WO1991007670A1

WO1991007670A1 - Radar equipment

Info

Publication number: WO1991007670A1
Application number: PCT/JP1990/001513
Authority: WO
Inventors: Takumi Fujikawa; Motoji Kondo
Original assignee: Furuno Electric Company, Limited
Priority date: 1989-11-21
Filing date: 1990-11-21
Publication date: 1991-05-30
Also published as: GB9115208D0; DE4091926C2; GB2249686B; KR0142683B1; GB2249686A; KR920701832A; DE4091926T

Abstract

Radar equipment which offers a display from which necessary reflected waves can be easily discriminated by removing undesired waves such as sea clutter in any display mode, and which further properly displays the tracks of other ships. The equipment comprises a receiving unit (1) that receives echo signals, a buffer memory (3) that temporarily stores reflected signals stemming from detect signals sent from the receiving unit, a first memory (8) which stores echo signals coming in many directions in the memory elements corresponding to the points on earth where the echo signals are generated, signal processing means (4) that processes signals output from the buffer memory and signals read out from the first memory, and sends the output signals to the first memory, a second memory (6) that stores the output signals of the correlation means in the corresponding memory elements determined by a display mode that has been set, and a display unit that displays signals read out from the second memory.

Description

Description incense Name of invention

Radar equipment technical field

According to the present invention, a radar detection signal is sequentially emitted in different directions while rotating an antenna, reflected signals arriving from each direction are received, and reflected signals arriving from a wide range are temporarily written into an image memory, read, and then read. The present invention relates to a radar device which supplies a display to a display device and displays the surroundings of the radar antenna on its display surface. In particular, the present invention provides a radar for removing unnecessary waves such as sea-surface reflected waves in any of the display modes so that necessary reflected waves can be easily identified, and appropriately displaying the trajectory of another ship or the like. Related to the device. Background art

First, a description will be given of a case where the ship equipped with the radar device is stopped or a case where the movement amount of the ship can be ignored even if the ship is moving.

In conventional radar devices, north-up display (hereinafter abbreviated as NU display), head-up display (hereinafter abbreviated as HU display), Some are configured so that three display modes such as course-up display (hereinafter abbreviated as CU display) can be selected.

① In the NU display mode, as shown in Fig. 4, the area immediately above the display screen always points to the north. For example, 0 for a ship course. (North direction reference), the bow line is at the position S indicated by the solid arrow, and when the course of the ship is turned 90 ° clockwise (eastward), the bow line moves to the position g indicated by the broken arrow. However, fixed images such as fixed buoys are immovable regardless of the course of the ship. In other words, the displayed image is a view that the operator sees from the sky rather than on the ship,

② In the HU display mode, as shown in Fig. 5, the point directly above the display screen always points to the bow. For example, the course of the ship when the 0 ', when the fixed image such as a fixed buoy to the line exists in AX position, also with different 90-course of the ship in the clockwise direction, the fixed image A ₂ Move to position g. In other words, it is as if the displayed image is exactly the scene that the operator sees on the ship,

(3) In the CU display mode, as shown in Fig. 6, the position immediately above the display screen always indicates the preset course of the ship, which is set in advance. For example, the ship course is set to 10 °. The position of the bow line will be indicated by a solid arrow if the ship is proceeding according to the planned course. However, the ship will change due to the change of course to avoid obstacles. When changing the progress course, the mane of the bow line is virtual on the screen Move as indicated by the line. However, the fixed image is fixed regardless of the course change of the ship.

In FIG. 7, a receiver 1 receives a reflected signal of one beam coming from each direction due to each detection pulse signal of the detection pulse signals sequentially emitted in different directions due to the rotation of a radar antenna (not shown). The one-beam received signal from the receiver 1 is converted from an analog signal to a digital signal by the AZD converter 2 and is temporarily stored in the buffer memory 3 in time series. The received signal (echo data) from the buffer memory 3 is converted into data for image display by the light data generator 4. The light data generator 4 removes unnecessary reflected waves such as sea surface reflected waves. For this purpose, a process called scan correlation is performed on the echo signal captured by the radar antenna. This scan phase is a process for creating data for one revolution using a received signal for ten revolutions of the antenna as disclosed in, for example, Japanese Patent Application Laid-Open No. 62-223681. First, the received signal of the first cycle is compared with the received signal of the second cycle, and the comparison result data is created according to a predetermined rule. Next, the comparison result data and the third The comparison is made with the received signals on the round, new comparison result data is created, and the same processing is repeated in order to remove an image due to unstable reflection such as sea surface reflection. In other words, to perform this scan correlation, buffer memory 3 From the current received signal given by the user and the past received signal that has already damaged the frame memory 6.

The output data from the write data generator 4 is written to the frame memory 6 with the write address generated by the write address generator 5. The data damaged in the frame memory 6 is read based on a read address according to a raster scan method generated by the read address generator 7. The read data, _beta is an image displayed on a display device such as a CR T (not shown)

The light address generator 5 generates a write address composed of rectangular coordinates (X..) Based on the antenna direction, the designated display mode, the course of the ship, and the like. Performs one orthogonal coordinate transformation. This conversion is performed based on the following equation.

X = X c + R sin 0. Y = Y c + R c os d _β

(However, in the case of HU display, Θ-Θ _A , in the case of NU display, 0 = 0 _A + Θ s, in the case of CU display, 0 = + 0. One 0c.)

