WO2005047927A1 - レーダ装置および類似装置 - Google Patents
レーダ装置および類似装置 Download PDFInfo
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- WO2005047927A1 WO2005047927A1 PCT/JP2004/017320 JP2004017320W WO2005047927A1 WO 2005047927 A1 WO2005047927 A1 WO 2005047927A1 JP 2004017320 W JP2004017320 W JP 2004017320W WO 2005047927 A1 WO2005047927 A1 WO 2005047927A1
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- 230000015654 memory Effects 0.000 claims abstract description 83
- 238000001514 detection method Methods 0.000 claims description 122
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 abstract description 15
- 238000010586 diagram Methods 0.000 description 15
- 238000013075 data extraction Methods 0.000 description 10
- 238000000605 extraction Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 5
- 230000001934 delay Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008034 disappearance Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
- G01S7/298—Scan converters
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/04—Display arrangements
- G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
- G01S7/10—Providing two-dimensional and co-ordinated display of distance and direction
- G01S7/12—Plan-position indicators, i.e. P.P.I.
- G01S7/14—Sector, off-centre, or expanded angle display
Definitions
- the present invention relates to a device for converting a detection signal received in a polar coordinate system such as a radar device and a sonar device into a quadrature coordinate system, storing it in an image memory, and then displaying it on a raster scanning type display.
- the size of the radar image is basically determined by the horizontal beam width and the transmission pulse width.
- the echo spreads in the azimuth direction as the horizontal beam width increases, and the echo spreads in the distance direction as the transmission pulse width increases. Therefore, the horizontal beam width of the transmit beam and the receive beam formed by the antenna has a widening, and even if the same target is located away from the center of the sweep on the display, it is expanded in the azimuth direction. Is reduced as it gets closer to its own ship (near the center). This tendency becomes more remarkable as the resolution of one pixel becomes smaller, and the size of the target near the ship's position is displayed extremely small on such a high-resolution display. .
- the sea surface reflection removal processing is performed, the size of the target is further reduced due to the effect of this processing, so that the minimization of the target near the center becomes more remarkable, and the visibility is significantly reduced.
- Patent Document 1 Patent No. 2 6 4 8 9 8 3
- Patent Document 2 Japanese Unexamined Patent Application Publication No. 2003-29089
- the shape of the target displayed on the display device is different from the actual shape of the target, resulting in an unnatural shape.
- the detected image data is enlarged uniformly regardless of the size of the target, so that the detected image data that does not need to be enlarged is enlarged, and the display resolution is unnecessarily reduced.
- An object of the present invention is to configure a radar device and a similar device that do not reduce the writing speed of a detected image data into an image memory regardless of the amount of expansion of the detected image data.
- Another object of the present invention is to provide a radar device and a similar device capable of obtaining an enlarged image in accordance with target object detection data (detection signal) by setting the enlargement direction of the detection image data to a two-dimensional direction. Consists in configuring. -It is another object of the present invention to configure a radar device and a similar device capable of reliably displaying a target around the own ship without unnecessarily enlarging the detected image data. Disclosure of the invention
- the present invention provides coordinate conversion means for converting a detection data of each sampling point obtained in a polar coordinate system into a rectangular coordinate system, and a detection device for generating detection image data corresponding to each pixel of an image memory based on the detection data.
- a radar device and an analog device comprising: image data generating means; and an image memory for storing detection image data output from the detection image data generation means.
- Data detection means for shifting the detection image data input from the detection image data generation means at a predetermined timing and outputting the data, and outputting the detection image data at the same position in the sweep distance direction.
- the detected image data of the sweep is compared with the detected image data of the sweep before output by the data shift means, and the maximum value of the detected image data is output as the detected image data of the current sweep. It is characterized by having a known image data correcting means.
- the data shift means shifts the detected image data from the detected image data generating means in accordance with a predetermined timing (azimuth direction shift timing signal described later) and outputs it. That is, at the same time as the detection image data of the current sweep is input at a predetermined timing, a plurality of previous detection image data of the same distance on the sweep are output from the data shift means. Next, the detected image data at the same position in the sweep distance direction in a plurality of sweeps including the detected image data of the current sweep obtained in this way are compared, and the detected image data of the current sweep is shifted before If the detected image data is smaller than the detected image data of the previous sweep, the detected image data of the current sweep is replaced with the detected image data of the previous sweep.
