WO1999056147A1 - Radar a ondes continues modulees en frequence - Google Patents
Radar a ondes continues modulees en frequence Download PDFInfo
- Publication number
- WO1999056147A1 WO1999056147A1 PCT/JP1999/001484 JP9901484W WO9956147A1 WO 1999056147 A1 WO1999056147 A1 WO 1999056147A1 JP 9901484 W JP9901484 W JP 9901484W WO 9956147 A1 WO9956147 A1 WO 9956147A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- beat signal
- signal
- antenna
- frequency
- wave
- Prior art date
Links
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
Definitions
- the present invention relates to an FM-CW radar device using a frequency-modulated continuous wave as a transmission wave, and more particularly to an FM-CW radar device that achieves beam scanning by digital beam forming (DBF). is there.
- DBF digital beam forming
- JP-A-6-88869 As a DBF type radar apparatus, there is one described in JP-A-6-88869.
- an RF amplifier, a mixer, a filter, and an A / D converter are connected to each element antenna constituting the array antenna, and a digital signal output from each A / D converter is connected. The signal is taken into the digital beam forming processor, and the digital beam forming process is performed. Disclosure of the invention
- radar devices use high-frequency electromagnetic waves such as microwaves and millimeter waves, but analog devices (such as RF amplifiers and mixers) that operate at such high frequencies are very expensive.
- An object of the present invention is to provide an FM-CW radar apparatus in which the number of analog devices is minimized regardless of the number of element antennas.
- An FM-CW radar device of the present invention includes a transmitting unit, a receiving unit, and a signal processing unit.
- the transmitting unit transmits a frequency-modulated continuous wave as a transmission wave.
- the receiving unit receives the radio wave re-emitted from the target as a received wave using a receiving antenna in which multiple element antennas are arranged, and generates a beat signal that is the difference between the transmitted wave and the received wave for each element antenna channel. Then, this beat signal is A / D converted to a digital beat signal.
- the signal processing unit performs a digital beam-forming process using the digital video bit signal, and detects a target from the result.
- the receiving unit includes switching means for selectively connecting any one of the element antennas to a circuit for generating a beat signal.
- the switching means includes a plurality of element antennas in one cycle of the frequency modulation repetition cycle. Only a part is connected to the beat signal generation circuit.
- the beat signal is selectively connected to the circuit for generating the beat signal by the switching means, thereby selecting one of the element antennas.
- the received wave from each element antenna can be time-divided and input to the generated circuit.
- the switching means connects only a part of the plurality of element antennas to the beat signal generation circuit in one cycle of the frequency modulation repetition cycle, all the element antennas are connected in one cycle of the frequency modulation repetition cycle.
- the switching frequency can be reduced as compared with the case where the signal is connected to the beat signal generation circuit.
- the A / D conversion speed can be reduced as the switching frequency decreases.
- the switching means repeats frequency modulation using one of the element antennas as a reference element antenna. It is desirable to select at each cycle of the return cycle, and the signal processing unit receives an element antenna other than the reference element antenna based on the phase difference of the received wave received by the reference element antenna at each cycle of the repetition cycle of the frequency modulation. It is desirable to correct the phase of the received wave.
- the distance to the target may change during that period, in which case the phase of the received wave will change. In other words, it is not possible to sufficiently secure reception of each element antenna.
- the phase difference of the signal from the reference element antenna in each cycle is detected and the signal phases of the element antennas other than the reference element antenna are corrected based on this phase difference, all the elements within the same cycle can be detected. DBF synthesis equivalent to capturing signals from the antenna is possible.
- FIG. 1 is a configuration diagram illustrating an FM-CW radar device according to an embodiment of the present invention.
- Figure 2A is a graph for explaining the detection principle of FM-CW radar.
- FIG. 2B is a graph for explaining the detection principle of the FM-CW radar.
- FIG. 3A is a graph for explaining the detection principle of the FM-CW radar.
- FIG. 3B is a graph for explaining the detection principle of the FM-CW radar.
- FIG. 4 is a flowchart showing the operation of the FM-CW radar device of FIG.
- FIG. 5 is a timing chart showing the connection timing of the switching unit 3 of the FM-CW radar device of FIG.
- FIG. 6 is a flowchart showing the processing procedure of the DBF synthesis.
- FIG. 7 is a configuration diagram illustrating an FM-CW radar device according to a second embodiment of the present invention.
- FIG. 8 is a spectrum map showing a state of frequency conversion.