X c and Y c are the ship's own position address in the frame memory, R is the distance from the ship's own position, β is the angle in the sweep direction from the Y axis (frame memory), and 0 A is based on the bow direction. Antenna angle, 0 _B is course of own ship, 0 _c is set course.

In the above radar device, when reading for display on the display is performed by the raster scan method, the write address generator 5 is extremely Although the coordinate transformation is performed from the coordinates to the rectangular coordinates, the light address generator 5 does not need to perform the above-described coordinate transformation when the spiral scan method is used.

By the way, when displaying the echo signal on the display, in the NU or CU display mode, the moving amount of the ship can be ignored even if the ship is stopped or the ship is moving In this case, even if the data written for one rotation of the antenna rotation to the frame memory 6 is updated every moment, the data indicating the fixed object 必ず is always written to the same position on the frame memory 6, so it is fixed. The display position of the object does not move on the screen. Therefore, even in the conventional radar device, the scan correlation processing can be properly performed, and unnecessary waves such as sea surface reflected waves can be removed. However, when the HU display mode is set, the bow direction of the ship equipped with the radar fi changes constantly, and when the echo signal captured by the antenna is harmed to the frame memory 6, However, even data indicating a fixed target may be harmed to different positions in the frame memory 6 for each rotation of the antenna. There was a defect that the position changed every moment on the screen _β

Note that the HU display mode is relatively frequently used because the actual view seen by the operator and the display screen match.

Also, in the conventional radar system, when the HU display mode is set Cannot display the moving trajectory of the detected object. In other words, in order to display the movement locus of the detected object, the current received signal and the past received signal are simply written in the frame memory in a superimposed manner. However, when the write data to the frame memory is updated every moment, the current reception signal and the write reception signal cannot be written to the same position because the bow line direction of the ship is constantly changing. As a result, the movement trajectory of the detected object cannot be accurately displayed.

Next, the case where the ship equipped with radar equipment is moving and the amount of movement of the ship cannot be ignored will be described.

The block diagram showing the configuration of the conventional radar device a shown in FIG. 13 is almost the same as the block diagram showing the configuration of the conventional radar device shown in FIG. The difference from the block diagram showing the configuration of the conventional radar system shown in Fig. 7 is that a signal indicating the own position g is input to the light address generator 5m and the lead address generator 7m. . The output signal of the light data generation unit 4 is written to the frame memory 6 with a scented address generated by the write address generation unit 5m. The data signal permeated into the frame memory 6 is read based on a read address according to a raster scan method generated from the read address generator 7m. The light address generator 5 m is based on the antenna direction, the course of the ship, the position S of the ship, and the display mode set. Then, the echo signal generation point for the radar antenna is converted from polar coordinates to orthogonal coordinates, and a harmful address represented by orthogonal coordinates is generated.

By the way, the relative motion (hereinafter abbreviated as RM) and the true motion (hereinafter abbreviated as によってによって) depend on whether the position of the ship is fixed or displayed so as to move according to the moving amount of the ship. The operation mode to be used is specified by the operator via a mode setting section (not shown).

(1) As shown in Fig. 14, RM fixes the ship's position (beam center) to a specific position (center in the figure) on the display screen, and moves the fixed target.

② As shown in Fig. 15, Τ moves the ship's position (beam center) at the ship's speed and course on the display screen, and makes the fixed object 不 immovable.

In order to realize these displays, it is conceivable that the address of the beam center of the write data to the frame memory 6 is fixed or variable, that is, the beam center of the write data to the frame memory 6 is considered. The case where the address is fixed is tentatively defined as RM damage processing, the case where the address is fixed is defined as Μ write processing, and the case where the address is fixed is defined as Τ Μ fragrance processing.

In addition, the read start address at the time of display is also Similar to the processing of the center address, it is considered to be fixed or variable, and the former case is assumed to be RM read processing and the latter case is assumed to be M read processing. Define.

Therefore, there are four cases described below as a combination of the scenting process and the reading process.

(Case 1) In the combination of the RM write process and the RM read process, as shown in FIG. 16 (a), both the write area indicated by a circle and the read area indicated by a square in the frame memory 6 are always fixed. Become. In this case, the ship's own position (corresponding to the beam center address) is always displayed in the localization position S on the display screen, while the target position S is displayed in the relative movement position S. ·

(Case 2) In the combination of the TM damage processing and the RM read processing, as shown in FIG. 16 (b), the write area indicated by a circle in the frame memory 6 is variable, and the read area indicated by a square is always used. Fixed to. In this case, the object is displayed at the true motion position on the display screen, and the own ship position is displayed by moving in the moving direction of the own ship.

(Case 3) In the combination of the RM write process and the TM read process, as shown in FIG. 16 (c), the circular region in the frame memory 6 is always fixed, and the rectangular read region is Be variable. In this case, the ship's position is displayed in the direction of the ship's movement on the display screen, while the object position is displayed in the true movement position. You. However, it is assumed that the readout address is moved in the direction opposite to the movement of own ship.

(Case 4) In the combination of the TM harming process and the TM reading process, as shown in FIG. 16 (d), in the frame memory 6, a circular scented region and a square gunned out region are used. Both move by their own movement. In this case, the position of the own ship is always displayed in the localization S on the surface of the display, and the position of the target is displayed in the relative movement position.

Of these cases, the beam center address is moved on the frame memory 6 in cases 2 and 4, and the read start address is moved (scrolled) in cases 3 and 4.

