KR102201171B1 - Radar apparatus and target tracking method using same - Google Patents

Abstract

The present invention relates to a radar device capable of tracking a target comprising: a first transceiving unit capable of transmitting and receiving a first band signal; a first processing unit capable of obtaining location information of a target by processing the signal received by the first transceiving unit; a second transceiving unit capable of transmitting and receiving a second band signal greater than that of a first band; a second processing unit capable of identifying the number of targets by processing the signal received by the second transceiving unit; and a control unit capable of determining when to emit the second band signal to the target in accordance with the number of times the first band signal is radiated to the target. The number of targets can easily be identified.

Description

Radar device and target tracking method using it {RADAR APPARATUS AND TARGET TRACKING METHOD USING SAME}

The present invention relates to a radar device and a target tracking method using the same, and more particularly, to a radar device capable of easily identifying the number of targets and a target tracking method using the same.

In general, radar detects and tracks targets. The radar constantly transmits radio waves to the target, receives radio waves reflected from the target, and acquires location information of the target.

In addition, radars are largely divided into continuous wave radars and pulsed radars according to the type of radio waves. Continuous wave radar is divided into Doppler radar and frequency modulated continuous wave radar, and pulse radar is divided into pulsed Doppler radar and pulse compression radar. At this time, the pulsed Doppler radar transmits a narrowband signal with a bandwidth of less than 1% of the transmission frequency, and detects and tracks a target using a received signal with a distance resolution of several tens of meters or more.

However, when multiple targets are generated in a short distance due to multiple warheads or long range guns of ballistic missiles, the pulsed Doppler radar has a problem of recognizing multiple targets as one target because angular resolution and distance resolution are impossible. Therefore, it may not be able to respond properly to multiple targets.

KR 10-1426290 B

The present invention provides a radar device capable of easily identifying the number of targets and a target tracking method using the same.

The present invention provides a radar device capable of responding to a plurality of targets and a target tracking method using the same.

The present invention is a radar device capable of tracking a target, comprising: a first transceiver capable of transmitting and receiving a first band signal; A first processing unit capable of obtaining location information of a target by processing a signal received by the first transmission/reception unit; A second transceiver capable of transmitting and receiving a second band signal greater than the first band; A second processing unit capable of identifying the number of targets by processing a signal received by the second transmitting and receiving unit; And a control unit configured to determine when to emit the second band signal to the target according to the number of times the first band signal is radiated to the target.

The control unit includes: a number comparator capable of comparing the number of times the first band signal is emitted as a target and a preset number of times; And a controller for controlling the operation of the second transceiver when the number of spinning is greater than the set number.

The present invention is a radar device capable of tracking a target, comprising: a first transceiver capable of transmitting and receiving a first band signal; A first processing unit capable of obtaining location information of a target by processing a signal received by the first transmission/reception unit; A second transceiver capable of transmitting and receiving a second band signal greater than the first band; A second processing unit capable of identifying the number of targets by processing a signal received by the second transmitting and receiving unit; And a control unit configured to determine when to emit a second band signal to the target according to the size of the target obtained by the first processing unit.

The control unit may include a size comparator capable of comparing the size of the target obtained by the first processing unit with a preset size; And a controller for controlling the operation of the second transceiver when the size of the target is larger than the set size.

The present invention is a radar device capable of tracking a target, comprising: a first transceiver capable of transmitting and receiving a first band signal; A first processing unit capable of obtaining location information of a target by processing a signal received by the first transmission/reception unit; A second transceiver capable of transmitting and receiving a second band signal greater than the first band; A second processing unit capable of identifying the number of targets by processing a signal received by the second transmitting and receiving unit; And a control unit configured to determine when to emit the second band signal to the target according to any one of the number of times the first band signal is radiated to the target and the size of the target obtained by the first processing unit.

The first band signal includes a narrowband signal having a bandwidth of 0% or more to 1% or less of a transmission frequency, and the second band signal includes a wideband signal having a bandwidth of 5% or more to 15% or less of a transmission frequency. .

The present invention is a target tracking method using a radar device, comprising: detecting a target by emitting a search beam to a search area; When a target is detected, tracking the target by radiating a first tracking beam of the first band signal to the target; And identifying the number of targets by radiating the second tracking beam of the second band signal to the tracked target according to the number of times the first tracking beam is radiated to the target.

The process of radiating the second tracking beam onto a target to be tracked includes: measuring the number of times the first tracking beam is radiated toward the target; Comparing the number of spinnings with a preset number of times; And radiating a second tracking beam to a target in the search area according to a result of comparing the number of radiations and the number of settings.

