KR20190140328A - Electronic scanner to detect moving target - Google Patents

Abstract

According to the present invention, provided is an electronic scanner detecting a flight target which comprises: an array antenna configured to transmit and receive radio waves to and from the flight target; and a control unit deciding the type of the flight target in accordance with a phase of the received radio wave received by being reflected from the flight target and determining a direction of the flight target and a distance from the flight target in accordance with the amplitude of the radio wave. Location information of the flight target and information on the type of the flight target may be obtained by using information on the magnitude and the phase of the radio wave reflected from the flight target.

Description

Electronic scanner to detect moving target

The present invention relates to an electronic scanner for detecting a moving target. More specifically, the present invention relates to an electronic scanner that detects a flight target, such as the position of a bird or a drone.

An electronic scanner is an electronic device that detects the position and characteristics of a moving object, that is, a target. Such an electronic scanner can receive a signal from which the transmitted signal is incident on and reflected from the target. In this case, the electronic scanner may include specific information, that is, digital information, in the transmitted signal. Accordingly, the specific information included in the received signal, that is, the digital information, may be decoded and compared with the originally transmitted specific information.

The use of such digital information-based electronic scanners can reduce the influence of interference from other interference signals. However, since the digital information based electronic scanner must decode the digital information from the received signal through digital signal processing, the processing time increases.

In addition, there is a problem that the level of the signal reflected from the moving object target is low depending on the speed and the radio wave reflection characteristic of the moving object, and the reliability of digital information having such a signal level is low.

Therefore, in order to solve this problem, development of detection sensors such as electronic scanners in the high output low frequency band, for example, the X-band, for example, the 9 GHz band, has been made. However, there is a problem that it is difficult to detect a small and precise target in a frequency band such as the X-band.

In particular, when the moving object detects a flying target moving at high speed, such as a bird or a drone, the electronic scanner also requires fast target detection performance for accurate target detection. However, there is a problem that it is difficult to detect a fast and precise target in the frequency band such as the X-band.

The technical problem to be solved by the present invention is to provide a marine electronic scanner for detecting a flight target.

The technical problem to be achieved by the present invention is to provide an electronic scanner for detecting the type and position of a flight target.

An electronic scanner for detecting a flight target according to the present invention comprises: an array antenna configured to transmit and receive radio waves to the flight target; And determining the type of the flying target according to the phase of the received radio wave reflected from the flying target, and determining the direction of the flying target and the distance between the flying target according to the amplitude of the radio wave. It includes a control unit, it is possible to obtain information on the location of the flight target and the type of the flight target by using the magnitude and phase information of the radio wave reflected from the flight target.

In an embodiment, the controller may include a first pulse having a long pulse duration to detect a long-distance flight target, and a second pulse having a short pulse duration to detect a short-range flight target. Can be generated.

In an embodiment, the first pulse is transmitted to the remote flight target using the entire array antenna during the first time interval corresponding to the long pulse duration, and the second pulse period is transmitted during the second time interval corresponding to the short pulse duration. The apparatus may further include a transceiver configured to transmit a second pulse to the short-range flight target by using a portion of the array antenna.

In one embodiment, the sensor may further include a sensor configured to detect an approximate distance to the flight target. In this case, the control unit transmits the first pulse during the first time period when the distance to the flight target detected by the sensor is far, and the transmission / reception so as not to transmit the second pulse during the second time period. You can control wealth. The controller may not transmit the first pulse during the first time interval and transmit the second pulse during the second time interval when the distance to the flight target detected by the sensor is short. You can control wealth.

According to an embodiment of the present disclosure, when it is determined that the short-range flight target as the flight target moves and approaches, the magnitude of the second radio wave received during the second reception section following the second time interval from the short-range flight target and the The direction of the flight target and the distance between the flight target may be precisely determined according to the moving speed of the flight target.

In one embodiment, the array antenna is connected to the transceiver to radiate radio waves to the flight target. In this case, when it is determined that the flight target is the near flight target, the controller radiates the radio wave to the near flight target using a wide beamwidth (WB) by using a portion of the array antenna, and from the near flight target, An approximate distance and angle of the near flight target may be estimated based on the received first radio wave. The controller may be configured to have a narrow beamwidth (NB) within a predetermined range including the estimated angle by using the entire array antenna when the flight target is determined to be the remote flight target as the moving target moves away. The radio wave may be radiated to the far flight target, and the precise distance and angle of the far flight target may be estimated based on the second radio wave received from the far flight target.

In an embodiment, the array antenna may be connected to the transceiver to radiate radio waves to the flight target. In this case, when it is determined that the flight target is the remote flight target, the controller radiates the radio wave to the remote flight target with a narrow beam width (WB) having a predetermined beam spacing using the entire array antenna, and the remote flight An approximate distance and angle of the remote flight target may be estimated based on the first radio wave received from the target. The controller may be further configured to perform the short-range flight with a narrow beam width NB within a predetermined range including the estimated angle by using the entire array antenna when the flight target is determined to be the short-range flight target as the flight target moves and approaches. The radio wave may be radiated to a target, and the precise distance and angle of the short-range flight target may be estimated based on the second radio wave received from the short-range flight target.