First, in Case 2, when the beam center address (own ship position) of the writing area protrudes from the read area on the frame memory 6 as the ship moves, the ship position can no longer be displayed. In order to avoid such inconvenience, the beam center address is returned to the initial beam center address so that the writing area is located inside the gun ejection area. For example, as shown in FIG. Assuming that S is the first beam center address, the beam center address moves as P ₂ , P 3 …… as the ship moves, but when it reaches the P ₈ position at the edge of the frame memory 6 However, since it becomes impossible to display the own ship position, the P ₄ position, which is the next beam center address, is returned to the position. In case 4, the beam center address is pulled back in the same way as in case 2.

In order to display the two operation modes R M and T M in consideration of the course, the following two display modes related to the course may be combined with the two operation modes. Normally, the RM combines all of the NU, HU, and CU display modes shown in Figs. 4 to 6, respectively, while the TM displays both the NU display mode and the CU display mode. The combination is performed, but not combined with the HU display mode.

In each combination of the three display modes described above and the two operation modes described above, the screen appears as if the ship is moving on the map in TM.NU mode, and the screen in RM / HU mode. The view is as if the operator were on a boat.

For example, when performing scan correlation processing on the echo signal captured by the antenna while the ship on which the radar device is equipped is moving and moving the ship at high speed, such as when the detection range of the radar device is small. If the amount of movement of the ship cannot be ignored, the scan correlation process uses the current reception data supplied from the buffer memory 3 and the past reception data already written in the frame memory 6 so that the A TM write process for fixing the position data of the fixed object must be performed. In other words, if your ship is moving and If the amount of movement cannot be ignored, the echo signal must be scented into the frame memory 6 in the TM writing process.

In addition, for example, the damage processing in the TMU mode is the above cases 2 and 4, and the following problems occur.

First, in case 2, a pullback operation that changes the writing area irrespective of the movement of the ship when the harm area extends beyond the reading area of the size corresponding to the S-plane size on the frame memory 6. Is required. In addition, since the readout area is set small based on the screen size, the writing area protrudes from the readout area due to a slight movement of the ship, and it is necessary to frequently return the area. Become. By such a pullback operation, the data accumulated so far is fixed, the positional relationship between the moving object 摞 and the own ship cannot be maintained, and scan correlation cannot be performed with a quick gun. in order to perform the emissions correlation, it must be performed again, accumulated from the beginning of the past data _β

In case 4, when both the write area and the read area protrude from the terminal of the frame memory 6, it is necessary to scroll both the perfume area and the gun-out area as described above. The circuit configuration and processing of not only the address generation section 5 m but also the read address generation section 7 m become complicated, and the scan correlation cannot be continuously performed as in the case 2 above. In order to do so, it is necessary to perform the past data again from the beginning. Furthermore, in order to reduce the frequency of scrolling, it is necessary to increase the capacity of the frame memory 6 as much as possible, resulting in low cost. Disclosure of the invention

One object of the present invention is to provide a radar apparatus having an image memory, which removes unnecessary waves such as sea-surface reflected waves and displays the necessary reflected waves so that the reflected waves can be easily identified. is there.

Another object of the present invention is to accurately perform scan correlation processing on an echo signal captured by a radar antenna when a display mode is set to a Hu display mode in a radar device a having an image memory. It is to provide a radar device that can

Another object of the present invention is to provide a radar apparatus having an image memory, wherein the display mode is set to any one of the NU display mode, the CU display mode, and the HU display mode. An object of the present invention is to provide a radar device capable of accurately performing scan correlation processing on an echo signal captured by a radar antenna.

Another object of the present invention is to provide a relative motion (hereinafter abbreviated as RM) display in which the ship's own position is fixed and displayed. In the display mode, unnecessary reflected waves such as sea-surface reflected waves can be removed and necessary reflected waves can be easily identified. Is to provide a radar device that displays Another object of the present invention is to provide a radar system in which, when a ship equipped with radar equipment S is stopped or a ship is moving, the amount of movement can be ignored, and the bow direction of the ship is constantly changed. It is an object of the present invention to provide a radar apparatus which removes unnecessary waves such as sea-surface reflected waves and displays the necessary reflected waves so that the reflected waves can be easily identified even when they fluctuate.

Another object of the present invention is to remove unnecessary waves such as sea-surface reflected waves and display the surrounding situation even when a ship equipped with radar equipment tt moves and the amount of movement cannot be ignored. Radar equipment S is to be provided.

One object of the present invention is to provide a radar device having an image memory, which can accurately display the movement trajectory of another ship or the like.

Another object of the present invention is to provide a radar apparatus having an image memory, which can accurately display a moving trajectory of another ship when the display mode is set to the HU display mode. It is to be.

Another object of the present invention is to provide a radar apparatus having an image memory in which the display mode is set to any one of the NU display mode, the CU display mode, and the HU display mode. An object of the present invention is to provide a radar device capable of accurately displaying a moving trajectory of a ship or the like. Another object of the present invention is to provide a relative motion for displaying a fixed position of the ship.

(Hereinafter abbreviated as RM) It is an object of the present invention to provide a radar device capable of accurately displaying a moving trajectory of another ship in a display mode.

Another object of the present invention is to provide a system in which the direction of the bow of a ship constantly changes when the ship equipped with radar equipment is stopped or the amount of movement can be ignored even if the ship is moving. An object of the present invention is to provide a radar device capable of accurately displaying a trace of the movement of another ship or the like even in the event of a collision.