The present invention is a target tracking method using a radar device, comprising: detecting a target by emitting a search beam to a search area; When a target is detected, tracking the target by radiating a first tracking beam of the first band signal to the target; And a process of identifying the number of targets by radiating the second tracking beam of the second band signal onto the target to be tracked according to the size of the target acquired using the first tracking beam.

The process of radiating the second tracking beam onto a target to be tracked may include comparing the size of the acquired target with a preset size; And emitting a second tracking beam to a target within the search area according to a result of comparing the size of the target and the set size.

The present invention is a target tracking method using a radar device, comprising: detecting a target by emitting a search beam to a search area; When a target is detected, tracking the target by radiating a first tracking beam of the first band signal to the target; And the number of targets by radiating the second tracking beam of the second band signal onto the target to be tracked according to any one of the number of times the first band signal is radiated as a target and the size of the target acquired using the first tracking beam. The process of identifying; includes.

Before radiating the first tracking beam to the target, it further includes a process of radiating a confirmation beam.

After identifying the number of targets, the process of obtaining location information of each of the identified targets.

The resolution of the search region obtained using the first band signal is lower than the resolution of the search region obtained using the second band signal.

According to embodiments of the present invention, it is possible to easily identify the number of targets. Accordingly, even if a plurality of targets close to each other occur, individual location information of the targets can be obtained. Therefore, it is possible to respond to multiple targets using the obtained information.

1 is a diagram showing the structure of a radar device according to an embodiment of the present invention.
2 is a graph showing a result of processing a narrowband signal.
3 is a graph showing a result of processing a broadband signal.
4 is a diagram showing the structure of a radar device according to another embodiment of the present invention.
5 is a diagram showing the structure of a radar device according to another embodiment of the present invention.
6 is a flowchart illustrating a target tracking method according to an embodiment of the present invention.
7 is a diagram illustrating a process of performing a target tracking method according to an embodiment of the present invention.
8 is a flow chart showing a target tracking method according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only the present embodiments make the disclosure of the present invention complete, and the scope of the invention to those of ordinary skill in the art It is provided to inform you. In order to describe the invention in detail, the drawings may be exaggerated, and the same reference numerals refer to the same elements in the drawings.

1 is a diagram showing the structure of a radar device according to an embodiment of the present invention, FIG. 2 is a graph showing a result of processing a narrowband signal, and FIG. 3 is a graph showing a result of processing a wideband signal. Hereinafter, a radar device according to an embodiment of the present invention will be described.

A radar device according to an embodiment of the present invention is a radar device capable of tracking a target. Referring to FIG. 1, the radar device 100 includes a transmission/reception unit 120, a radiation unit 110, a processing unit 130, and a control unit 140.

The transceiver 120 may transmit and receive radar signals. A plurality of transmission/reception units 120 may be provided, and bands of signals transmitted and received by the transmission/reception units 120 may be different from each other. For example, the transmission/reception unit 120 may include a first transmission/reception unit 121 and a second transmission/reception unit 122.

The first transmission/reception unit 121 may transmit and receive a first band signal. Accordingly, the first transmission/reception unit 121 may generate a first band signal to be radiated to the search area, and receive the first band signal reflected from the target in the search area. The first band signals are signals having a relatively smaller bandwidth than the second band signals. For example, the first band signal may be a narrow band signal having a bandwidth of 0% or more to 1% or less of the transmission frequency.

The second transmission/reception unit 122 may transmit and receive a second band signal. Accordingly, the first transmission/reception unit 121 may generate a second band signal to be radiated to the search area, and receive a second band signal reflected from the target in the search area. The second band signals are signals having a relatively larger bandwidth than the first band signals. For example, the second band signal may be a broadband signal having a bandwidth of 5% or more to 15% or less of the transmission frequency.

At this time, the carrier frequency is a frequency at which a transmission signal is transmitted. Accordingly, transmission signals generated by the first transmission/reception unit 121 and the second transmission/reception unit 122 may be transmitted by being loaded on a transmission frequency.

The radiating unit 110 is connected to the plurality of transmitting and receiving units 120. The radiating unit 110 may radiate a signal generated by the transmission/reception units 120 to the outside and receive a signal reflected from a target. That is, the radiating unit 110 may radiate or receive a first band signal or a second band signal. Accordingly, the range of the area that emits the signal of the radiating unit 110 may be set as a search area for searching for a target. Accordingly, when the radiation unit 110 adjusts the area in which the signal is emitted, the position of the search area can be changed.