- FIG. 1 is a configuration diagram illustrating a radar device according to an embodiment of the present invention.
- This radar device is an FM-CW radar device that uses a transmission signal obtained by applying frequency modulation (FM) to a continuous wave (CW), and is a DBF radar device that performs a digital beam forming process.
- FM frequency modulation
- CW continuous wave
- Figures 2A, 2B, 3A and 3B are waveform diagrams illustrating the detection principle of FM-CW radar, respectively.
- Figure 2A is a graph showing the change in the frequency of the transmitted signal and the change in the frequency of the received signal re-emitted from the target at the distance R and having a relative velocity of zero. Time is spent on the axis.
- the solid line indicates the transmission signal frequency, and the dashed line indicates the reception signal frequency.
- a modulated signal obtained by multiplying a continuous wave by triangular frequency modulation is used as a transmission signal.
- the center frequency of the modulated wave is: f 0, the frequency deviation width is A F, and the repetition frequency of the triangular wave is f m.
- FIG. 3A is a graph showing a change in the transmission signal frequency and a change in the reception signal frequency when the relative speed of the target is a non-zero speed V.
- the solid line indicates the transmission signal frequency
- the dashed line Indicates the reception signal frequency. The significance of the transmission signal and the coordinate axes is the same as in FIG. 2A.
- the frequency of the beat when the relative velocity is zero fr
- the frequency of the Doppler based on the relative velocity is fd
- the frequency of the beat where the frequency increases (up section) is fbl
- fr and f d can be obtained from the following equations (3) and (4).
- the distance R and velocity V of the target can be obtained by the following equations (5) and (6).
- V (C / (2 ⁇ f 0)) ⁇ f d... (6)
- the distance R and velocity V of the target in any beam direction can be obtained. If the distance R and velocity V are sequentially calculated while performing beam scanning, the azimuth, distance, and velocity of the target can be obtained. Can be detected. This is the principle of FM—CW radar.
- the FM-CW radar device of the present embodiment shown in FIG. 1 is also a DBF radar device.
- this FM-CW radar device uses an array antenna consisting of a plurality of element antennas as a receiving antenna, and converts the signals received by each element antenna into digital signals. Then, the phase and the amplitude are converted in a signal processing unit in the subsequent stage, and the signals of all the antenna channels are combined to form the directivity of the receiving antenna. Therefore, a desired beam scan can be performed by converting the acquired signal by changing the phase and amplitude conversion amounts as appropriate.
- This radar device includes a transmitting unit 1, an array antenna 2, a switching unit 3, a receiving circuit unit 4, and a digital signal processing unit 5, and receives signals by the array antenna 2, the switching unit 3, and the receiving circuit unit 4. Unit is configured.
- the transmission section 1 includes a voltage-controlled oscillator 11 having a center frequency of f O (for example, 76 GHz), a buffer amplifier 12, a transmission antenna 13, and an RF amplifier 14.
- the oscillator 11 outputs a modulated wave (transmission signal) of f 0 soil by a control voltage output from a DC power supply for modulation not shown.
- the modulated wave is amplified by the buffer amplifier 12 and radiated from the transmitting antenna 13 as an electromagnetic wave.
- Part of the transmission signal is amplified by the RF amplifier 14 and output as a local signal for down-conversion.
- the receiving array antenna 2 includes nine element antennas corresponding to each channel from the first channel (CH1) to the ninth channel (CH9).
- the switching switch unit 3 includes a switch body 31 and a switch control unit 32.
- the switch body 31 has nine input terminals and one output terminal, and each element terminal of the array antenna 2 is connected to each input terminal.
- the output terminal is connected to any one of the input terminals, and the connection is appropriately switched by a switching signal from the switch control unit 32.
- the connection switching is performed electrically on the circuit, and the order of switching will be described later.
- the receiving circuit section 4 includes an RF amplifier 41, a mixer 42, an amplifier 43, a filter 44, and an A / D converter 45.
- the signal output from the output terminal of the switch body 31, that is, the signal received by one of the element antennas of the array antenna 2 is amplified by the RF amplifier 41, and transmitted by the mixer 42 to the transmission signal from the RF amplifier 14. of Mixed with some.
- the received signal is down-converted by this mixing, and a beat signal which is a difference signal between the transmitted signal and the received signal is generated.
- the beat signal is input to the A / D converter 45 via the amplifier 43 and the low-pass filter 44, and the signal from the switch control unit 32, that is, the connection for switching by the switch body 31 is performed. It is converted to a digital signal at the timing of the clock signal fsw.