Another object of the present invention is to accurately display the movement trajectory of another ship or the like even when a ship equipped with radar equipment g moves and the amount of movement cannot be ignored, and to fix fixed objects such as islands. It is an object of the present invention to provide a radar device which can appropriately display the information.

Another object of the present invention is to provide a radar apparatus S capable of continuously and correctly executing a scan correlation process in the TM-NU mode.

A first feature of the present invention is a radar device that sequentially emits detection signals in different directions, receives an echo signal, and displays the echo signal on a display to display a surrounding situation in a wide range direction. And a buffer memory for storing a reflection signal caused by one detection signal transmitted from the receiving unit, and an echo signal returning from a wide range direction in a corresponding recording element determined based on a predetermined direction. A processing memory that performs correlation processing on a signal output from the buffer memory and a signal read from the processing memory, and supplies the output signal to the processing memory; and an output signal of the correlation means. It is composed of a frame memory that stores the corresponding elements determined by the set display mode, and a display that displays the signal transmitted from this frame memory.

A second feature of the present invention is a radar device that sequentially emits detection signals in different directions, receives an echo signal, and displays the echo signal on a display to display a surrounding situation in a wide range direction. A buffer memory for storing a reflected signal caused by a single detection signal transmitted from the receiving unit, and a corresponding memory for storing an input signal in a corresponding element determined based on a predetermined direction. 1 memory, and signal processing for supplying a signal representing a wake of another ship obtained by performing signal processing on a signal output from the buffer memory and a signal read from the first memory to the first memory. Means, a second memory for storing an output signal representing the wake of the signal processing means in a corresponding useful element determined by the set display mode, and a second memory read out from the second memory. It is to be constituted by a display device for displaying the signal.

A third feature of the present invention is that a radar device S which sequentially emits detection signals in different directions, receives echo signals, and displays the same on a display device to display surrounding conditions in a wide range direction, receives echo signals. Receiver And a buffer memory that stores the reflected signal caused by a single detection signal sent from this receiver, and an echo signal that sweeps from a wide range of directions corresponds to each point on the earth's surface that generated the echo signal. A first memory for storing in each of the storage elements to be processed, correlation means for performing a correlation process on a signal output from the buffer memory and a signal read from the first memory, and supplying the output signal to the first memory; The output signal of the correlating means is constituted by a second memory for storing the corresponding recording element determined by the set display mode, and a display for displaying a signal read from the second memory. is there. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a block diagram of one embodiment of the present invention.

FIG. 2 is a data map diagram of a processing memory used in FIG.

FIG. 3 is a data map diagram of the frame memory used in FIG.

FIG. 4 is a schematic diagram showing a display image in the NU display mode. FIG. 5 is a schematic diagram showing a display image in the HU display mode. FIG. 6 is a schematic diagram showing a display image in the CU display mode. FIG. 7 is a block diagram of a conventional radar device.

FIG. 8 is a block diagram of another embodiment of the present invention. 9 (a) to 9 (c) are data diagrams of the processing memory shown in FIG. 8,

Figs. 10 (a) to 10 (c) show the TM'NU mode.

FIG. 8 is a data map of the frame memory shown in FIG. 8;

FIGS. 11 (a) to 11 (c) show the RM'H U mode.

FIG. 9 is a data map of the frame memory shown in FIG. 8;

Fig. 12 shows the movement pattern of the beam center address (own ship position) by scrolling.

FIG. 13 is a block diagram of a conventional radar device.

FIG. 14 is a schematic diagram showing a display image in the RM mode.

FIG. 15 is a schematic diagram showing a display image in the TM mode. FIGS. 16 (a) to 16 (d) show the conventional writing processing and reading processing. FIG. 3 is a diagram showing a write area and a read area on a frame memory in one combination *

Fig. 17 shows the movement pattern of the beam center address (own ship position) by scrolling.

FIG. 18 is a block diagram of another embodiment of the present invention.

FIG. 19 is a block diagram of another embodiment of the present invention.

Note that the components having the same reference numerals throughout the drawings perform the same functions. Example

First, the case where the ship equipped with radar equipment g is stopped or the case where the moving amount of the ship can be ignored even if the ship is moving will be described.

Fig. 1 shows that even when the direction of the bow line of the ship changes constantly, the scan correlation process is performed properly and unnecessary waves such as sea surface reflected waves are removed regardless of the display mode set. A signal can be displayed An embodiment of the present invention is shown.

In FIG. 1, a receiver 1 is a reflection of one beam arriving from each direction caused by each detection pulse signal of a detection pulse signal sequentially emitted in a different direction as a radar antenna (not shown) rotates. detection receives and amplifies a signal, received signal 1 beam from the receiver 1 is converted from an analog signal to a digital signal by the AZD converter 2, time series temporarily in the buffer memory 3 serial ^1! Is done. The write data generator 4 performs scan correlation processing using the echo data signal supplied from the buffer memory 3 and the signal supplied from the processing memory 8 to convert the echo data signal into data for image display. The output data of the creation unit 4 is written to the processing memory 8 with the damaging address generated by the second write address generation unit 9 and the fragrance generated by the first write address generation unit 5 The data written to the frame memory 6 with the write address is the same as the data written to the frame memory 6 from the read address. Readout is performed based on a readout address according to the raster scan method generated from the raw section 7. The read data is displayed as an image on a display such as a CRT (not shown). * The first light address generation unit 5 uses orthogonal data based on the antenna direction, the specified display mode, and the course of the ship. A harmful address consisting of coordinates (X.Y) is generated, and the polar coordinate-orthogonal coordinate transformation is performed as described above. The second light address generator 9 also specifies the antenna direction and antenna direction. Based on the display mode and the course of the ship, and provides the address signal to the processing memory 8.