In one embodiment, the electronic scanner may be installed in a ship to detect waves and birds. In this case, the input signal input to the controller includes first to fifth input signals indicating a position and time, a speed, a bowing direction, a sailing direction, and a turn rate. On the other hand, the output signal output from the control unit is WDD (Wave Detector Data) and BDD (Bird Detector Data). The WDD may include time, latitude, longitude, wave height, and wave direction information provided by the electronic scanner corresponding to the wave detection radar. In addition, the BDD may include time, latitude, longitude, flying height, and flying direction information provided by the electronic scanner corresponding to the bird detection radar.

In an embodiment, the electronic scanner may be installed on the vehicle roof or the roof of a building to detect a drone. In this case, the input signal input to the controller includes first to fifth input signals indicating a position and time, a speed, a vehicle directing direction, a vehicle moving direction, and a turn rate. In addition, the output signal output from the controller is DDD (Drone Detector Data), the DDD is the time, latitude, longitude, flying height and flying angle provided by the electronic scanner corresponding to the drone detection radar ( flying direction) information. On the other hand, if it is determined that collision with the drone will occur based on the flight height and flight angle information, the controller may transmit a control signal to the drone through the array antenna to control the flight route of the drone to be changed. .

In one embodiment, the controller may detect birds and drones corresponding to the flight target. On the other hand, it may further include a display for displaying the measurement results for the bird and the drone. In this case, the display includes a radar image display unit for displaying the position of the entire flight target on the coordinates (polar coordinates), including the detected flight height of the flight target; A first flight height display unit displaying a minimum, a maximum, and an average flight height at a corresponding angle of the detected flight target; A second flight height display unit displaying a flight height of each vehicle within a setting range including the corresponding angle; And an information display unit for displaying GPS data including the Course of Ground (COG), Speed over Ground (SOG), and latitude / longitude, heading information, and other information.

Electronic scanner for detecting a flight target according to an embodiment of the present invention, by using the magnitude and phase information of the radio wave reflected from the flight target can acquire the position information of the flight target and the information about the type of the flight target There is this.

An electronic scanner for detecting a flight target according to an embodiment of the present invention has an advantage of easily detecting a near / far flight target according to various pulse durations.

BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the drawings cited in the detailed description of the invention, a brief description of each drawing is provided.
1A illustrates a field in which an electronic scanner for detecting a target according to the present invention may be utilized.
1B is a conceptual diagram of an electronic scanner for detecting a flight target according to an embodiment of the present invention.
1C is a conceptual diagram of an electronic scanner that detects a flight target according to another embodiment of the present invention.
2 illustrates an interface between an electronic scanner and adjacent components in accordance with the present invention.
3 shows a block diagram of a marine electronic scanner for detecting a target according to the present invention.
4 shows a structure of an array antenna of an electronic scanner according to the present invention.
5 illustrates waveforms in a transmission section and a reception section according to an embodiment of the present invention.
6 shows a system architecture between a plurality of sensors and a processor in accordance with the present invention.
7 shows priority of signal types of an input signal according to the present invention.
8 shows a main screen configuration of a display according to the present invention.
9 shows a sub screen configuration of a display according to the present invention.
10 shows a protocol stack for transmitting navigation information according to the present invention.
11 shows a network topology of network equipment for radar image transmission according to the present invention.
12 illustrates a structure of a radar binary image transmitted according to the present invention.

The present invention may be variously modified and have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail with reference to the accompanying drawings. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

In describing the present invention, when it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. In addition, numerals (eg, first, second, etc.) used in the description process of the present specification are merely identification symbols for distinguishing one component from another component.

Further, in the present specification, when one component is referred to as "connected" or "connected" with another component, the one component may be directly connected or directly connected to the other component, but in particular It is to be understood that, unless there is an opposite substrate, it may be connected or connected via another component in the middle.

The suffixes "module" and "unit" for components used in the following description are given or used in consideration of ease of specification, and do not have distinct meanings or roles from each other. In addition, in order to clearly describe the present invention, parts irrelevant to the description are omitted in the drawings, and the width, length, thickness, etc. of the components in the drawings may be exaggerated for convenience. Like reference numerals denote like elements throughout the specification.

Hereinafter, with reference to the accompanying drawings will be described in detail for the practice of the present invention.

1A illustrates a field in which an electronic scanner for detecting a target according to the present invention may be utilized. As shown in FIG. 1A, the electronic scanner can be utilized as a wave measuring radar or a sailing ship radar on a ship. In addition, the electronic scanner can be utilized not only as a bird detection radar, but also as a drone detection radar as the present invention.

1B is a conceptual diagram of an electronic scanner for detecting a flight target according to an embodiment of the present invention. As illustrated in FIG. 1B, the electronic scanner 100 that detects the flight target 10 may be installed on a roof of a building or a roof of a vehicle. Alternatively, the electronic scanner 100 may be mounted on another drone or the like to detect the flight target 10.

1C is a conceptual diagram of an electronic scanner that detects a flight target according to another embodiment of the present invention. As shown in FIG. 1C, the electronic scanner 100 that detects the flight target 10 may be installed in a ship. In this case, the electronic scanner 100 installed in the vessel may detect the type and wave height of the wave together with the flight target 10 such as a bird. Also, as shown in FIG. 1C, the electronic scanner 100 that detects the flight target 10 may be installed in an airplane. In this case, the electronic scanner 100 installed in the plane may detect a flight target 10 such as a bird.