The processing unit 130 is connected to the plurality of transmission/reception units 120. The processing unit 130 may process signals received by the plurality of transmission/reception units 120 to identify location information of a target and the number of targets. For example, the processing unit 130 may include a first processing unit 131 and a second processing unit 132.

The first processing unit 131 is connected to the first transmission/reception unit 121. The first processing unit 131 may process a signal received by the first transmission/reception unit 121 to obtain location information of a target and size information of the target. When the first band signal is used, the resolution of the search area becomes larger than when the second band signal is used. Accordingly, when the first band signal is used, the resolution of the search area is relatively lowered. Therefore, since the available resources of the radar apparatus 100 are less than when the second band signal is used, it may be easier to distribute and operate resources.

However, when a plurality of targets are located close to each other, it may be difficult to identify the number of targets in the first processing unit 131. For example, as shown in FIG. 2, a target may be detected using a narrow band signal (or a first band signal) of 2 MHz. When a signal exceeding the baseline of 20 dB is detected, it can be determined that a target has occurred. In FIG. 2, only one target is detected. However, although the actual number of targets was two, it was detected as one signal and recognized as one target. Therefore, when using the signal of the first band, it is possible to recognize a plurality of targets as one target. Thus, when it is necessary to identify the number of targets, the second band signal can be used.

The second processing unit 132 is connected to the second transmission/reception unit 122. The second processing unit 132 may process a signal received by the second transmission/reception unit to identify the number of targets and obtain location information of the targets. When the second band signal is used, the resolution of the search area is higher than when the first band signal is used, and thus, when the second band signal is used, the resolution of the search area may be relatively increased. Therefore, since the number of available resources used by the radar apparatus 100 is greater than when the first band signal is used, it may be difficult to distribute and operate resources.

However, since the second band signal has a stepped chirp waveform (SCW) or a stepped frequency waveform (SFW) and has a high resolution, it is possible to check the target in more detail than when using the first band signal. . Accordingly, even if a plurality of targets are located close to each other, the second processing unit 132 can easily identify the number of targets. For example, as shown in FIG. 3, a target may be detected using a 300 MHz wideband signal (or a second band signal). When a signal exceeding the baseline of 20 dB is detected, it can be determined that a target has occurred. In FIG. 3, six targets were detected. Since the number of actual targets was 6, the number of actual targets was accurately recognized. Accordingly, the second band signal can be used only when identifying the number of targets, and in other cases, the first band signal for easy resource management can be used.

In addition, the second processing unit 132 may include a number identifier 132a and a location information acquirer 132b. Accordingly, after identifying the number of targets using the second band signal, position information of each of the targets may be obtained.

The number identifier 132a may identify the number of targets using a signal received by the second transmission/reception unit 122. The number identifier 132a may be a High Resolution Range Profile (HRRP) signal processor. HRRP is a one-dimensional image showing the intrinsic scattering properties of a target. Since HRRP is a value that expresses the specific characteristics of a target, it is easy to identify a target.

For example, the number identifier 132a may identify the type and number of targets using a template matching method. That is, a method of identifying a class having the highest correlation as a corresponding class by comparing an input signal with several template signals stored in a database can be used.

The location information acquirer 132b may process a signal received by the second transmission/reception unit 122 to extract angular information such as a change in azimuth angle of each target. The location information acquirer 132b may track each target by acquiring location information such as distance and speed of each target through angle information and Doppler information of each target. Therefore, when the number of targets is plural, it is possible to respond using individual location tracking information of the targets.

The controller 140 may determine when to emit the second band signal to the target according to the number of times the first band signal is radiated to the target. Accordingly, the second band signal may be used only at a specific time, and at other times, the radar apparatus 100 may be searched and tracked using the first band signal. The control unit 140 includes a number comparator 141 and a controller 143.

The number comparator 141 may compare the number of radiations at which the first band signal is emitted as a target and a preset number of times. That is, the number comparator 141 may count the number of times the first band signal generated by the first transmission/reception unit 121 is radiated to the search area, and compare the counted number with the set number. The number of settings can be set by the operator. Accordingly, the time point at which the number of times of radiation of the first band signal reaches the set number can be confirmed by using the number comparator 141.

The controller 143 is connected to the number comparator 141. The controller 143 may control the operation of the first transmission/reception unit 121 and the second transmission/reception unit 122 according to the determination of the number comparator 141.

For example, if the number comparator 141 determines that the number of times of radiation of the first band signal is less than the set number, the controller 143 may not operate the second transmission/reception unit 122. Accordingly, only the first band signal generated by the first transmission/reception unit 121 may be radiated to the search area.