The processing memory 8 stores the output signal of the write data generator 4 based on the damage address signal supplied from the second write address generator 9 in a corresponding storage element that is determined by the NU display method or the CU display method. Write to The frame memory 6 determines the output signal of the write data generator 4 based on the write address signal supplied from the first write address generator 5 in the display mode set in the frame memory 6 at each time. In other words, the second write address generator 9 for the processing memory 8 is configured to always generate a write address in the display mode of NU display or CU display. I have. The write address generator 5 for one frame memory 6 is configured to generate a write address according to a display mode set among NU display, HU display, and CU display. You.

Specifically, for example, course 0 G = 90 °, antenna orientation 0 _A = 90. When the display mode is HU display, the data map of the processing memory 8 is as shown in FIG. 2, and the data map of the frame memory 6 is as shown in FIG. In other words, the data to be written to the processing memory 8 and the data to be received in the frame memory S have a course β. Is also added. Except for this point, the data to be written to the processing memory 8 is exactly the same as the data to be harmed to the frame memory 6, and the contents of the processing memory 8 are rotated at the time of writing so as to be harmed to the frame memory 6. .

When the NU display mode or the CU display mode is set, the processing memory 8 writes to the corresponding storage element which is determined by the direction in which the boat travels in the north or in the direction in which the ship travels. An echo signal may be written to a convenient element determined based on the azimuth.

Next, the operation is explained,

In the light data creation unit 4, the data created by performing the scan correlation process using the current data given from the buffer memory 3 and the past data in the processing memory 8 are sequentially stored in the processing memory 8 as the second write address generation unit. Write with the write address in the NU display mode generated from 9. On the other hand, for the data harmful to the processing memory 8, the S write-in address in one of the HU display, NU display and CU display mode specified by the first write address generator 5. To write to frame memory 6. The data harmed to the frame memory 6 is read out according to the read address generated by the read address generator 7 and then displayed on a display (not shown). On the screen of this display, the data magic of the frame memory 6 is displayed as it is.

That is, even when the HU display mode is specified, data is always written to the processing memory 8 at the damage address in the NU display mode, and the deleted data and the current data are written by the processing memory 8. Scan censorship can be performed correctly because

Figure 18 shows the case where the ship equipped with radar equipment is stopped or the movement of the ship can be ignored even if the ship is moving, and the bow line of the ship constantly fluctuates. In this case, an embodiment of the present invention capable of correctly displaying the track of another ship regardless of the set display mode of the HU display, the NU display, and the CU display will be described. In Fig. 18, the description of the same components as those in the block diagram shown in Fig. 1 will be omitted. In addition to the configuration shown in Fig. 1, the wake signal generation unit 4 'and the wake signal processing memory 8' The wake signal generator 4 · receives the echo signal as the current signal from the buffer memory 3. The signal stored and supplied as a past signal is supplied from the wake signal processing memory 8 ′. The wake signal generation unit 4 ′, based on the current signal and the past signal, includes, for example, a wake signal that lasts only for a predetermined period of time and a wake portion indicating the current position of the ship when the wake is displayed. The wake signal processing memory 8 'is configured in the same way as the processing memory 8, and the second lighter is generated. The wake signal is obtained by signal processing so that the older part of the wake is displayed darker. In response to the write address signal supplied from the dress generator 9, the wake signal supplied from the wake signal generator 4 'is written to the corresponding storage element. The output signal of the wake signal generation unit 4 ′ is supplied to the frame memory 6 and written together with the output signal of the write data generation unit 4. In the wake signal processing memory 8 ', data is always written to the wake signal processing memory 8' using the scented address in the NU display mode, even when the HU display mode is set, in the same manner as the processing memory 8. Since the correspondence between the past data and the present data can be accurately obtained by the memory 8 ', the signal processing can be executed correctly. In this way, the HU display is realized by the configuration shown in FIG. In the mode, the trajectories of other ships and islands can be displayed. Also, unnecessary waves such as sea surface reflected waves can be removed, and surrounding conditions including the wakes of other ships can be displayed.

Fig. 8 shows that when a ship equipped with radar equipment g embodying the present invention is moving and the amount of movement of the ship cannot be neglected, An embodiment of the present invention capable of removing unnecessary waves such as sea-surface reflected waves and displaying the surrounding situation is shown.