2 illustrates an interface between an electronic scanner and adjacent components according to the present invention. Referring to FIG. 2, the electronic scanner (radar) 100 protects the inside with a radome, and includes an antenna, a transceiver, a controller, and the like. On the other hand, the electronic scanner (radar) 100 is an interface (IF: Interface) and Clock / Trigger with the AD conversion unit of the external PC. In addition, the electronic scanner 100 is capable of networking through an external PC and Ethernet. In addition, the electronic scanner 100 may receive power from a power supply, and the power supply may supply power to an external PC. The external PC may be interfaced with a monitor.

3 shows a block diagram of an electronic scanner for detecting a flight target according to the present invention. Referring to FIG. 3, the electronic scanner 100 includes a controller 110, a transceiver 120, and an antenna 130. On the other hand, the electronic scanner 100 according to the present invention has the advantage of detecting (detecting) a small moving object, that is, a small target, with high precision by using a high frequency band such as a Ku band, for example, 17 GHz. On the other hand, the electronic scanner 100 according to the present invention can be provided as a low power electronic scanner of 2W class while using a high frequency band. On the other hand, the low-frequency electronic scanner of the high frequency band described above is not limited to 17 GHz and 2W, it can be freely modified while maintaining a high precision / low power specifications according to the application.

Meanwhile, the transceiver 120 may be implemented as an RF circuit board and is connected to the antenna 130. In this regard, Figure 4 shows the structure of an array antenna of an electronic scanner according to the invention. 3 and 4, in the antenna 130, a single antenna element such as a patch antenna may be arranged in an array on a two-dimensional plane. In this regard, the beam width by M antenna elements arranged in the horizontal direction is θ1, and the beam width by N antenna elements arranged in the longitudinal direction is θ2. As the number of antenna elements increases, the beam width decreases and the detection resolution increases. However, the search (scan) time required for scanning the search area is increased by the reduced beam width. In this regard, when the radio wave is radiated to the target using only some of the elements of the antenna 130, the beam width is increased and the detection resolution is decreased. However, the search (scan) time required for scanning the search area is reduced by the increased beam width.

Referring back to FIG. 3, the controller 110 further includes a linear frequency modulation (LFM) unit 111, a switch 112, a PLL / VCO 113, and a frequency multiplier 114. Meanwhile, the band pass filter 115 may pass a signal of an intermediate frequency (IF) band of 325 to 375 MHz or a signal of an RF frequency band of 17.9 ± 0.125 GHz.

Looking at the specific operation of the control unit 110 and the transceiver unit 120 from the perspective of the target detection method in the electronic scanner 100 as follows.

The controller 110 generates a first pulse having a long pulse duration to detect a long-distance flight target and a second pulse having a short pulse duration to detect a short-range flight target. . In this case, the first pulse is linearly frequency-modulated from the first frequency to the second frequency by the linear frequency modulator 111a during the first time interval. In addition, the second pulse is linearly frequency-modulated from the first frequency to the second frequency by the linear frequency modulator 111b during the second time interval. Alternatively, the second pulse may be linear frequency modulated from the second frequency to the first frequency during the second time interval by the linear frequency modulator 111b. In this case, the first and second frequencies may be 325 to 375 MHz. Meanwhile, a Direct Digital Synthesizer method may be used to implement Linear Frequency Modulation (LFM).

Meanwhile, the transceiver 120 is configured to transmit the first pulse during the first time period corresponding to the long pulse duration, and to transmit the second pulse during the second time period corresponding to the short pulse duration. At this time, the transceiver 120 may transmit the first pulse to the remote flight target using the entire array antenna 130 during the first time period corresponding to the long pulse duration. In addition, the transceiver 120 may transmit the second pulse to the short-range flight target by using a portion of the array antenna 130 during the second time interval corresponding to the short pulse duration.

The electronic scanner 100 according to the present invention can search with a narrow beam using the entire array antenna 130 to detect a long-distance flight target. That is, the target detection is possible while maintaining the low power characteristic as the target is detected by the narrow beam using the entire array antenna 130. In this regard, this narrow beam search method is more advantageous for long-range flight targets because accurate target detection is more important than detection time.

On the other hand, the electronic scanner 100 according to the present invention can search with a wide beam using a portion of the array antenna 130 to detect the near flight target. That is, by detecting a target with a wide beam by using a portion of the array antenna 130, it is possible to quickly detect the target. In this regard, it is because a fast target detection time is an important problem when the near flight target is close to the electronic scanner 100. This fast target detection allows the vehicle to turn around while avoiding flying targets. Here, the moving body may be a ship or a vehicle. For example, when the electronic scanner 100 is installed in a ship, a flight target such as a bird may be detected. In addition, when the electronic scanner 100 is installed in a ship, it is possible to detect a flight target with waves.

On the other hand, when the electronic scanner 100 is installed on a vehicle roof or the like, it may detect a flight target such as a drone. On the other hand, even when the electronic scanner 100 is installed in a fixed facility such as a roof of a building, it is possible to detect a flight target such as a drone.