- a predetermined timing azimuth direction shift timing signal described later
- the detected image data of the previous sweep and the current sweep become the same, and as a result, the detected image data of the pixel corresponding to the previous sweep is enlarged to the pixels adjacent in the sweep rotation direction. Since this operation is repeatedly performed, the number of pixels to be enlarged is determined according to the number of sweeps to be shifted. For example, if the configuration is such that the detected image data of the previous two sweeps is shifted, the detected image data is enlarged by two pixels in the sweep rotation direction with respect to the detected image data indicating the original target.
- the present invention provides an azimuth direction detection image data correction unit, wherein, when a predetermined number or more of detection image data equal to or more than a predetermined threshold continues over a plurality of sweeps at the same position in the distance direction, the same position in the distance direction is detected.
- the image processing apparatus further includes a correction stopping unit that stops replacing the detected image data of the current sweep with the detected image data of the previous sweep based on the sweep in which the image data is less than the threshold.
- the correction stopping unit terminates the continuation of the detected image data having the predetermined threshold value or more.
- a predetermined value smaller than the threshold value such as “0” is given to the detected image data overnight.
- the present invention compares a predetermined number of detected image data consecutive in the distance direction on the same sweep, and determines the most peripherally located detected image data among the detected image data as the maximum of the continuous detected image data. It is characterized in that it is provided with a distance direction detection image data correction means for outputting as a value.
- the detected image data on the most peripheral side of the detected image data continuous on the same sweep is compared with the detected image data located on the center side and within a predetermined range from the detected image data, and the center side is detected. If the detected image data is larger than the most peripheral detected image data, the value is given as the most peripheral detected image data. As a result, the detected image data on the most peripheral side becomes the same as the predetermined detected image data on the center side, so that the detected image data is consequently enlarged in the sweep distance direction.
- the present invention is characterized in that a selector is provided for selecting the number of sweeps to be shifted by the data shifter.
- the number of sweeps to be compared at the time of generating the detected image data of the current sweep is determined. Sweep azimuth direction as described above Since the number of expansions of the image data depends on the number of sweeps to be compared, that is, the number of sweeps to be shifted, by selecting the number of sweeps, the number of enlarged pixels of the detected image data in the sweep direction is selected. ⁇
- the invention is characterized in that the selecting means selects the number of detected image data to be compared by the distance direction detected image data correcting means.
- the detection image to be compared by selecting the number of detection image data to be compared by the distance direction detection image data correction means by the selection means, the detection image to be compared at the time when the detection image data of a certain sample point on the sweep is generated.
- the number of data is determined.
- the sweep distance direction of the detected image data is selected by selecting the number of detected image data. Is selected.
- the detected image data of the target can be enlarged without increasing the number of accesses to the image memory, so that the detected image can be displayed without lowering the image drawing speed.
- the target near the ship can be enlarged and displayed, and it is possible to prevent the image from being updated during one rotation of the sweep.
- a radar device and a similar device that can be clearly displayed can be configured.
- the detection image of the originally large target is prevented from being displayed unnecessarily large by limiting the amount of enlargement of the detection image data, and the display resolution is unnecessarily reduced. It is possible to construct a radar device and similar devices that can prevent such a situation.
- the image is enlarged not only in the azimuth direction of the sweep but also in the distance direction, a detection image having a shape corresponding to the original target is displayed, and a radar device having excellent visibility and similar devices are provided.
- the device can be configured.
- a radar device or similar device capable of enlarging the detected image of the target to a size according to the demand of the operation is constructed. can do.
- FIG. 1 is a block diagram illustrating a main part of the radar device of the present embodiment.
- FIG. 2 is a block diagram showing the configuration of the W data generator 9 and the target data detector 9 1,
- FIG. 3 is a block diagram of the azimuth direction data extraction unit 92.
- FIG. 4 is a logic circuit diagram of the azimuth direction enlargement permission signal operation unit 927.
- FIG. 5 is a diagram showing each detected image data at the time of azimuth enlargement, an azimuth enlargement permission signal, a delayed azimuth enlargement permission signal, and azimuth enlargement result data.
- FIG. 6 is a diagram showing each detected image data at the time of enlargement in the distance direction, output data of each shift register, and result data of the distance direction enlargement.
- FIG. 7 is a diagram showing sample points of the image memory and sweep (points where the detected image data exists), an azimuth direction expansion range and a distance direction expansion range.
- FIG. 1 is a block diagram showing a main part of the radar device of the present embodiment.