In FIG. 8, the receiver 1 is configured to detect one beam arriving from each direction caused by each detection pulse signal of the detection pulse signal sequentially emitted in different directions as the radar antenna (not shown) rotates. The reflected signal is received and detected and amplified. The signal of one beam from the receiver 1 is converted from an analog signal to a digital signal by the AZD converter 2 and is temporarily stored in the buffer memory 3 in time series. . The received signal (echo data) output from the buffer memory 3 is converted into image display data by a write data creation unit 4. The write data creation unit 4 generates unnecessary reflections such as sea surface reflected waves. A scan phase process is performed on the echo signal captured by the radar antenna in order to eliminate the waves. The scan correlation process is based on the current received signal provided from the buffer memory 3 and the already processed memory 8h. This is performed by using the passing-in received signal. The output data from the write data generator 4 is written to the processing memory 8h with the scented address generated by the second write address generator 9h. The signal recorded in the processing memory 8h is read in response to the address signal sent from the second write address generator 9h and supplied to the write data generator 4. The output data from the creation unit 4 is harmed to the frame memory 6 h by the harmful address generated by the first write address generation unit 5 h. It is. The data written to the frame memory 6h is read out according to the read address generated from the door address generator 7h, and then displayed on a display (not shown). In the present embodiment, the read processing in the read address generator 7h is RM read processing. The output data from the write data generator 4 is written into the processing memory 8h by the write address generated by the second write address generator 9h, and at the same time, a mode setting section (not shown) by the operator. The write address is written into the frame memory 6h with the harmful address generated by the write address generator 5h in accordance with the use mode specified through the antenna. The second write address generator 9h Based on the direction, the course of the ship, the position of the ship, and the display mode set, the echo signal generation point for the radar antenna is converted from polar coordinates to rectangular coordinates, and a write address expressed by rectangular coordinates is generated. The first light address generation unit 5h converts the echo signal generation point for the radar antenna from polar coordinates to rectangular coordinates based on the antenna direction, own ship course, own ship position, and display mode to be set. Generates the write address represented.

When the designated use mode is selected to be either the TM / NU mode or the RM / HU mode, the second write address generator 9h always outputs the processing memory 8h to the processing memory 8h. It is configured to perform data harm by using a write address in the NU mode. The operation when the above two combination modes are specified will be described below.

[When TM · NU mode is specified]

Both the write address for the processing memory 8h and the write address for the frame memory 6h are the write addresses in the TM / NU mode. Specifically, for example, the data in the processing memory 8h is the first address. As shown in Fig. 9 (a), the data in the frame memory 6h is written correspondingly as shown in Fig. 10 (a). When the data sequentially changes, for example, from the state of FIG. 9 (a) to the state of FIG. 9 (b), and further to the state of FIG. 9 (c), the data of the frame memory 6h is changed to the state of FIG. The state changes from a) to the state shown in Fig. 10 (b), and then to the state shown in Fig. 10 (c). In other words, the object is not affected by the movement of the ship itself, The contents of the _β frame memory 6 h, which is fixed in the processing memory 8 h, are shown in FIGS. 10 (b) to 10 (c). When it changes to, a pull-in operation is added, but since the scan correlation result is in the processing memory, it is not necessary to redo the scan correlation from the beginning.Specifically, the contents of the frame memory 6h are beamed. Update with one till.

[When RM · NU mode is specified]

The harmful address for the processing memory 8 h was ΤΜ · The scented address in the NU mode was used. The address is the write address in RM / HU mode. Specifically, if the data in the processing memory 8h is as shown in FIG. 9 (a), the data in the frame memory 6h is as shown in FIG. 11 (a). Also, if the data in the processing memory 8h changes sequentially from the state shown in Fig. 9 (a) to the state shown in Fig. 9 (b) and then to the state shown in Fig. 9 (c) as the ship moves, The data in the frame memory 6h is shown in Fig. 1 1

The state shown in FIG. 11A changes sequentially from the state shown in FIG. 11B to the state shown in FIG. 11C. In other words, in this case, too,

A to C are immobile. The data to be written into the frame memory 6 h in this example is made to those same as rotated heading theta _beta fraction to what burn them窨processing memory 8 h, and writes the processing memory 8 h data and frame memory 6 h This is exactly the same as the data to be written into the frame memory 6 h, and is the result of rotating the contents of the processing memory 8 h when damaging the frame memory 6 h.

In this way, regardless of which combination mode is specified, the processing memory 8h sets the data writing area (the arc in the figure) as the own ship moves, based on the own ship's movement. h Move on top. The process of moving the beam center address (own ship position) on the processing memory 8 h following the movement of the ship will be briefly described below. For explanation, course 0. Is constant.

When the X address of the processing memory 8h is composed of n bits, Although the center address of the beam changes due to the movement of the ship, it is sufficient to use data that always extracts the same n bits. Thus, for example n - 4, although the following all bits 1 (0 FH) is 1 0 H ^M ", the lower four bi Uz preparative extraction (00

H). Therefore, in this case, the X address circulates in the range from "00H" to "1FH", resulting in the following phenomenon. Such processing is performed by the second write address generation unit. Made by 9 h.

As shown in Fig. 12, when the first beam center address is set to P, position, the next beam center address is moved from the lower side of the figure to the diagonally upper P2 position. exceeding the upper end of the h Kiniwa, P of P ₂ position from the lower side along the Y-axis of FIG, also _β is urchin moved Remind as to position dashed arrows, after having moved from the [rho ₃ position to the position From the, position to the left P _s position along the X-axis in the figure. In this manner, the beam center address is sequentially changed.

When the center address of the beam is moved near the peripheral edge of the processing memory 8h as shown in Fig. 9 (c), a part of the scented area on the arc protrudes from the edge of the processing memory 8h. Therefore, as shown in FIG. 12, the write position of the protruding portion is written back to the lower end portion of the processing memory 8h, that is, the arc-shaped damage area is formed from the upper end of the processing memory 8h. If it protrudes, this protruding part is processed memory 8 Write back to the lower end of h, and if it protrudes from the right end, wrap this protruding portion back to the left end to write.