Meanwhile, a transmission section and a reception section for transmitting and receiving a pulse signal are described in detail below. In this regard, FIG. 5 illustrates waveforms in a reception section in a transmission section according to an embodiment of the present invention. Referring to FIG. 5, the first time interval has a pulse duration of 7.15 ms and a pulse period of 28.15 ms. In addition, the second time interval has a pulse duration of 0.5 ms and a pulse period of 28.15 ms. In addition, the second time interval may be disposed between the intervals other than the first time interval. Specifically, the second time interval may be arranged between 20.5 ms and 21.0 ms. At this time, the transceiver 120 may receive a signal received from the long-distance flight target in the first receiving interval of 7.2㎲ to 20.45㎲. In addition, the transceiver 120 may receive a signal received from the short-range flight target in a second reception period of 21.05 Hz to 28.1 Hz. Accordingly, the first and second time intervals, which are the transmission intervals, and the first and second reception intervals, which are the reception intervals, do not overlap each other in FIG. 5. Accordingly, there is a technical effect of preventing mutual interference between transmitted and received signals by the first and second time intervals, which are separated transmission periods, and the first and second reception intervals, which are received intervals.

On the other hand, Table 1 shows the information on the waveform of the short / long pulse used in the transmission. Table 1 shows pulse repetition intervals (PRIs) corresponding to ranges of far / near, transmit / receive delay, pulse duration, and pulse period.

Zone Range (m) Delay Pulse PRI (㎲) Far 1072-2002 7.15-13.35 7.15 20.50 Near 75-1072 0.50-7.15 0.50 7.65

On the other hand, with regard to the transmission / reception delay, the meaning of 7.15-13.35 ms is as follows. That is, the first time interval that is the transmission period of the long pulse is 7.15 ms, and the delay to the second time interval that is the transmission interval of the short pulse is 13.35 ms. On the other hand, with respect to the transmission / reception delay, the meaning of 0.5-7.15 ms is as follows. That is, it means that the second time interval that is the transmission interval of the short pulse is 0.5 ms and the delay to the second time interval that is the next transmission interval of the long pulse is 7.15 ms.

On the other hand, as well as using a short / long pulse according to the short-range / long distance is possible as follows. It is possible to use short / middle / long pulses according to short / medium distance / far distance. In this regard, Table 2 shows information about the waveforms of the short / middle / long pulses used in transmission. Table 2 shows the pulse repetition (PRI) corresponding to the range of far / middle / near, transmit / receive delay, pulse duration, and pulse period. Interval).

Zone Range (m) Delay Pulse PRI (㎲) Far 2000-4000 13.33-26.66 13.33 39.99 Middle 1072-2000 7.15-13.33 7.15 20.48 Near 75-1072 0.50-7.15 0.50 7.65

On the other hand, Table 2 shows the waveform information for detecting a more remote flight target. Compared with Table 1, the middle distance of Table 2 corresponds to the far distance of Table 1, and corresponds to the case of considering an additional pulse scanning an additional range.

Meanwhile, the switch 112 may be used to control the first LFM unit 111a to be connected to the band pass filter 113. In addition, the second LFM 111b may be connected to the bandpass filter 113 by using the switch 112. In this case, since the transmission section of the short / long pulse is separated, the switch 112 may be implemented as an SPDT switch.

On the other hand, a sensor (not shown) may be used to distinguish whether the distance from the flight target is far / near, that is, a far flight target or a near flight target. The sensor is configured to detect an approximate distance from the flight target.

In this regard, a position sensor, an Inertial Measurement Unit (IMU) sensor, and a distance sensor may be configured for smooth operation of the electronic scanner. Meanwhile, a separate data processing module may be used to collect and signal data of the mounted sensor. In addition, radar data transmitted through the signal processing module may be processed together with the sensor data in order to increase the accuracy of the output radar signal.

In this regard, the controller 110 performs the following operation when the distance from the flight target detected by the sensor is far. That is, the controller 110 may control the transceiver 120 to transmit the first pulse during the first time interval and not to transmit the second pulse during the second time interval. That is, the long pulse is used only for the detection of the long-distance flight target, and thus, the reception interval of the target reflection signal is extended.

On the other hand, the controller 110 performs the following operation when the distance to the flight target detected by the sensor is close. That is, the controller 110 may control the transceiver 120 to transmit the second pulse during the second time period without transmitting the first pulse during the first time period. That is, only a short pulse is used for detecting the short-range flight target, and thus, the reception interval of the target reflection signal is extended.

On the other hand, it is possible to determine the information on the flight target using the magnitude and phase information of the radio wave received from the flight target. In this regard, the controller 110 performs the following operation when it is determined that the flight target is a remote flight target. That is, the controller 110 determines the type of the flight target according to the phase of the first radio wave received during the first reception period following the first time period from the remote flight target. In this case, the type of the flying target includes whether it is a bird or a drone in addition to whether the flying target is a bird or a drone. In addition, the type of the flight target may include information about the flight type of the flight target. Based on the information about the flight type of the flight target, it is possible to determine the type of the flight target. The controller 110 determines the direction of the flight target and the distance between the flight target according to the received amplitude of the first radio wave.