- the digital signal processing unit 5 performs digital beam forming (DBF) processing on the digital beat signal from the A / D converter 45, and detects a target from the result.
- DBF
- FIG. 4 is a flowchart showing the operation of the FM-CW radar apparatus
- FIG. 5 is a timing chart showing switching timing of the switching unit 3.
- i indicates the number of the channel for each element antenna
- j indicates the sampling number of the received wave in each of the up and down sections of triangular wave modulation
- k indicates the cycle number of triangular wave modulation.
- I have.
- i takes a value of 1 to 9
- j takes a value of 1 to N (for example, 128)
- k takes a value of 1 to 4.
- step S41 i, j, and k are each set to the initial value "1".
- step S42 it is determined whether or not it is a sampling clock signal capturing section.
- the central part of each of the up section and the down section of the triangular wave modulation is taken as the capturing section. This is because higher linearity can be secured in the center of each section than in the vicinity of the transition point from the up section to the down section or from the down section to the up section of the triangular wave modulation.
- step S44 the process proceeds to step S44 through step S43, and when the edge of the clock signal is detected, the process proceeds to step S45 to switch the switch body 31. .
- i 1
- the first element antenna ch 1 is connected to the switch body 31 by this switching.
- the beat signal is sent to the A / D converter 45.
- the A / D converter 45 performs A / D conversion of the beat signal in step S47, The digital beat signal is taken into the buffer of the digital signal processing unit 5.
- the delay in step S46 is for performing A / D conversion processing at the center of one element antenna connection period, and thus A / D conversion can be performed when the connection is stable.
- the digital beat signal is loaded into the buffer for each of i, j, and k and for each up or down section for post-processing.
- step S48 When this one A / D conversion is completed, the flow shifts to step S48.
- the processing from step S48 to step S57 to be described below is a flow for determining the order of the element antennas connected to the receiving circuit unit 4 by the switching unit 3. In this embodiment, the selection of all element antenna channels is completed by using the frequency modulation repetition cycle four times.
- FIG. 5 is a timing chart showing the selection order of the element antenna channels, in which the horizontal axis represents time.
- C H .1 to C H .9 indicate connection timings of the first to ninth element antenna channels, and a high level indicates connection.
- Waveform 51 indicates the timing of triangular wave modulation. Note that the connection time (high-level period) of each channel is shown to be much longer than the actual connection time in relation to the waveform 51 to make the figure easier to read.
- the first, second, and third element antennas are selected and connected in order.
- the first, fourth, and fifth element antennas are selected and connected repeatedly in order.
- the first, sixth, and seventh element antennas are selected and connected repeatedly in order.
- the first, eighth, and ninth element antennas are selected and connected repeatedly in order.
- the first element antenna is always selected as the reference element antenna in the first to fourth sections.
- the second to ninth element antennas are divided into two and assigned to the first to fourth sections, respectively.
- the beat signal of the signal received by the first element antenna is used as a reference signal for phase correction at the time of DBF synthesis described later.
- step S48 The processing from step S48 to step S57 for performing such switching connection of the element antenna is as follows.
- step S53 where j is compared with N.
- step S In the judgment of 53, the process proceeds to step S54, and the value of j is returned to the initial value “1”.
- step S55 it is determined whether or not the digital beat signal fetch processing has been performed in the up section or the down section. At this point, since the capture of the up section has just been completed, the determination in step S55 is negative, and the process returns to step S42. Thereafter, in the down section of the first section, digital beat signals of the first to third element antenna channels are sequentially taken in by 128 samples each.
- step S42 By repeating the processing from step S42 to step S55, the first, fourth, and fifth element antennas as shown in FIG.
- the digital beat signals are sequentially selected and repeatedly captured.
- step S58 complex FFT processing for each channel, DBF synthesis, and target object recognition processing based on the result are performed. After step S58, the process returns to step S41 to perform the above-described processing, and thereafter, repeats this.
- step S60 as a pre-process of DBF synthesis, complex FFT processing is performed on the digital bit signal for each channel, and in step S61, the FFT data for each channel is read. By this FFT processing, a frequency peak corresponding to the target is obtained for each channel. Since it is sufficient to perform the DBF synthesis selectively with respect to the frequency peak, a frequency point at which the DBF synthesis is performed is extracted in step S62.
- step S63 it is determined whether or not the frequency modulation is in the first period of the first to fourth period. In the case of the second period section to the fourth period section, the process proceeds to step S65 to perform phase correction between the sections based on the first element antenna channel. If the period of the frequency modulation for taking in the digital beat signal is different, it is considered that the distance to the target has changed during that period, and the received signal phase difference occurs in each period.
- the first element antenna is used as a reference element antenna, and a digital beat signal of a signal received by the first element antenna is taken in all the period sections, and another phase difference is obtained using the phase difference between the sections. Corrects the phase of the digital beat signal at the element antenna. Note that the phase mentioned here is the phase of the original signal, and this phase is preserved in the beat signal after down-conversion, so that the phase difference can be detected.
- the received signals (digital beat signals) of the first, fourth, and fifth element antennas are acquired, so the digital beat signal of the first element antenna is used.
- the phase difference between the obtained phase and the phase obtained from the digital beat signal of the first element antenna acquired in the first period section is obtained. Then, by reversely rotating the phases of the reception signals of the fourth and fifth element antennas by the phase difference, it is possible to treat the reception signals in the same manner as those acquired in the first period section.
- step S64 device-specific initial position correction, initial amplitude correction, and amplitude distribution control, which are generally performed in DBF synthesis, are performed for each channel.
- step S66 phase rotation based on the currently selected directional angle and vector synthesis between channels are performed.
- the phase delay correction by the switching switch is also performed here.
- step S68 When the vector combining is completed for all the antenna channels, the process proceeds to step S68, and information on the combined peak frequency is extracted.
- step S69 it is determined whether or not the extraction of the information on the synthesized peak frequency has been completed for all of the frequencies to be DBF synthesized extracted in step S62.
- the process proceeds to step S70, the directional angle is shifted by 0.5 degrees, and the processes from step S63 to step S69 are performed again. By performing this 41 times from 110 degrees to +10 degrees in steps of 0.5 degrees, scanning by DBF synthesis is achieved with a resolution of 0.5 degrees.
- FIG. 7 is a diagram illustrating a configuration of an FM-CW radar device according to a second embodiment of the present invention. While the FM-CW radar apparatus of the first embodiment performs homodyne detection, the radar apparatus of this embodiment Is intended to reduce noise by performing a dying detection with a mouthpiece.
- the switch unit 6 includes a switch body 61 and a switch control unit 62, similarly to the switch unit 3 of FIG.
- the switch body 61 has nine input terminals and one output terminal, and the output terminal is connected to any one of the input terminals. Can be switched.
- the difference from the switch body 31 of the first embodiment is that the connection between the input terminal and the output terminal is interrupted by an interrupt signal input externally.
- the switch controller 62 is the same as the switch controller 32 of the first embodiment.
- the receiving circuit unit 7 has a configuration in which an IF amplifier 71 and a second mixer 72 are inserted in series between the mixer 42 and the amplifier 43 of the receiving circuit unit 4 in FIG. Further, it has an oscillator 73 that outputs a switching signal f IF having a frequency several tens times higher than the switching signal: P sw.
- the transmission signal frequency f 0 is, for example, 76 GHz
- the intermittent signal frequency f IF which is an intermediate frequency band is, for example, 100 MHz
- the switching signal frequency is, for example, 5 MHz
- the beat is
- the signal frequency is, for example, DC to 10 OKHz.
- FIG. 8 is a spectrum map showing a state of frequency conversion in a signal processing process according to the present embodiment.
- the received signal 130 is replaced with the signals 13 1 and 13 2 by turning on and off according to the intermittent signal in the switching unit 6, and then the intermediate signal 13 3 is output by the mixer 42. Then, the second mixer 72 down-converts the signal to a beat signal 1 34.
- a curve 13 5 indicates the noise floor of the mixer 42
- a curve 13 36 indicates the noise floor of the second mixer 72.
- the mixer 42 performs down-conversion to the IF band where the effect of the noise is reduced, and then the second mixer 72 whose low-frequency noise is lower than that of the mixer 42, beats the beat signal. Downconversion up to is performed. Therefore, compared to the homodyne method, It is possible to expand the magazine.
- the mixer 42 Since the mixer 42 has a very wide band, the 1 / f noise on the lower frequency side and the FM-AM conversion noise due to the FM-CW method are generally large, and the second mixer 72 has a narrow band. Therefore, the noise floor decreases. In the present embodiment, the use of such an operation achieves an increase in the noise margin.
- the FM-AM conversion noise generated in a low frequency band and the IF signal can be separated, so that the low-frequency noise can be further reduced.
- the number of channels of the element antenna is nine, but if the number of channels is increased, the detection accuracy is further increased.
- a set of expensive devices required for downcom- lation such as an RF amplifier and a high-band mixer, is independent of the number of element antennas. Only need to be provided. Therefore, the entire device can be configured at a low cost, and the size can be reduced.
- the switching means since the switching means connects only a part of the plurality of element antennas to the beat signal generation circuit in one cycle of the frequency modulation repetition cycle, all the element antennas and the beat signal generation circuit are connected in one cycle.
- the switching frequency can be reduced as compared with the case of connecting. Considering that the beat signal is sampled each time the connection is switched, the A / D conversion speed can be reduced if the switching frequency is reduced. Thereby, the switch element and the A / D converter can be made more inexpensive.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69943409T DE69943409D1 (en) | 1998-04-28 | 1999-03-24 | Fmcw-radar |
KR1020007012009A KR20010043118A (ko) | 1998-04-28 | 1999-03-24 | Fm―cw 레이더 장치 |
AU29572/99A AU744641B2 (en) | 1998-04-28 | 1999-03-24 | Fm-cw radar |
EP99910679A EP1076244B1 (en) | 1998-04-28 | 1999-03-24 | Fm-cw radar |
CA002330430A CA2330430C (en) | 1998-04-28 | 1999-03-24 | Fm-cw radar |
US09/698,018 US6445339B1 (en) | 1998-04-28 | 2000-10-30 | FM-CW radar apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11858498A JP3534164B2 (ja) | 1998-04-28 | 1998-04-28 | Fm−cwレーダ装置 |
JP10/118584 | 1998-04-28 |
Publications (1)
Publication Number | Publication Date |
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WO1999056147A1 true WO1999056147A1 (fr) | 1999-11-04 |
Family
ID=14740213
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP1999/001484 WO1999056147A1 (fr) | 1998-04-28 | 1999-03-24 | Radar a ondes continues modulees en frequence |
Country Status (9)
Country | Link |
---|---|
US (1) | US6445339B1 (ja) |
EP (1) | EP1076244B1 (ja) |
JP (1) | JP3534164B2 (ja) |
KR (1) | KR20010043118A (ja) |
CN (1) | CN1206544C (ja) |
AU (1) | AU744641B2 (ja) |
CA (1) | CA2330430C (ja) |
DE (1) | DE69943409D1 (ja) |
WO (1) | WO1999056147A1 (ja) |
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KR101207718B1 (ko) * | 2011-03-15 | 2012-12-03 | 주식회사 만도 | 주파수변조연속파 레이더 시스템 |
CN102928834B (zh) * | 2012-11-23 | 2014-05-14 | 北京理工大学 | 一种基于无相位突变拼接信号的调频连续波测距方法 |
US9417315B2 (en) * | 2012-12-20 | 2016-08-16 | The Board Of Regents Of The University Of Oklahoma | Radar system and methods for making and using same |
TWI464441B (zh) * | 2013-08-28 | 2014-12-11 | U & U Engineering Inc | 具有距離閘功能之微波偵測器 |
EP3059559A1 (en) * | 2015-02-23 | 2016-08-24 | Siemens Aktiengesellschaft | FMCW radar system |
DE112019003435T5 (de) * | 2018-08-07 | 2021-04-01 | Murata Manufacturing Co., Ltd. | Radarvorrichtung |
WO2020165952A1 (ja) * | 2019-02-12 | 2020-08-20 | 三菱電機株式会社 | レーダ装置、観測対象検出方法及び車載装置 |
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CN100368823C (zh) * | 2004-06-22 | 2008-02-13 | 富士通天株式会社 | 雷达定时调整方法及具有自动定时调整功能的雷达装置 |
Also Published As
Publication number | Publication date |
---|---|
EP1076244A4 (en) | 2001-10-24 |
EP1076244A1 (en) | 2001-02-14 |
JPH11311668A (ja) | 1999-11-09 |
AU2957299A (en) | 1999-11-16 |
EP1076244B1 (en) | 2011-05-04 |
CN1206544C (zh) | 2005-06-15 |
AU744641B2 (en) | 2002-02-28 |
DE69943409D1 (en) | 2011-06-16 |
KR20010043118A (ko) | 2001-05-25 |
CN1298488A (zh) | 2001-06-06 |
CA2330430A1 (en) | 1999-11-04 |
JP3534164B2 (ja) | 2004-06-07 |
CA2330430C (en) | 2004-06-08 |
US6445339B1 (en) | 2002-09-03 |
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