Regardless of which combination mode is specified, for the display, the read start address of the damage content of the frame memory 6h is always the fixed RM read process, so that the read address is generated. The circuit configuration and processing of the unit h are simpler than those of the conventional example requiring scroll operation. Moreover, the capacity of the frame memory 6h may be set to a size that surrounds the arc-shaped writing area, and can be smaller than that of the conventional frame memory 6 in which the reading start address is variable. ,

As described above, when specifying either the 1¾1 ^ 11 mode or the 1¾ / 1 * 1! 11 mode, specify the write address in the NU mode for the processing memory 8h. Since the data is scented, the writing position on the processing memory 8 h is not affected by the course, movement, etc. of the ship itself, so that the correspondence between the past data and the current data can be corrected, and the processing memory 8 h When moving the center address of the beam to be written, the portion protruding from the processing memory 8h is written back, so that there is no loss of the write data. As a result, there is no interruption in the TM / NU mode. It is now possible to realize continuous scan correlation processing, whereas in the RM.NU mode, it was impossible in the past. Scan correlation processing can be performed correctly.

Fig. 19 shows that even if a ship equipped with radar equipment is moving and the amount of movement of the ship cannot be ignored, fixed objects such as islands can be displayed correctly in RM'HU mode. An embodiment of the present invention capable of displaying the true trajectory of another ship is shown below.

In FIG. 19, the description of the same components as those in the block diagram shown in FIG. 8 will be omitted. In addition to the configuration shown in FIG. 8, the wake signal generation unit 4 ′ and the wake signal processing memory 8 h ′ The wake signal generation unit 4 ′ is supplied with the echo signal as the current signal from the buffer memory 3, and receives the signal stored as the foreigner from the wake signal processing memory 8 h ′. The navigation signal generator 4 ′, based on the current signal and the passing signal, indicates, for example, a wake signal that lasts only for a predetermined time, or indicates the current position of the ship when the wake is displayed. The wake signal is generated by processing the signal so that the wake part is displayed brightest and the older part of the wake is displayed darker. The wake signal processing memory 8h is the same as the processing memory 8h. Configured, second light add A track signal supplied from the domestic mark signal generating unit 4 'in response to the address signal included can harm supplied from the scan generator 9 h writing to the corresponding Ki镓 element. The output signal of the wake signal generation unit 4 ′ is supplied to the frame memory 6 h together with the output signal of the write data generation unit 4 and is damaged. The wake signal processing memory 8h ', like the processing memory 8h, • Data is scented into the wake signal processing memory 8h * at the harmful address in the NU mode, and the correspondence between past data and current data can be accurately determined by the memory 8h ', so signal processing is correct. I can do it. In this way, by configuring as shown in FIG. 19, even when the RM.HU display mode is set, the movement trajectory of another ship or an island can be displayed. Also, unnecessary waves such as sea surface reflected waves can be removed, and the surrounding conditions including the wakes of other ships can be displayed. In this way, the wake signal processing memory 8h 'is added in addition to the processing memory 8h. If the above processing is performed, the true movement trajectory of another ship can be displayed in the RM / HU mode. That is, when the RM.NU mode is designated, the processing memory currently used is 8 h At the same time, the current data is written using the write address in the TM / NU mode, and the wake signal processing memory 8h 'is also written in the TM' NU mode, so that the data in the current processing memory and the data in the past processing memory are written. The data in which と and 重ね are superimposed are written to the frame memory 6 h at the harmful address in the RM.HU mode.

In the embodiments of the present invention shown in FIG. 1, FIG. 8, FIG. 18 and FIG. 19 described above, the reading for display on the display unit is performed by the raster scan method, and the first address is read. Both the generator and the second address generator performed coordinate conversion from polar coordinates 直交 to rectangular coordinates, and supplied the obtained address signals to the frame memory and the processing memory, respectively. Only However, even when the readout for display on the display is performed in a raster scan mode, the second address generating section generates an address signal for the current position, and the first address generating section generates the address signal. A converted orthogonal coordinate address signal may be generated. When the reading for display on the display is performed by the spiral scan method, it is not necessary for both the first address generation unit and the second address generation unit to perform coordinate transformation from polar coordinates to rectangular coordinates.

In the embodiment of the present invention shown in FIGS. 8 and 19, the echo signal is written in the processing memory with the harmful address in the TM / NU mode. However, the present invention is not limited to this. In short, it suffices to damage the storage element of the processing memory corresponding to each point on the earth where the echo signal is generated.

As described above, according to the present invention, when the ship equipped with the radar device S is stopped or when the ship is moving, the amount of movement of the ship can be ignored. Regardless of the display mode set to any of the HU display mode, NU display mode, and CU display mode, it is possible to remove unnecessary waves from sea surface reflected waves and to display the surrounding conditions, and It is possible to provide a radar device that can appropriately display the moving track of another ship, etc. Furthermore, even when the ship itself is moving and the amount of movement cannot be ignored, unnecessary waves from sea surface reflected waves can be removed and the surrounding conditions can be displayed, and fixed objects such as islands can be displayed. (4) It is possible to provide a radar device capable of appropriately displaying a trace of movement of another ship or the like.