Conversely, if the number comparator 141 determines that the number of times of radiation of the first band signal is equal to or greater than the number of settings, the controller 143 can control the operation of the second transmission/reception unit 122 to emit the second band signal. have. Accordingly, radiation of the first band signal may be stopped, and the second band signal may be emitted to the search area. Accordingly, an operation of identifying the number of targets may be performed using the second band signal.

At this time, if the number of targets is identified as plural after radiating the second band signal, the controller 143 controls the operation of the transceivers to continue to obtain the location information of the targets and continuously radiates the second band signal to the search area. can do. When the number of targets is identified as one after emitting the second band signal, the number of radiation of the first band signal is changed to 0, and the controller 143 controls the operation of the transceivers to return the first band signal to the search area. Can radiate. Accordingly, the timing at which the second band signal is emitted can be automatically controlled by the number comparator 141 and the controller 143.

4 is a diagram showing the structure of a radar device according to another embodiment of the present invention. Hereinafter, a radar device according to another embodiment of the present invention will be described.

A radar device according to another embodiment of the present invention is a radar device capable of tracking a target. Referring to FIG. 4, the radar apparatus 100 includes a transmission/reception unit 120, a radiation unit 110, a processing unit 130, and a control unit 140.

At this time, the transmission/reception unit 120, the radiation unit 110, and the processing unit 120 provided in the radar device 100 according to another embodiment of the present invention are provided in the radar device according to an embodiment of the present invention. It may have the same structure as the transmission/reception unit, the radiation unit, and the processing unit. Accordingly, descriptions of the transmission/reception unit 120, the radiation unit 110, and the processing unit 120 will be omitted.

The controller 140 may determine when to emit the second band signal to the target according to the size of the target acquired by the first processing unit 131. Accordingly, the second band signal is used only at the characteristic time, and at other times, the search and tracking task of the radar apparatus 100 may be performed using the first band signal. The control unit 140 includes a size comparator 142 and a controller 143.

In this case, when a plurality of targets are located close to each other, since it is difficult for the first processing unit 131 to identify the number of targets, the plurality of targets may be recognized as one target. Since a plurality of targets are recognized as one, the size value of the target obtained by the first processing unit 131 may be larger than the size value of a general target. Therefore, when the size of the target acquired by the first processing unit 131 is large, it is necessary to check whether the size of the target is actually large, or whether the size of the target is large because a plurality of targets are detected as one. Accordingly, a task of detecting the number of targets may be performed by emitting a second band signal according to the size of the target.

The size comparator 142 may compare the size information of the target acquired by the first processing unit 131 with a preset size. The set size can be set arbitrarily by the operator. Thus, using a size comparator, it is possible to check whether the size of the target is smaller or larger than the set size.

The controller 143 may be connected to the magnitude comparator 142. The controller 143 may control the operation of the first transceiving unit 121 and the second transceiving unit 122 according to the determination of the size comparator 142.

For example, if the size comparator 142 determines that the size of the target is smaller than the set size, the controller 143 may not operate the second transmission/reception unit 122. Accordingly, only the first band signal generated by the first transmission/reception unit 121 may be radiated to the search area.

Conversely, if the size comparator 142 determines that the size of the target is greater than the set size, the controller may control the operation of the second transmission/reception unit 122 to emit a second band signal. Accordingly, radiation of the first band signal may be stopped, and the second band signal may be emitted to the search area. Accordingly, an operation of identifying the number of targets may be performed using the second band signal.

5 is a diagram showing the structure of a radar device according to another embodiment of the present invention. Hereinafter, a radar device according to another embodiment of the present invention will be described.

A radar device according to another embodiment of the present invention is a radar device capable of tracking a target. Referring to FIG. 5, the radar device 100 includes a transmission/reception unit 120, a radiation unit 110, a processing unit 130, and a control unit 140.

At this time, the transmission/reception unit 120, the radiation unit 110, and the processing unit 120 provided in the radar device 100 according to another embodiment of the present invention are provided in the radar device according to an embodiment of the present invention. It may have the same structure as the transmitting and receiving unit, the radiating unit, and the processing unit. Accordingly, descriptions of the transmission/reception unit 120, the radiation unit 110, and the processing unit 120 will be omitted.

The controller 140 may determine when to emit the second band signal to the target according to any one of the number of times the first band signal is radiated to the target and the size of the target acquired by the first processing unit 131. The control unit 140 includes a number comparator 141, a size comparator 142, and a controller 143.

The number comparator 141 may compare the number of radiations at which the first band signal is emitted as a target and a preset number of times. That is, the number comparator 141 may count the number of times the first band signal generated by the first transmission/reception unit 121 is radiated to the search area, and compare the counted number with the set number. The number of settings can be set by the operator. Accordingly, the time point at which the number of times of radiation of the first band signal reaches the set number can be confirmed by using the number comparator 141.

The size comparator 142 may compare the size information of the target acquired by the first processing unit 131 with a preset size. The set size can be set arbitrarily by the operator. Thus, using a size comparator, it is possible to check whether the size of the target is smaller or larger than the set size.

The controller 143 is connected to the number comparator 141 and the first processing unit 131. The controller 143 may control the operation of the first transmission/reception unit 121 and the second transmission/reception unit 122 according to a comparison result of any one of the number comparator 141 and the size comparator 142.

If the number comparator 141 determines that the number of emission of the first band signal is greater than the set number, the controller 143 may control the operation of the second transmission/reception unit 122 to emit the second band signal. If the size comparator 142 determines that the size of the target is larger than the set size, the controller may control the operation of the second transmission/reception unit 122 to emit a second band signal. Even when the number comparator 141 determines that the number of times of radiation of the first band signal is greater than the set number, and the size comparator 142 determines that the size of the target is larger than the set size, the controller 143 is the second transceiver ( 122) can be controlled to emit a second band signal. If the number comparator 141 determines that the number of emission of the first band signal is less than the set number, and the size comparator 142 determines that the size of the target is smaller than the set size, the first band signal is continuously radiated, and the second band It can be controlled not to emit a signal.

In this case, when only the number comparator 141 is used, since the number of targets can be identified only at a predetermined time point, it is possible to detect that multiple targets have occurred too late. If only a size comparator is used, it may not be possible to detect when multiple targets of small size occur. Therefore, if the number comparator 141 and the size comparator are used together to determine when to perform the task of identifying the number of targets in duplicate, the occurrence of multiple targets can be detected more quickly and accurately.

As such, it is possible to easily identify the number of targets while efficiently managing resources of the radar apparatus 100 by selectively using the second band signal. Therefore, even if a plurality of targets close to each other occur, individual location information of the targets can be obtained. Accordingly, even if multiple targets occur using the acquired information, it is possible to respond to them.

6 is a flowchart illustrating a target tracking method according to an embodiment of the present invention, and FIG. 7 is a diagram illustrating a process of performing a target tracking method according to an embodiment of the present invention. Hereinafter, a target tracking method according to an embodiment of the present invention will be described. In this case, the radar device used in the target tracking method according to the embodiment of the present invention may be the radar device 100 according to the embodiment of the present invention as shown in FIG. 1.

A target tracking method according to an embodiment of the present invention is a target tracking method using a radar device. Referring to FIG. 6, the target tracking method includes a process of detecting a target by radiating a search beam into a search area, a process of tracking a target by radiating a first tracking beam of a first band signal to the target when the target is detected, and And a process of identifying the number of targets by radiating the second tracking beam of the second band signal to the tracked target according to the number of times the first tracking beam is radiated.

In this case, the resolution of the search region obtained using the first band signal may be lower than the resolution of the search region obtained using the second band signal. The band of the first band signal may be 1 MHz or more and 10 MHz or less, and the band of the second band signal may be 100 MHz or more and 500 MHz or less.

First, you can set a search area to search for a target. Since the area in which the radiator 110 of the radar device 100 can radiate the radar beam is the search area, if the range of the area in which the radiator 110 radiates the radar beam is adjusted, the search area can be set. have.

At this time, the radar beam can be classified into a search beam used to search for a target, a confirmation beam emitted to confirm whether the target detected in the search area is an actual target, and a tracking beam used to track the target, depending on the mission to be performed. I can. The tracking beam may be classified into a first tracking beam using a first band signal and a second tracking beam using a second band signal according to a bandwidth.

When the search area is set, a target may be detected (S110) by radiating a search beam to the search area as shown in FIG. 7A. The first band signal may be used as the search beam. Accordingly, the first band signal generated by the first transmission/reception unit 121 may be radiated through the radiation unit 110 to become a search beam. Since the first band signal is easier to manage resources than the second band signal, resources can be efficiently managed when performing a search task.

Then, when a target is detected as shown in (b) of FIG. 7, before tracking the target with the first tracking beam, a confirmation beam may be emitted to the search area as shown in (c) of FIG. 7. A confirmation beam is emitted to confirm that the target detected in the search area is a real target. Accordingly, it is possible to detect the target first with the search beam, and secondly confirm whether the target actually occurs or not with the confirmation beam. Thus, it is possible to prevent the task of tracking an object other than the target from being performed.

When a target is detected through the search beam and the confirmation beam, the first tracking beam of the first band signal may be radiated to the target to track the target (S120). As the first tracking beam is reflected to the target, the reflected signal may be input to the first band transceiver. Accordingly, by processing the reflected signal, position information of the target and expected size information of the target may be obtained. The location information of the target may include a distance between the radar device 100 and a target, a moving speed of the target, and a moving direction of the target.

In this case, when the plurality of targets are located close to each other with a distance of 120m or less, it may be difficult to identify the number of targets using the first band signal. Therefore, since a problem in that a plurality of targets are recognized as one target may occur, a second tracking beam may be emitted as a target to identify the number of targets.

When the second band signal is used, the resolution is relatively higher than when the first band signal is used, and it is possible to easily check that a plurality of targets have occurred by checking the target in more detail. However, since the available resources used by the radar device 100 are greater than when the first band signal is used, the operation of the radar device 100 becomes disadvantageous, so that the second band signal can be used only when the number of targets needs to be identified. .

For example, it is possible to measure the number of times the first tracking beam is emitted as a target. In addition, the number of spinning and the preset number of settings may be compared (S131). That is, the number of times the first band signal generated by the first transmission/reception unit 121 is radiated to the search area may be counted, and the counted number may be compared with the set number. Accordingly, it is possible to check the point in time when the number of emission of the first band signal reaches the set number.

Then, as shown in (d) of FIG. 7, according to a result of comparing the number of times of radiation and the number of settings, the second tracking beam may be emitted as a target within the search area (S140). That is, if it is determined that the number of times of radiation of the first band signal is smaller than the number of times set, only the first tracking beam may be emitted to the search area. When it is determined that the number of times of radiation of the first band signal is greater than the set number, radiation of the first tracking beam is stopped, and a second tracking beam may be emitted to the search area. That is, as shown in (d) of FIG. 7, if the number of settings is 4, the first tracking beam is radiated four times, and then the second tracking beam is radiated the fifth time to detect that there are a plurality of targets. Accordingly, the second tracking beam may be automatically radiated every predetermined period.

When the second tracking beam is radiated to the tracked target, it may be reflected from the target and input to the second transmission/reception unit 122. By processing the reflected signal, the number of targets may be identified (S150). Since the second band signal has a high resolution, the target can be identified in more detail than when the first band signal is used. Accordingly, even if a plurality of targets are located close to each other by 120m or less, the number of targets can be easily identified using the second band signal. That is, when the second band signal is used, the distance resolution of the radar apparatus 100 may be improved compared to when the first band signal is used. Therefore, it is possible to more accurately identify the number of targets by using the second band signal.

In addition, by processing the second band signal, while identifying the number of targets, position information of each identified target may be obtained. That is, the signal received by the second transmission/reception unit 122 may be processed to extract angular information such as an azimuth change amount of each target. Through this information, each target can be tracked by acquiring location information such as distance and speed of each target. Therefore, even if a large number of targets are generated in a short distance due to multiple warheads or long range guns of ballistic missiles, it is possible to track them and respond to each target with a corresponding guided missile.

8 is a flow chart showing a target tracking method according to another embodiment of the present invention. Hereinafter, a target tracking method according to another embodiment of the present invention will be described. In this case, the radar device used in the target tracking method according to another embodiment of the present invention may be the radar device 100 according to another embodiment of the present invention as shown in FIG. 4.

A target tracking method according to another embodiment of the present invention is a target tracking method using a radar device. Referring to FIG. 8, the target tracking method includes a process of detecting a target by emitting a search beam to a search area (S110), and when a target is detected, a process of tracking a target by radiating a first tracking beam of a first band signal to the target. (S120), and a process of identifying the number of targets by radiating a second tracking beam of a second band signal onto a target to be tracked according to the size of the target acquired using the first tracking beam.

In this case, a target tracking method according to another embodiment of the present invention includes a target tracking method according to an embodiment of the present invention, a process of detecting a target by radiating a search beam to a search area, and a first band when a target is detected. The process of tracking the target by radiating the first tracking beam of the signal to the target may be performed in the same manner. Accordingly, a description of the process of radiating the search beam to the search area and the process of tracking the target by radiating the first tracking beam of the first band signal to the target when the target is detected will be omitted.

Meanwhile, while tracking the target by radiating the first tracking beam onto the target, the size of the target may be detected. That is, while processing the first band signal input to the first processing unit 131, the size information of the target may be obtained.

When the operation of obtaining the size information of the target is completed, the size of the acquired target and the preset size may be compared (S132). That is, size information such as an area or volume value of a target may be compared with a set size such as a preset area value or a set volume value. Accordingly, it is possible to check whether a target of a size larger than the set size has occurred.

Then, according to a result of comparing the size of the target and the set size, the second tracking beam may be radiated to the target within the search area (S140). That is, when it is determined that the size of the target is smaller than the set size, only the first tracking beam may be emitted to the search area. When it is determined that the size of the target is larger than the set size, radiation of the first band beam is stopped, and a second tracking beam may be emitted to the search area. Accordingly, the second tracking beam may be automatically emitted to the target according to the size.

When the second tracking beam is radiated to the tracked target, it may be reflected from the target and input to the second transmission/reception unit 122. By processing the reflected signal, the number of targets may be identified (S150).

In addition, by processing the second band signal, while identifying the number of targets, position information of each identified target may be obtained. That is, the signal received by the second transmission/reception unit 122 may be processed to extract angular information such as an azimuth change amount of each target. Through this information, each target can be tracked by acquiring location information such as distance and speed of each target. Therefore, even if a large number of targets are generated in a short distance due to multiple warheads or long range guns of ballistic missiles, it is possible to track them and respond to each target with a corresponding guided missile.

Hereinafter, a method of tracking a target according to another embodiment of the present invention will be described. In this case, the laser device used in the target tracking method according to another embodiment of the present invention may be the laser device 100 according to another embodiment of the present invention as shown in FIG. 5.

A target tracking method according to another embodiment of the present invention is a target tracking method using a radar device. The target tracking method includes a process of detecting a target by radiating a search beam into a search area, a process of tracking a target by radiating a first tracking beam of a first band signal to a target when a target is detected, and a first band signal as a target. And a process of identifying the number of targets by radiating a second tracking beam of a second band signal onto a target to be tracked according to any one of the number of times of radiation and the size of the target acquired using the first tracking beam. .

At this time, a target tracking method according to another embodiment of the present invention includes a target tracking method according to an embodiment of the present invention, a process of detecting a target by emitting a search beam to a search area, and when the target is detected, the first The process of tracking the target by radiating the first tracking beam of the band signal to the target may be performed in the same manner. Accordingly, a description of the process of radiating the search beam to the search area and the process of tracking the target by radiating the first tracking beam of the first band signal to the target when the target is detected will be omitted.

Meanwhile, while tracking the target by radiating the first tracking beam onto the target, the number of times the first tracking beam is emitted and the size of the target may be detected. Accordingly, information on the number of times of radiation and information on the target size can be obtained together.

For example, it is possible to measure the number of times the first tracking beam is emitted as a target. And it is possible to compare the number of spinning and the preset number of settings. That is, the number of times the first band signal generated by the first transmission/reception unit 121 is radiated to the search area may be counted, and the counted number may be compared with the set number. Accordingly, it is possible to check the point in time when the number of emission of the first band signal reaches the set number.

Then, the second tracking beam may be radiated as a target within the search area according to a result of comparing the number of radiations and the number of settings. That is, if it is determined that the number of times of radiation of the first band signal is smaller than the number of times set, only the first tracking beam may be emitted to the search area. When it is determined that the number of times of radiation of the first band signal is greater than the set number, radiation of the first tracking beam is stopped, and a second tracking beam may be emitted to the search area. Accordingly, the second tracking beam may be automatically radiated every predetermined period.

On the other hand, when the task of obtaining the size information of the target is completed, the size of the acquired target and the preset size may be compared. That is, size information such as an area or volume value of a target may be compared with a set size such as a preset area value or a set volume value. Accordingly, it is possible to check whether a target of a size larger than the set size has occurred.

Then, according to a result of comparing the size of the target and the set size, the second tracking beam may be radiated to the target within the search area (S140). That is, when it is determined that the size of the target is smaller than the set size, only the first tracking beam may be emitted to the search area. When it is determined that the size of the target is larger than the set size, radiation of the first band beam is stopped, and a second tracking beam may be emitted to the search area. Accordingly, the second tracking beam may be automatically emitted to the target according to the size.

That is, when the radiation count information and the target size information are obtained together, and at least one of the two exceeds a preset set value, the second tracking beam may be emitted. When determining the time point at which the second tracking beam is emitted using only the radiation count information, since the number of targets can be identified only at a predetermined time point, it is possible to detect that multiple targets have occurred too late. When determining the timing at which the second tracking beam is emitted using only the size information of the target, if multiple targets of small size are generated, it may not be detected as multiple targets. Accordingly, it is possible to perform a task of identifying the number of targets double by using the radiation count information and the target size information together. Accordingly, it is possible to detect the occurrence of multiple targets more quickly and accurately.