In addition, the controller 110 performs the following operation when it is determined to be a short-range flight target as the target moves and approaches. That is, the controller 110 accurately measures the direction of the flight target and the distance between the flight target according to the magnitude of the second radio wave received during the second reception period following the second time interval from the near flight target and the moving speed of the flight target. Can be judged. In this case, when the flight target is determined to be a long-distance flight target, the controller 110 may control the size and flight of the second radio wave received during the second reception section together with information about the direction of the flight target and the distance between the flight target. The distance between the direction of the flight target and the flight target may be determined more precisely according to the moving speed of the target.

Meanwhile, referring to FIGS. 3 and 4, the array antenna 130 is connected to the transceiver 120 and configured to radiate radio waves to a flight target. In this case, when it is determined that the flight target is a near flight target, the controller 110 radiates the radio wave to the near flight target using a wide beamwidth (WB) using a portion of the array antenna 130. For example, when the array antenna 130 is implemented with k × M elements in the horizontal direction (azimuth direction), the radio wave may be radiated by a wide beam having WB using only one of k subarrays. Therefore, radio waves are not radiated to the remaining (k-1) subarrays. At this time, if NB of the narrow beam according to k x M elements is θ1, WB of the wide beam according to M elements is θ1 x k. Accordingly, the search (scan) time required for the entire search area is reduced by k times when using a wide beam than when using a narrow beam.

Accordingly, the controller 110 estimates an approximate distance and angle of the near flight target based on the first radio wave received from the near flight target.

On the other hand, the controller 110 may perform the following operations when it is determined that the flight target is a far-distance flight target as it moves away. In this case, the controller 110 controls the radio waves to be emitted to the far-flight target with a narrow beamwidth (NB) within a predetermined range including the estimated angle using the entire array antenna. In this regard, if the approximately estimated angle in the previous step, i.e. the narrow beam search step, is q and the range is [q-Dq / 2, q + Dq / 2], then the Dq range is searched (scanned) with a narrow beam. Can be. This increases the search resolution, but does not increase the search (scan) time since the entire range is reduced to Dq.

Accordingly, the controller 110 may estimate the precise distance and angle of the remote flight target based on the second radio wave received from the remote flight target. In this case, the controller 110 first estimates an approximate distance and angle of the near flight target based on the first radio wave received from the near flight target. Next, when the near-flight target becomes a far-field flight target as the distance moves away, the controller 110 may further measure the more precise distance of the far-field flight target based on the previously estimated approximate distance and angle and the second radio wave received from the far-flight target. And angle can be estimated.

Next, a case in which the flight target is approaching from a distance from a short distance is as follows. If it is determined that the target is a remote flight target, the control unit 110 radiates the radio waves to the remote flight target with a narrow beam width WB having a predetermined beam interval using the entire array antenna 110. For example, when the array antenna 130 is implemented with k x M elements in the horizontal direction (azimuth direction), it is possible to radiate radio waves in a narrow beam having NB using all k sub-arrays. Therefore, NB of the narrow beam according to k x M elements becomes θ1. Accordingly, the search (scan) time required for the entire search area is increased by k times when using a narrow beam than when using a narrow beam. However, instead of using all the beams to detect the flight target, some beams are detected using a narrow beam width with a constant beam spacing. At this time, if not all adjacent beams are used but using beams spaced at k intervals, the time required for searching (scanning) becomes the same as using a wide beam.

Accordingly, the controller 110 estimates an approximate distance and angle of the far flight target based on the first radio wave received from the far flight target.

On the other hand, when it is determined that the flight target is a near flight target as it moves closer, the controller 110 performs the following operation. That is, the controller 110 controls to emit the radio waves to the near flight target with a narrow beam width NB within a predetermined range including the estimated angle using the entire array antenna. In this regard, if the approximate angle is q and the range is [q-Dq / 2, q + Dq / 2] in the previous step, i.e. the wide beam search step, then the Dq range is searched (scanned) with a narrow beam. Can be. This increases the search resolution, but does not increase the search (scan) time since the entire range is reduced to Dq.

Accordingly, the controller 110 may estimate the precise distance and angle of the near flight target based on the second radio wave received from the near flight target. In this case, the controller 110 first estimates an approximate distance and angle of the remote flight target based on the first radio wave received from the remote flight target. Next, when the long-distance flight target is close to the near flight target, the controller 110 may further determine the more precise distance of the near-fly flight target based on the previously estimated approximate distance and angle and the second radio wave received from the near flight target. The angle can be estimated.

With regard to the target search (scanning) using the wide beam with WB and the narrow beam with NB described above, an electronic scan method, a mechanical scan method and a hybrid scan method can be utilized. The electronic scan method is a method of electronically scanning a beam by adjusting a phase for each antenna element using a phase shifter. The electronic scan method has a short beam search time, but there are disadvantages of deterioration of beam characteristics as a problem of a malfunction such as a phase shifter and a scan angle increase. Although the mechanical scan method has a disadvantage in that the beam search time is slightly increased, there is an advantage in that there is no deterioration in beam characteristics and no problem of malfunction such as a phase shifter. The hybrid method combines a mechanical scan method with an electronic scan method for adjusting phase in the form of an antenna subarray. Searches within a large angular range use a mechanical scan method, while searches within a small angular range use an electronic scan method.

With regard to the mechanical and hybrid scan methods described above, equilibrium and heading detection of equipment such as electronic scanners is needed. In this regard, Figure 6 illustrates a system architecture between a plurality of sensors and a processor in accordance with the present invention. Referring to FIG. 6, the plurality of sensor units 140 are interfaced with a host processor, that is, the controller 110. Meanwhile, the plurality of sensor units 140 include a magnetometer, an accelerometer, and a gyroscope. Meanwhile, the micro control unit (MCU) included in the sensor unit performs data fusion and power management, and is interfaced with the controller 110. On the other hand, the plurality of sensor units 140 performs the operation of the 9-axis IMU (Inertial Measurement Unit), it is possible to maintain the equilibrium and heading detection of equipment such as an electronic scanner. As such, the beam steering (scan) angle control of the (array) antenna 130 of FIGS. 3 and 4 may be performed using a plurality of sensor units 140 and a motor unit (not shown).

Meanwhile, the signal processing algorithm of the electronic scanner according to the present invention will be described in detail as follows. In this regard, an electronic scanner can be installed in the vessel to detect waves and birds.

In this case, the input signal input to the controller 110 includes first to fifth input signals indicating a position and time, a speed, a heading direction, a sailing direction, and a turn rate. In this regard, Figure 7 shows the priority of the signal type of the input signal according to the present invention. Here, the priority of each data differs according to position and time, speed, heading direction (True), heading direction (Magnetic), sailing direction (True), sailing direction (Magnetic), and turn rate. In this case, GGA indicates Global Positioning System Fix Data, RMC indicates Recommended Minimum Specific GNSS Data, and GLL indicates Geographic Position Latitude / Longitude. In addition, VTG stands for Course Over Ground & Ground Speed, and VHW stands for Water Speed and Heading. In addition, HDT stands for Heading and True, HDG stands for Heading, Deviation & Variation, and HDM stands for Heading and Magnetic. In addition, ROT stands for Rate Of Turn.

Next, the output signal output from the control unit 110 is WDD (Wave Detector Data). In this case, the WDD includes time, latitude, longitude, wave height, and wave direction information provided by the electronic scanner corresponding to the wave radar.

In addition, the output signal output from the controller 110 further includes a Bird Detector Data (BDD). In this case, the BDD includes time, latitude, longitude, flying height and flying direction information provided by the electronic scanner corresponding to the bird detection radar.

As such, the electronic scanner installed in the ship and capable of detecting waves and birds at the same time, when the sensor determines that the waves or birds are close, the precision detection is performed in the above-described manner with respect to the proximity target. It is possible. Alternatively, the electronic scanner may divide time slots to detect waves in specific time intervals and birds in other specific time intervals. Alternatively, the electronic scanner may divide the frequency domain to detect waves in specific frequency sections and simultaneously detect tidal currents in other frequency sections. In this case, a plurality of array antennas may be used to detect birds and waves in different regions, or one array antenna may support multi-beams. Alternatively, a plurality of electronic scanners may be installed at different positions in the ship, one wave may be detected using one electronic scanner, and the other bird may be detected using another electronic scanner.

Alternatively, an electronic scanner can be installed on the roof of a vehicle or on the roof of a building to detect drones. Alternatively, the electronic scanner may be installed on an airplane to detect birds and surrounding drones.

The electronic scanner may detect surrounding buildings or other unmanned aerial vehicles (drones) in the form of an unmanned aerial vehicle (drone). In this regard, when an electronic scanner is installed in an unmanned aerial vehicle (drone), the number of antenna elements of the array antenna constituting the electronic scanner can be adjusted as appropriate.

On the other hand, the input signal input to the control unit includes first to fifth input signals indicating the position and time, speed, vehicle direction, vehicle movement direction and turn rate.

On the other hand, the output signal output from the controller 110 is DDD (Drone Detector Data). In this case, the DDD includes time, latitude, longitude, flying height and flying direction information provided by the electronic scanner corresponding to the drone detection radar. In this regard, the controller 110 determines whether a collision with the drone will occur based on the flight height and flight angle information. At this time, if the controller 110 determines that a collision will occur, a control signal for controlling the flight route of the drone may be transmitted to the drone through the array antenna 130.

Next, a method of displaying the flight target detection, that is, the flight target measurement result according to the present invention will be described below. In this regard, Fig. 8 shows the main screen configuration of the display according to the present invention. In this regard, the controller 110 may detect (waves and) birds and / or drones corresponding to the flight target, and the display (not shown) may be configured to display the measurement results for the waves. In this case, the display may include a radar image display unit 1, a first flight height display unit 2, a second flight height display unit 3, and an information display unit 4.

At this time, the radar image display unit 1 is configured to display the height of the entire flight target including the detected flight height of the flight target on the polar coordinate (polar coordinate). The first flight height indicator 2 is configured to display the minimum, maximum and average flight height at the corresponding angle of the detected flight target. The second wave height display section 3 is configured to display the flight height of each vehicle within a set range including the corresponding angle. For example, the first flight height indicator 2 displays a flight target (flying body) determined to be the most dangerous in a specific area, and the second flight height indicator 3 is the next most dangerous flight target (plane) in the area. ) Can be displayed. Here, the meaning of "dangerous" is determined in consideration of both the distance to the electronic scanner, the moving speed and the flight height of the flight target for a specific time. On the other hand, the information display unit 4 is configured to display the GPS data including the Course of Ground (COG), Speed over Ground (SOG) and latitude / longitude, heading information and other information.