Furthermore, with a simple configuration that only requires a processing memory and a second line address generator, it is possible to continuously and correctly execute scan correlation processing in the NU mode, and to display unstable images due to sea surface reflection. The removed image can be easily viewed. In addition, since scan correlation, which was not possible in the past, can be performed in the RM / NU mode, which is often used because it is easy to use in addition to the above, a display image that is easy to see in this RM'HU mode can be realized. .

Claims

The scope of the claims

(1) A radar device that sequentially emits detection signals in different directions, receives echo signals, and displays them on a display to display the surrounding situation in a wide range of directions,

A receiver for receiving the echo signal,

A buffer memory for temporarily storing a reflected signal caused by one detection signal transmitted from the receiving unit;

A first memory for storing an echo signal returning from a wide range direction in a corresponding storage element that is determined based on a predetermined azimuth;

Correlating means for correlating a signal output from the buffer and the signal read from the first memory with a signal read from the first memory, and supplying the output signal to the first memory;

An output of the correlating means; a second memory for storing signals in corresponding storage elements determined by the set display mode;

A radar device for displaying a signal read from the second memory.

(2) The radar device according to (1), wherein the first memory records the echo signals returned from the wide-area direction to the corresponding resentment elements determined based on the north.

(3) The first memory stores the echo signals returning from a wide range of directions in the corresponding recording elements determined based on the heading of the ship to be set. The radar device according to claim 1, wherein the radar device is stored.

(4) The radar device according to (1), wherein the output signal of the correlating means is written to a corresponding storage element of the second memory determined in the head-up display mode.

(5) A radar device that sequentially emits detection signals in different directions, receives an echo signal, and displays it on a display to display the surrounding situation in a wide range direction,

A receiver for receiving the echo signal,

A first memory for respectively storing an input signal in a corresponding recording element determined based on a predetermined direction,

Signal processing means for supplying, to the first memory, a signal representing a wake of another ship obtained by performing signal processing on a signal output from the buffer memory and a signal read from the first memory;

A second memory for writing an output signal representing the wake of the signal processing means in a corresponding storage element determined by the set display mode; and a display for displaying a signal read from the second memory. A radar device characterized by:

(7) Gyro compass,

An antenna direction detector, A display mode setting unit for designating a head-up display mode; a receiving unit for receiving a reflected signal for one beam in an antenna direction による due to antenna rotation;

A buffer memory for temporarily storing a received signal for one beam in a predetermined direction output from the receiving unit;

A write data creation unit for creating data for image display based on output data from the buffer memory;

A frame memory for storing data created by the write data creation unit,

A first write address generator that generates a data scented address for the frame memory based on data from the gyro compass, the antenna direction detector, and a display mode setting unit;

A read address generator for giving a read address to the frame memory;

A display device for displaying an image of the data read from the frame memory.

A processing memory for recording the data read from the write data creation unit is provided separately from the frame memory, and the processing memory is stored on the basis of the output data from the gyro combus and the antenna orientation detection unit. A second write address generator that generates a write address that is determined with respect to A radar device characterized in that:

(8) The radar device according to (4), wherein the read address generating section gives a read address of a raster scan method to the frame memory.

(9) The radar device according to (4), wherein the read address generating unit gives a spiral scan read address to the frame memory.

(10) The radar device according to (5) or (6), wherein the second write address generator generates a write address determined with respect to the north with respect to the processing memory.

(11) The radar device according to claim 5 or 6, wherein the second write address generating unit generates a write address determined based on the traveling direction of the ship in the processing memory.

(12) A radar device that sequentially emits detection signals in different directions, receives echo signals and displays them on a display, thereby displaying the surrounding situation in a wide range of directions,

A receiver for receiving the echo signal,

A buffer memory for once storing a reflected signal caused by one detection signal transmitted from the receiving unit;

The first memory that stores the echo signals that are burned from a wide range direction in the storage elements corresponding to each point on the surface of the earth where the echo signals are generated. When,

Correlation means for performing correlation processing on a signal output from the buffer memory and a signal read from the first memory, and supplying the output signal to the first memory;

A second memory for storing the output signal of the correlating means in a corresponding storage element determined by the set display mode;

A display device for displaying a signal read from the second memory,

(13) Gyro compass, antenna direction detector,

A mode setting unit for designating a use mode in which two operation modes of relative motion and true motion and three display modes of north up, head up, and course up are appropriately combined;

A receiver for receiving a reflected signal for one beam in each antenna direction due to antenna cultivation;

A buffer memory for temporarily storing a received signal of one beam in a predetermined direction output from the receiving unit, and

Write data creation for creating image display data based on output data from the buffer memory;

A frame memory for storing the data created by the write data creation unit,

The gyro compass, the antenna direction detector, and mode setting A first write address generation unit that generates a data write address to the frame memory based on data from the unit in an orthogonal coordinate system;

A read address generator for giving a read address in a raster scan method with the fixed position g of the frame memory as a read start point address;

A display for displaying an image of the data read from the frame memory

And comprising:

A processing memory provided separately from the frame memory and useful for outputting data from the light data creating unit;

When any one of the combination modes of true speed motion, north-up mode, relative motion, and head-to-head mode is designated by the mode setting unit, the output data from the gyrocompass and the antenna orientation detection unit and the beam from the center of the beam are output. On the basis of the distance data, the movement memory is always in a true motion / north up mode with respect to the processing memory, and the damage data which protrudes to the end of the processing memory is folded back to another position on the processing memory. Second write address generator that generates an address write address as if writing

A radar device characterized by including: