position or attitude from the second sensor having higher accuracy than the first sensor; ,
An information generation unit configured to generate third information on a position or an attitude based on the first information and the second information;
A control unit configured to control the position or attitude of the radar antenna based on the third information;
A device comprising   The apparatus according to claim 1, wherein the second information and the third information are information indicating position or attitude.   The device according to claim 1, wherein the first information is information indicating acceleration or angular acceleration.   The device according to any of the preceding claims, wherein the first sensor comprises one or more inertial sensors.   5. The apparatus of claim 4, wherein the one or more inertial sensors include an acceleration sensor or a gyroscope.   The apparatus according to any one of claims 1 to 5, wherein the second sensor comprises an INS (Inertial Navigation System) or a GPS (Global Positioning System) receiver.   The information generation unit generates the third information by correcting the information on the position or orientation generated based on the first information, or the first information using the second information. The device according to any one of claims 1 to 6, wherein The first information acquisition unit acquires the first information at a first frequency,
The device according to any one of claims 1 to 7, wherein the second information acquisition unit acquires the second information at a second frequency lower than the first frequency.   The apparatus according to any one of claims 1 to 8, wherein the control unit controls the position or attitude of the radar antenna such that the position or attitude of the radar antenna is stabilized.   The apparatus according to any one of claims 1 to 9, further comprising: a smoothing processing unit that generates fourth information on position or attitude by performing smoothing on the third information.   The apparatus according to claim 10, further comprising an image generation unit that generates a radar image based on observation data generated from a received signal received via the radar antenna and the fourth information.   The apparatus according to any one of the preceding claims, wherein the apparatus further comprises the radar antenna.   The apparatus according to any one of claims 1 to 12, wherein the radar antenna is a synthetic aperture radar antenna.   The apparatus according to any one of the preceding claims, wherein the flight device is a small aircraft.   The device according to any one of claims 1 to 14, wherein the device is a radar device.   The apparatus according to claim 15, wherein the radar device is a synthetic aperture radar device. A first information acquisition unit for acquiring first information on a position or an attitude from a first sensor attached to a radar antenna mounted on a flight device;
A second information acquiring unit which is a second sensor mounted on the flight device, and acquires second information on position or attitude from the second sensor having higher accuracy than the first sensor; ,
An information generation unit configured to generate third information on a position or an attitude based on the first information and the second information;
A control unit configured to control the position or attitude of the radar antenna based on the third information;
Radar equipment. Obtaining first information on position or attitude from a first sensor attached to a radar antenna mounted on a flight device;
Acquiring a second information regarding position or attitude from the second sensor mounted on the flight device, the second sensor having higher accuracy than the first sensor;
Generating third information regarding position or attitude based on the first information and the second information;
Controlling the position or attitude of the radar antenna based on the third information;
Method including. Obtaining first information on position or attitude from a first sensor attached to a radar antenna mounted on a flight device;
Acquiring a second information regarding position or attitude from the second sensor mounted on the flight device, the second sensor having higher accuracy than the first sensor;
Generating third information regarding position or attitude based on the first information and the second information;
Controlling the position or attitude of the radar antenna based on the third information;
A program to make a processor execute.

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