9 illustrates a sub screen configuration of a display according to the present invention. 8 and 9, the display mode may be changed from the main screen configuration of FIG. 8 to the sub screen configuration of FIG. 9 through a user input through a predetermined area in the radar image display unit 1. Referring to FIG. 9, the display may include a radar image display unit 1, a first flight height display unit 2, a second flight height display unit 3 ′, and a history display unit 4 ′.

At this time, the radar image display unit 1 is configured to display the flight height of the entire flight target on the polar coordinates, including the detected flight height of the flight target. The first flight height indicator 2 is configured to display the minimum, maximum and average flight height at the corresponding angle of the detected flight target. Meanwhile, the second flight height indicator 3 ′ may be configured to display the minimum, maximum, and average flight heights for a predetermined period of time. In addition, the history display unit 4 'may be configured to display historical data such as daily, monthly, yearly, and the like.

On the other hand, display of such flight height data can be made at the electronic scanner and the control station which is remote. In this regard, Fig. 10 shows a protocol stack for transmitting navigation information according to the present invention. However, the transmission protocol stack is not limited to a protocol stack for transmitting navigation information, but may also be applied to a protocol stack for transmitting vehicle driving information or driving information of an unmanned aerial vehicle (drone).

In order to simply implement and provide navigation devices (or navigational devices, flight devices) via Ethernet, they can be made based on LWE (Light-Weight Ethernet) based standards. In this regard, the IEC 61162-450 standard is an LWE-based standard consisting of a mechanism for transmitting navigational information using UDP (User Datagram Protocol) multicasting. In addition, the navigation and flight devices can also be configured as a mechanism for transmitting navigational information using UDP (User Datagram Protocol) multicasting as an LWE-based standard.

 Meanwhile, referring to FIG. 9, a system structure simplified by the LWE protocol stack is shown. This LWE protocol is advantageous for facilitating communication between navigational devices and them because of the relatively simple functionality required. The messages transmitted by the LWE are largely NMEA messages of IEC 61162-1, image information for RADAR-VDR, and IEC 61162-3 messages. The sender and receiver of a message are known when using a serial interface, such as IEC 61162-1 / 2, but when using Ethernet, the sender and receiver need to be specified. Therefore, rather than defining a separate message header, it is defined to include all information necessary for message exchange using the TAG Block defined in IEC 61162-1. Unlike navigation sensor information of image transmission such as RADAR-VDR, it does not transmit NMEA sentences and requires bulk data transmission and reliability. It requires the unreliable and reliable transport mechanism provided by UDP. In this structure, the standard based on LWE can determine whether an error occurs when transmitting data through Checksum in this structure, and also occurs during data communication because the Error Logging function records errors in the IEC61162-450 standard itself. It has the advantage of being able to respond to errors.

Accordingly, in the present invention, a next-generation Ethernet communication standard (IEC61162-450) protocol may be developed for Radar data transmission, focusing on the IEC61162-450 standard, which will be widely used as the next-generation inboard communication. In addition, it is possible to develop algorithms that can handle errors, such as when data corruption occurs. In addition, next-generation communication standard protocols may be used with an emphasis on standards that can be used for next-generation vehicle and unmanned aerial vehicle communications.

Meanwhile, a network topology using such a protocol stack and a structure for transmitting radar images according to the aforementioned protocol stack in the network structure will be described below.

11 shows a network topology of network equipment for radar image transmission according to the present invention. Referring to FIG. 11, there is shown an IEC61162-450 network topology consisting of one IP local area network (LAN) comprising different functional blocks and a plurality of different network nodes. Here, ONF, SF, and NF represent Other Network Function block, System Function block, and Network Function block, respectively. Meanwhile, a description of some network nodes of FIG. 11 is as follows.

F2 and NF2: sensors, network nodes such as GNSS receivers.

SF1, ONF2, NF1: A device that transmits or receives data (Sentence / binary image) in compliance with IEC 61162-450 over a network, for example ECDIS, which can load chart data from another device.

SF5, SF6, NF4: Two functions independent of one network node such as gyro compass according to the rotation rate of the rotation sensor.

SF3, SF4, SNGF, NF3: These are functional blocks of system devices that comply with IEC 61162-1 in series with SNGF. In this case, the SNGF is formatted according to the requirements of this standard.

ONF1: A device that does not transmit or receive data (sentence / binary image) that conforms to IEC 61162-450, but meets the minimum requirements to use the same network.

12 illustrates a structure of a radar binary image transmitted according to the present invention. In this regard, referring to FIGS. 3 and 11-12, the controller 110 detects a direction of a flight target corresponding to a flight target and a distance between the flight target and the radar of the entire vehicle including the detected information. Generates a binary image and transmits it over the network to peripheral communication devices. In this case, as shown in FIG. 12, the radar binary image includes a header for synchronization and data integration verification, a binary image descriptor including a datagram block identifier for transmitting a binary image, and a binary corresponding to the binary image. It includes a data fragment (Binary image data fragment). Meanwhile, if the datagram block identifier is the same as the previous datagram block identifier, the communication device stores the binary data fragment in the reception buffer. On the other hand, if the datagram block identifier is different from the previous datagram block identifier, the data in the receive buffer is transferred to a system function (SF) block and the receive buffer is empty.