When the second tracking beam is radiated to the tracked target, it may be reflected from the target and input to the second transmission/reception unit 122. By processing the reflected signal, the number of targets may be identified (S150).

In addition, by processing the second band signal, while identifying the number of targets, position information of each identified target may be obtained. That is, the signal received by the second transmission/reception unit 122 may be processed to extract angular information such as an azimuth change amount of each target. Through this information, each target can be tracked by acquiring location information such as distance and speed of each target. Therefore, even if a large number of targets are generated in a short distance due to multiple warheads or long range guns of ballistic missiles, it is possible to track them and respond to each target with a corresponding guided missile.

As such, it is possible to easily identify the number of targets while efficiently managing resources of the radar apparatus 100 by selectively using the second band signal. Therefore, even if a plurality of targets occur in a short distance, individual location information of the targets can be obtained. Accordingly, even if a plurality of targets close to each other occur using the acquired information, it is possible to respond to this.

At this time, various combinations are possible between the embodiments. That is, radar devices and target tracking methods according to different embodiments of the present invention may be variously combined with each other.

As described above, in the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments and should not be defined by the claims to be described below, as well as by the claims and equivalents.

100: radar device 110: radiation unit
120: transceiver unit 121: first transceiver unit
122: second transmission/reception unit 130: processing unit
131: first processing unit 132: second processing unit
140: control unit 141: number comparator
142: magnitude comparator 143: controller

Claims (14)

As a radar device that can track a target,
A first transmission/reception unit capable of transmitting and receiving a signal in a first band of 1 MHz or more to 10 MHz or less;
A first processing unit capable of obtaining location information of a target by processing a signal received by the first transmission/reception unit;
A second transceiving unit capable of transmitting and receiving a second band signal in a band of 100 MHz or more to 500 MHz or less;
A second processing unit capable of identifying the number of targets by processing a signal received by the second transmitting and receiving unit; And
Including; a control unit configured to determine when to emit the second band signal as a target according to the number of times the first band signal is radiated as a target and the size of the target obtained by the first processing unit,
The control unit,
A number comparator capable of comparing the number of times the first band signal is emitted as a target and the preset number of times,
A size comparator capable of comparing the size of the target acquired by the first processing unit and a preset size, and
When the number of radiation is greater than the number of times of radiation or the size of the target is greater than the size of the setting, a controller for controlling the operation of the second transceiver,
The second processing unit,
The highest correlation is generated by identifying the number of targets by generating an image representing the unique scattering characteristics of the target from the signal received by the second transmitting and receiving unit, and comparing the signal received by the second transmitting and receiving unit with the template signals stored in the database. Radar device comprising a number identifier capable of identifying a target as an object corresponding to the template signal having a. delete delete delete delete The method according to claim 1,
The first band signal includes a narrowband signal having a bandwidth of 0% or more to 1% or less of a transmission frequency,
The second band signal is a radar device including a broadband signal having a bandwidth of 5% or more to 15% or less of a transmission frequency. As a target tracking method using a radar device,
Detecting a target by emitting a search beam to the search area;
When a target is detected, the process of tracking the target by radiating a first tracking beam of a first band signal of a band of 1 MHz or more to 10 MHz or less to the target; And
Depending on the number of times the first tracking beam is radiated as a target and the size of the target acquired using the first tracking beam, the second tracking beam of the second band signal in the band of 100 MHz to 500 MHz is radiated to the target to be tracked. Including; the process of identifying the number of targets,
The process of radiating the second tracking beam to a tracked target,
The process of comparing the preset number of times by measuring the number of times the first tracking beam is emitted as a target, and comparing the size of the acquired target with the preset size,
Radiating a second tracking beam to a target within a search area according to at least one of a comparison result of the number of radiation and the number of settings, and a result of comparing the size of the target and the set size,
The process of identifying the number of targets,
The number of targets is identified by generating an image representing the intrinsic scattering characteristics of the target from the received signal by emitting a second tracking beam, and comparing the received signal by emitting the second tracking beam with template signals stored in the database Thus, a target tracking method comprising the process of identifying a target as an object corresponding to the template signal having the highest correlation. delete delete delete delete The method of claim 7,
Before radiating the first tracking beam onto the target,
Target tracking method further comprising the process of emitting a confirmation beam. The method of claim 7,
After identifying the number of targets,
Target tracking method comprising the process of obtaining the location information of each of the identified targets. The method of claim 7,
A target tracking method in which a resolution of a search region obtained using the first band signal is lower than a resolution of a search region obtained using the second band signal.

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