In the above, the electronic scanner for detecting the flight target according to the present invention has been described.

Electronic scanner for detecting a flight target according to an embodiment of the present invention, by using the magnitude and phase information of the radio wave reflected from the flight target can acquire the position information of the flight target and information about the type of the flight target There is this.

An electronic scanner for detecting a flight target according to an embodiment of the present invention has an advantage of easily detecting a near / far flight target according to various pulse durations.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments.

The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

110: control unit
111, 111a, 111b: linear frequency modulator
112: switch
113: PLL / VCO
114: frequency multiplier (114)
115: band pass filter
120: transceiver
130: antenna, array antenna

Claims (10)

An electronic scanner for detecting a flight target,
An array antenna configured to transmit and receive radio waves to the flight target; And
The controller determines the type of the flight target according to the phase of the radio wave reflected from the flight target and determines the distance between the flight target and the distance of the flight target based on the amplitude of the radio wave. Including, an electronic scanner. According to claim 1,
The control unit,
Generating a first pulse having a long pulse duration to detect a far-flight target and a second pulse having a short pulse duration to detect a near-flight target, Electronic scanner. According to claim 1,
The first pulse is transmitted to the far-flight target using the entire array antenna during the first time interval corresponding to the long pulse duration, and the second pulse is transmitted during the second time interval corresponding to the short pulse duration. And a transceiver configured to transmit to the near-flight target using a portion of an array antenna. According to claim 1,
And a sensor configured to detect an approximate distance to the flight target,
The control unit,
If the distance to the flight target detected by the sensor is a long distance, and transmits the first pulse during the first time interval, and controls the transceiver to not transmit the second pulse during the second time interval,
The transmitter / receiver is controlled to transmit the second pulse during the second time interval without transmitting the first pulse during the first time interval when the distance to the flight target detected by the sensor is short. Electronic scanner. The method of claim 2,
When it is determined that the flying target is the near flight target as the moving target moves closer, the magnitude of the second radio wave received during the second receiving section following the second time interval from the near flying target and the moving speed of the flying target And precisely determining a direction between the flight target and the distance between the flight target. The method of claim 2,
The array antenna is connected to the transceiver to radiate radio waves to the flight target,
The control unit
When the flight target is determined to be the near flight target, the radio wave is radiated to the near flight target using a wide beamwidth (WB) using a portion of the array antennas, and a first radio wave received from the near flight target Estimate an approximate distance and angle of the near flight target based on
When the flight target is determined to be the long-range flight target as the distance moves away, the long-range flight target with a narrow beamwidth (NB) within a predetermined range including the estimated angle using the entire array antenna. Radiating the radio wave and estimating a precise distance and angle of the remote flight target based on a second radio wave received from the remote flight target. The method of claim 2,
The array antenna is connected to the transceiver to radiate radio waves to the flight target,
The control unit
When the flying target is determined to be the long-range flying target, the radio wave is radiated to the long-range flying target with a narrow beam width (WB) having a predetermined beam spacing by using the entire array antenna, and received from the long-range flying target. 1 estimate an approximate distance and angle of the long-range flight target based on radio waves,
When the flying target is determined to be the short-range flight target as the moving target moves closer to the short-range flight target with a narrow beam width NB within a predetermined range including the estimated angle using the entire array antenna. Radiating and estimating the precise distance and angle of the near flight target based on a second radio wave received from the near flight target. According to claim 1,
The electronic scanner is installed in the ship to detect waves and birds,
The input signal input to the controller includes first to fifth input signals indicating a position and time, a speed, a bowing direction, a sailing direction and a turn rate,
Output signals output from the controller are WDD (Wave Detector Data) and BDD (Bird Detector Data),
The WDD includes time, latitude, longitude, wave height and wave direction information provided by the electronic scanner corresponding to the wave detection radar,
Wherein the BDD comprises time, latitude, longitude, flying height and flying direction information provided by the electronic scanner corresponding to a bird detection radar. According to claim 1,
The electronic scanner is installed on the roof of the vehicle or on the roof of a building to detect drones,
The input signal input to the control unit includes first to fifth input signals indicating a position and time, a speed, a vehicle directing direction, a vehicle moving direction, and a turn rate,
The output signal output from the controller is DDD (Drone Detector Data),
The DDD includes time, latitude, longitude, flying height and flying direction information provided by the electronic scanner corresponding to the drone detection radar,
If it is determined that the collision with the drone will occur based on the flight height and flight angle information, the controller transmits a control signal for controlling the flight route of the drone to the drone through the array antenna. , Electronic scanner. According to claim 1,
The controller detects a bird and a drone corresponding to the flight target,
Further comprising a display for displaying the measurement results for the algae and drones,
The display,
A radar image display unit for displaying the positions of all flight targets in polar coordinates, including the detected flight heights of the flight targets;
A first flight height display unit displaying a minimum, a maximum, and an average flight height at a corresponding angle of the detected flight target;
A second flight height display unit displaying a flight height of each vehicle within a setting range including the corresponding angle; And
An electronic scanner comprising an information display for displaying GPS data, Heading information and other information including Course of Ground (COG), Speed over Ground (SOG) and Latitude / Longitude.

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