- the radar antenna 1 transmits a pulsed radio wave (transmission pulse signal) to the outside during the transmission period while rotating on a horizontal plane at a predetermined rotation cycle. Further, the radar antenna 1 receives the radio wave (detection signal) reflected by the target in the reception period in a polar coordinate system, outputs the detection signal to the reception unit 2, and sends the sweep angle data ( The antenna angle ⁇ ) is output.
- a pulsed radio wave transmission pulse signal
- the radar antenna 1 receives the radio wave (detection signal) reflected by the target in the reception period in a polar coordinate system, outputs the detection signal to the reception unit 2, and sends the sweep angle data ( The antenna angle ⁇ ) is output.
- the receiving unit 2 detects the detection signal from the radar antenna 1, amplifies the detected signal by performing sea surface reflection suppression (STC) processing, and outputs the signal to the AD conversion unit 3.
- STC sea surface reflection suppression
- the AD conversion unit 3 samples the analog detection signal at a predetermined period and converts it into digital detection data.
- the sweep memory 4 writes the digitally-detected data for one sweep in real time, and stores the data for one sweep until the data for the detection obtained by the next transmission is written again.
- X Extraction unit 8 Power Power.
- a write clock signal (hereinafter simply referred to as “W clock”) and a read clock signal (hereinafter simply referred to as “R clock”) are input to the selector 5.
- W clock is a clock having a period corresponding to the detection distance
- R clock is used for processing until the detection data read from the sweep memory 4 is processed as described later and drawn on the image memory 10. This is the clock to be used.
- the drawing address generation unit 6 corresponding to the “coordinate transformation means” of the present invention reads the sweep angle from the center of the sweep, starting from the center of rotation of the sweep, toward the periphery, and the antenna angle ⁇ ⁇ ⁇ based on a predetermined direction, and the sweep memory 4. From the position r, an address specifying a pixel of the image memory 10 arranged in the corresponding orthogonal coordinate system is created and output to the image memory 10. It should be noted that the drawing address generator 6 is specifically configured by hardware that realizes the following equation.
- the FIRST / LAST detection unit 7 accesses each pixel of the rectangular coordinate system set by the drawing address generation unit 6 on the image memory 10 within one rotation of the sweep, at the timing when the sweep first accesses or at the last time.
- the detected timing is supplied to the MAX extracting unit 8 and the W data generating unit 9 as a FIRST signal or a LAST signal.
- the timing at which the sweep accesses the pixel for the first time means that the sample point on the sweep, that is, the point where the detection data exists, is first accessed to the pixel.
- the timing at which the sweep accesses the pixel last means the timing at which the sample point on the sweep, that is, the point where the detection data exists, accesses the corresponding pixel last.
- the FI RSTZLAST signal is detected based on a signal generated in an arithmetic processing step of converting polar coordinate system data into rectangular coordinate system data.
- the MAX extraction unit 8 corresponding to the “detection image data generation means” of the present invention includes an extraction memory 80 having a capacity corresponding to each detection data in one sweep, and the sweep memory 4 is provided at the timing of the FIRST signal.
- the detection data read from the memory is written into the extraction memory 80, and the detection data read from the sweep memory 4 corresponding to the corresponding pixel and stored in the extraction memory 80 during a period other than the timing of the FIRST signal.
- the maximum value is detected by comparing with the detected data, and is written into the extraction memory 80 again.
- the MAX extraction unit 8 outputs the maximum value detection data (MAX data) written in the extraction memory 80 to the W data generation unit 9 as the detection image data at the timing of the LAST signal.
- the W data generation unit 9 includes an azimuth direction enlargement unit 90a corresponding to the "azimuth direction detection image data overnight correction means" of the present invention, and a “distance direction detection image” of the present invention. And a distance direction enlarging portion 90 b corresponding to “data correcting means”.
- FIG. 2A is a block diagram showing the configuration of the W-delay generating section. A specific description of this block diagram will be described later.
- the azimuth-direction enlargement unit 90a calculates the past input data corresponding to a plurality of pixels that are adjacent to each other in the opposite direction of the sweep rotation direction on the same distance (r) as the pixel, and the target pixel to be updated this time. This is achieved by finding the maximum value of the new input data and writing the maximum value to the pixel to be updated.
- addresses are assigned in the distance direction that have a capacity equivalent to the expansion target distance.
- the drawing update of the pixel located at address r LAST timing
- the new entry of the pixel to be drawn is stored at address r of the memory in the first column.
- the already stored data is written to the address r in the memory in the second column. That is, the data stored at the address r in the memory in the nth column is sequentially shifted to the address r in the memory in the n + 1st column, and the data stored in the last column is deleted.
- the new input data of the pixel to be updated at r is located at the detection image data, and the read data at r at the first column of memory is (previous detection image data). If the readout data of the memory r in the second column is (past detected image data overnight B), the maximum of three data of the detected image data, past detected image data A, and past detected image data B is obtained. The value is output from the azimuth direction enlargement unit 90a, and is input to the next-stage distance direction enlargement unit 90b.
- the azimuth shift timing is a comparison of the orthogonal coordinates between the point of interest at a distance r on the following sweep and a point at the same distance r on the preceding sweep. The case is the azimuth shift timing.
- the maximum value of all data corresponding to each pixel is set as a new input data of the W data generation unit. Since the maximum value is determined by the L AST timing when the pixel is accessed last, the azimuth shift timing also uses the LAST signal. Therefore, the timing for drawing the pixel coincides with the azimuth shift timing.
- the distance direction enlarging unit 90b expands the distance direction for each sweep based on the detected image data on which the azimuth direction enlarging unit 90a has performed the azimuth direction enlarging process. For example, if n clocks are expanded in the distance direction by R clocks, the image data at each distance will include the distance and the n-1 adjacent (n total) azimuth directions adjacent to the center of the sweep from that distance.
- the maximum value of the output data of the enlargement unit 90a is defined as the image data.
- the output of the azimuth direction enlarging unit 90 a is sequentially shifted by the R clock, and the azimuth direction enlarging unit 9 at each of the distances (r + l), (r + 2), ⁇ , (r + n).
- the maximum value of the n data of 0a is defined as the image data at the position corresponding to the distance r + n.
- This operation is sequentially repeated from the center of the sweep to the peripheral portion.
- the image memory 10 is a memory having a capacity for storing the detected image data for one rotation of the antenna, that is, one rotation of the sweep, and is generated by the W data generation unit 9 described above.
- the detected image data enlarged and processed in the azimuth direction and the distance direction is drawn in the pixel specified by the address in the drawing address generator 6. Then, when the display device performs one raster scan by the display control unit (not shown), the detected image data drawn in the image memory 10 is read at high speed in synchronization with the raster operation, and the detected image data is read.
- the detected image is displayed on the display 11 in brightness or color.
- the W-delaying-night generating section 9 includes the azimuth-direction expanding section 90a and the distance-direction expanding section 90b.
- the azimuth direction enlarging section 90a is composed of a target data detecting section 91, an azimuth direction data extracting section 92 and a maximum value detecting section 93
- the distance direction enlarging section 90b is a target data detecting section 94. It consists of two shift registers 95 a and 95 b connected in series and a maximum value detector 96.
- the target data detection section 91 includes an arithmetic circuit 901 and a selector 902 as shown in FIG. 2 (b).
- FIG. 2B is a block diagram of the target data detection units 91 and 94.
- the detection circuit data is input from the MAX extraction unit 8 to the arithmetic circuit 901, and a preset threshold is input to the arithmetic circuit 901. For example, when the number of bits of the detected image data is 5 bits (32 steps), a value “8” that can occur when a target exists is input as a threshold value.
- the arithmetic circuit 9101 compares the input detection image data with the threshold value, and outputs a permission signal to the selector 9 02 if the detection image data is equal to or larger than the threshold value.
- the selector 902 outputs the detected image data as it is when the permission signal is input from the arithmetic circuit 901, and when the permission signal is not input from the arithmetic circuit 901, that is, when the detected image data is less than the threshold value. If present, “0” is output as the detected image data without outputting the input detected image data.
- the target data detection circuit 91 determines whether or not the target exists, and also performs a filter operation to prevent a noise such as a noise less than the threshold value from being enlarged by a subsequent circuit.
- the azimuth direction data extraction unit 92 has the structure shown in FIG. FIG. 3 is a block diagram of the azimuth direction data extraction unit 92.
- the detection image data is input to the selector 921 and also to the azimuth direction expansion permission signal calculation unit 927.
- the azimuth direction enlargement permission signal operation unit 927 includes the logic circuit shown in FIG. FIG. 4 is a logic circuit diagram of the azimuth direction expansion permission signal operation unit 927.
- Each of the OR gates 7 1 to 73 of the azimuth direction enlargement permission signal calculation unit 927 includes the detected image data of the current sweep, the past detected image data A (detected image data of the previous sweep) described later, and the past detected image data B (detected image data of the previous sweep) is input, and it is determined whether data exists in each bit, that is, whether “1” is present. If data exists, a data presence signal is output for each bit .
- the data presence signal from the OR gate 71 is input to the AND gate 74, and the data presence signal from the OR gate 72 is inverted.
- the AND gate 74 receives the data presence signal from the OR gate 71 and outputs the first enable signal if the data presence signal is not received from the OR gate 72. That is, when new detected image data exists and past detected image data A does not exist, the first permission signal is output.
- the data presence signal from the OR gate 72 is input to the AND gate 75, and the data presence signal from the OR gate 73 is inverted and input.
- the AND gate 75 receives the data presence signal from the OR gate 72, and outputs the second permission signal if the data presence signal is not input from the R gate 73. That is, the second permission signal is output when the past detected image data A exists and the past detected image data B does not exist.
- the AND gate 76 When the data presence signal from the OR gate 71 is input to the AND gate 76, and one step before, that is, when the previous detection image data is input from the shift memory 929 for the azimuth direction expansion permission signal (past detection The azimuth direction expansion permission signal (when the image data A is input as new detection image data) (the shift memory read data in FIG. 3) is input.
- the AND gate 76 outputs the data presence signal from the OR gate 71. Is input, and when the azimuth direction expansion permission signal is input from the azimuth direction expansion permission signal shift memory 929, the third permission signal is output. That is, when new detection image data exists and the previous azimuth direction enlargement permission signal exists, the third permission signal is output.
- the output of the AND gates 74 to 76 is input to the OR gate 77, and if an enable signal (first to third enable signals) is input from any of the AND gates 74 to 76, An azimuth direction expansion permission signal is output. That is, if a new detected image data exists and the past detected image data A does not exist, or if the past detected image data A exists and the past detected image data B does not exist, or a new detected image data exists. If the detected image data exists and the previous azimuth direction expansion permission signal exists, the azimuth direction expansion permission signal is output, and otherwise, the azimuth direction expansion permission signal is not output.
- the selector 928 receives the output from the azimuth expansion permission signal calculator 927 and the output from the azimuth expansion permission signal shift memory 929, and receives the azimuth shift timing signal.
- the output from the azimuth direction expansion permission signal calculation unit 927 is output to the azimuth direction expansion permission signal shift memory 929, and if the azimuth direction shift timing signal is not input, the azimuth direction expansion permission signal shift memory 92
- the output from 9 is output again to the shift memory for azimuth direction permission signal 9 29.
- the shift memory 929 for the azimuth direction expansion permission signal writes the output of the azimuth direction permission signal calculation unit 927 in the case of the shift timing, and outputs the shift memory 929 for the azimuth direction expansion permission signal in the case of not the shift timing. The contents are retained by rewriting.
- the azimuth direction expansion permission signal shift memory 929 outputs to the azimuth direction expansion permission signal calculation unit 927 and the selector 928.
- the selector 9 221 receives the detected image data and the output from the azimuth direction enlargement permission signal operation unit 927, and if the azimuth direction enlargement permission signal is inputted, selects the detected image data 9 2 2 And outputs "0" if the azimuth direction enlargement permission signal is not input.
- the output from the selector 9221 and the output from the azimuth expansion shift memory 9223 are input to the selector 922, and if the azimuth shift timing signal is input, the detected image data or “0” is set to the azimuth.
- Output to direction expansion shift memory 9 2 3 If the shift timing signal is not input, the signal output from the azimuth direction expansion shift memory 923 is output to the azimuth direction expansion shift memory 923 again.
- the azimuth direction enlargement shift memory 923 delays the input detected image data or “0” in accordance with the shift timing of the azimuth direction shift timing signal, and outputs the same to the selectors 922 and 924. Output detected image data overnight or “0” as past detected image data A.
- the detected image data (past detected image data A) and data “0”, which have been delayed once, are input to the selector 9 24, and the past detected image data A is selected if the azimuth direction expansion permission signal is input. Output to 5 and output “0” if the azimuth direction expansion permission signal is not input.
- the selector 925 receives the output from the selector 924 and the output from the shift memory 926 for azimuth direction expansion. If the azimuth shift timing signal is input, the past detected image data A or "0" is input. Is output to the azimuth expansion shift memory 9 26, and if the azimuth direction shift timing signal is not input, the signal output from the azimuth expansion shift memory 9 26 6 is again output to the azimuth expansion shift memory 9 2 6 Output to
- the azimuth enlargement shift memory 926 delays the input past detected image data A or “0” according to the shift timing of the azimuth shift timing signal, outputs the delayed data to the selector 925, and The image data or “0” is output as the past detection image data B.
- the azimuth direction data extraction unit 92 receives new detection image data in the azimuth direction shift timing, and simultaneously outputs the previously detected The delayed past detection image data B is output. Specifically, when the detected image data of the sampling point at the predetermined distance position of the sweep is input, the detected image data is located at the same position in the sweep distance direction in the direction opposite to the sweep rotation direction with respect to the corresponding pixel. The previous detected image data corresponding to the adjacent pixels and the detected image data of the previous two times corresponding to the adjacent pixels at the same position in the sweep distance direction in the opposite direction to the sweep rotation direction are output.
- the block consisting of the selectors 921 and 924, the azimuth direction expansion permission signal operation unit 927, the selector 928, and the azimuth direction expansion permission signal shift memory 929 is used.
- the selectors 922, 925, and the shift memories 922, 926 for expanding the azimuth direction correspond to the "correction stopping means" of the present invention.
- the maximum value detecting section 93 receives and detects the detected image data and the past detected image data A and B from the azimuth direction data extracting section 92, and outputs the largest value of the data. With this configuration, if the detected image data is the largest, the detected image data is output as it is, and if the past detected image data A one cycle before is the largest, the detected image data is added to the past detected image data A. If the previous detected image data B is two cycles before, the detected image data is replaced with the past detected image data B and output.
- FIG. 5 shows the detected image data, the azimuth enlargement enable signal, the delayed azimuth enlargement enable signal, and the azimuth enlargement result data (output data of the azimuth enlargement unit) when the azimuth enlargement is performed.
- A is when the detected image data has only one pixel in the azimuth direction
- (b) is when the detected image data exists continuously in two pixels in the azimuth direction
- (c) is when the detected image data is in the azimuth direction.
- (D) shows the case where the detected image data exists continuously for 8 pixels in the azimuth direction.
- FIG. 7 is a diagram showing sample points of the image memory and sweep (points where the detected image data exists), and the directional expansion range and the distance expansion range.
- this detected image data Detected image data is drawn at pixel D (1, 3) corresponding to one evening.
- the azimuth enlargement permission signal is generated, and the detected image data is The shift operation described above is performed.
- the maximum detection unit 93 selects and outputs the past detection image data A.
- the same detection image data as that of the pixel D (1, 3) is drawn at the pixel D (2, 2) corresponding to the azimuth shift evening T2 at the distance position Y1 of the sweep X2.
- the azimuth direction enlargement permission signal is output and the shift operation is further performed. Done.
- the azimuth shift timing T 3 at the distance position Y 1 of sweep X 3 does not exist. Since the detected image data is delayed by the azimuth direction data extraction unit 92 and output as the past detection image data B, the maximum detection unit 93 selects and outputs the past detection image data B. As a result, the same detection image data as the pixel D (1, 3) is drawn at the pixel D (3, 2) corresponding to the azimuth direction shift timing T3 at the distance position Y1 of the sweep X3. In this case, since there is no case where the azimuth direction permission signal is generated, the azimuth direction permission signal is not generated, and no further shift operation is performed.
- the detected image data of pixel D (1, 3) can be expanded to three pixels in the sweep azimuth direction.
- the operation of the azimuth direction shift timing T1 is the same as that in Fig. 5 (a). It is.
- the detected image data exists at the azimuth direction shift timing T2, and the detected image data at the azimuth direction shift timing T1 is also shifted and output by the azimuth direction data extraction unit 92.
- the detector 93 outputs the larger data. That is, detection image data is output.
- the detected image data exists at the azimuth direction shift timing T2, and the azimuth direction enlargement permission signal shift memory Since the azimuth direction enlargement permission signal is output, the azimuth direction enlargement permission signal is output also in this case, and the above-described shift operation of the detected image data is performed.
- the detected image data does not exist in the azimuth shift timing T3, but the detected image data of the azimuth shift timing T1 and the detected image data of the azimuth shift timing T2 are not output from the azimuth direction data extraction unit 92. Since it is output, the detected image data is output from the maximum value detection unit 93 as in the case of the azimuth direction shift timing T2.
- the azimuth direction expansion permission signal is not output, and “0” is input to the azimuth direction expansion shift memories 9 23 and 9 26. You. That is, the shift operation of the detected image data as described above is not performed.
- the azimuth direction shift timing T4 no detection image data exists, and no detection image data is output from the azimuth direction data extraction unit 92, so no detection image data is output from the maximum value detection unit 93. .
- the detected image data consisting of two consecutive pixels in the sweep direction is enlarged to three pixels.
- FIGS. 5 (c) and 5 (d) since the same operation is performed for FIGS. 5 (c) and 5 (d), the description of the operation of FIG. 5 (c) is omitted, and the operation of FIG. 5 (d) will be described.
- the azimuth direction expansion permission signal operation unit 927 Since there is no new detected image data at the azimuth direction shift timing # 9, the azimuth direction expansion permission signal operation unit 927 does not output a new azimuth direction expansion permission signal and the selectors 9 2 1 and 9 “0” is output from 24 and “0” is written to the azimuth direction shift memories 923 and 926 at the azimuth direction shift timing ⁇ 10. However, at the time of the azimuth direction shift timing ⁇ 9, the past detected image data ⁇ and ⁇ are output from the azimuth direction enlargement shift memories 923, 926, so that the pixels corresponding to the azimuth direction shift timing ⁇ 9 Is the detected image corresponding to the past detected image data ⁇ , ⁇ An image is drawn.
- the data output from the maximum value detection section 93 is input to the target data detection section 94 and the maximum value detection section 96 of the distance direction expansion section 90b.
- the target data detection unit 94 has the same structure as the target data detection unit 91 of the azimuth direction enlarging unit 90a. Is output to the shift register 95a as it is.
- the shift register 95a is specifically composed of a D-FZF circuit, and delays the input data in accordance with the period of the R clock to make the maximum value detector 96 and the shift register 95a. Output to b.
- the shift register 95 b is also formed of a D-F / F circuit, and the data delayed by the shift register 95 a is further delayed in accordance with the cycle of the R clock and output to the maximum value detection unit 96. I do.
- the maximum value detector 96 receives the data output from the azimuth enlargement unit 90a and the delay data a and b delayed by the shift register 95a and 95b, respectively. These maximum values are output. That is, the largest data is output by comparing the data of three adjacent sampling points existing on the same sweep. As a result, for example, when the detected image data is input at a certain point (sample point), and then the data smaller than the detected image data is input twice consecutively in the sweep distance direction, the maximum value is detected. From the output unit 96, the detection image data of the most central sample point is continuously output from the pixel corresponding to the most central sample point to the pixel corresponding to the most peripheral sample point three times. As a result, the detected image data of the pixel corresponding to the sample point closest to the center is enlarged and displayed by two pixels in the sweep distance direction.
- Fig. 6 shows the output data from the azimuth enlargement unit when expanding in the distance direction, the output data of each shift register, and the distance direction enlargement result data (output data in the distance direction enlargement unit).
- (a) is when the detected image data exists only in one pixel in the distance direction
- (b) is when the detected image data exists continuously in two pixels in the distance direction
- (c) is when the detected image data is in the distance direction.
- (D) shows the case where the detected image data exists continuously for 8 pixels in the distance direction.
- the detected image data exists only at the distance position Y1 of the sweep X1, and the detected image data does not exist at the distance positions Y2 to Y4, There is no detected image data at the distance position ⁇ 2 of sweep X1, but at this point, the detected image data of the distance position ⁇ 1 is input from the shift register 95a to the maximum value detection unit 96. Therefore, the detected image data of the distance position Y 1 of the sweep X 1 is output from the maximum value detecting section 96. As a result, the same detection image data as that of the pixel corresponding to the distance position Y1 of the sweep X1 is drawn on the pixel corresponding to the distance position Y2 of the sweep X1.
- the detected image data at the distance position Y1 is transmitted to the maximum value detection unit 96 from the shift register 95b. Since it has been input, the maximum value detection unit 96 outputs a detected image data at the distance position Y 1 of the sweep X 1. As a result, the same detection image data as that of the pixel corresponding to the distance position Y1 of the sweep X1 is drawn at the pixel corresponding to the distance position Y3 of the sweep X1. By performing the above operation, the detected image data of the pixel corresponding to the distance position Y1 of the sweep X1 can be enlarged by two pixels in the sweep distance direction.
- FIGS. 6 (b), (c), and (d) are almost the same as those of FIG. 6 (a), so that the description of the operations of FIGS. 6 (b), (c) is omitted. Explanation of operation in Fig. 6 (d) I do.
- the detected image data when the detected image data exists at a certain distance position of the sweep, the detected image data for two pixels is enlarged in the sweep distance direction and drawn in the image memory 10. Can be.
- Such a distance direction enlarging operation is also performed on a sweep in which the detected image data is expanded in the azimuth direction.
- the detected image data can be expanded in both the azimuth direction and the distance direction. it can.
- the azimuth expansion is performed from the sweep X1 in the sweep X2 and X3 directions, and the distance expansion is performed in each of the sweeps XI, X2 and X3.
- the detected image data of pixel D (1, 3) is pixel D (1, 3), pixel D (2, 2) ⁇ (2, 4), pixel (3, 2) ⁇ (3, 4), pixel D (4, 2), and pixel D (4, 3) are drawn.
- the operation described above is performed before drawing the detected image data in the image memory. Therefore, the number of accesses to the image memory does not change even when the display is enlarged.
- the radar device and the similar device which do not reduce the drawing speed from the image memory to the display device are provided. Can be configured.
- the amount of expansion can be limited, so a small image can be enlarged, and an originally large image can be limited, so that visibility can be improved. Radar devices and similar devices that do not reduce display resolution can be configured.
- the detected image data is enlarged in both the sweep azimuth direction and the sweep distance direction, an enlarged image with a shape similar to the original detected image data is displayed compared to the case where only one of them is enlarged. And the visibility of the operator is improved.
- the target detection image data in the case of target detection image data having two or less pixels in the azimuth direction, the target detection image data is enlarged to three pixels in the direction, and in the case of target detection image data having three or more pixels, only one pixel is enlarged.
- an image enlarged to a larger number of pixels can be formed by increasing the number of azimuth-direction enlargement shift memories.
- the number of image enlargements in the azimuth direction is determined according to the number of azimuth direction enlargement shift memories installed in the azimuth direction enlargement unit 90a.
- the number of azimuth direction enlargement shift memories used by the control unit may be set. With this configuration, the user can enlarge and display the target detection image data with a desired enlargement amount.
- the configuration in which two shift registers are installed in the distance direction enlargement unit 90b to enlarge two pixels in the sweep distance direction is shown.
- the number of pixels to be enlarged can be set according to the number of installations.
- the detection image data enlarging process in the azimuth direction and the distance direction is performed regardless of the distance from the sweep center (own ship position).
- a setting may be made so that the detected image data having only a number of pixels equal to or smaller than a predetermined value (for example, when only one pixel exists alone) is not enlarged. .
- the timing of switching the presence / absence of the enlargement processing is determined by counting the timing at which the sweep accesses the pixels of the image memory using a counter or the like, and starting the enlargement processing from the point in time when the predetermined number of powers is exceeded. Do not do. In other words, since the echo has a spread corresponding to the antenna beam width, the echo far from the center occupies a size that spans multiple pixels in the azimuth direction, whereas if only one pixel is detected in the azimuth direction, However, the detected image data is determined to be noise or interference, and the detected image data is not expanded.
- the present invention relates to a device for converting a detection signal received in a polar coordinate system, such as a radar device and a sonar device, into an orthogonal coordinate system, storing the converted signal in an image memory, and then displaying the image on a raster-scanning display device.
- the present invention can be used for an apparatus for enlarging and displaying detection data obtained from a computer.
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US10/579,197 US7679548B2 (en) | 2003-11-14 | 2004-11-15 | Radar apparatus |
GB0609525A GB2423657B (en) | 2003-11-14 | 2004-11-15 | Radar apparatus and similar apparatus |
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JP2003-385396 | 2003-11-14 | ||
JP2003385396A JP4413585B2 (ja) | 2003-11-14 | 2003-11-14 | レーダ装置および類似装置 |
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WO2005047927A1 true WO2005047927A1 (ja) | 2005-05-26 |
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US (1) | US7679548B2 (ja) |
JP (1) | JP4413585B2 (ja) |
GB (1) | GB2423657B (ja) |
WO (1) | WO2005047927A1 (ja) |
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JP4413585B2 (ja) * | 2003-11-14 | 2010-02-10 | 古野電気株式会社 | レーダ装置および類似装置 |
DK2430471T3 (en) * | 2009-05-12 | 2016-11-28 | Raytheon Anschütz Gmbh | Increasing radar contact size on a radar plan position indicator PPI, -display |
JP6192151B2 (ja) * | 2012-01-25 | 2017-09-06 | 古野電気株式会社 | 信号選別装置、信号選別方法、及びレーダ装置。 |
JP6059665B2 (ja) * | 2012-02-08 | 2017-01-11 | 古野電気株式会社 | レーダ信号処理装置、レーダ装置、及びレーダ信号処理方法 |
US9983296B2 (en) | 2012-03-09 | 2018-05-29 | Furuno Electric Company Limited | Data processing apparatus, radar apparatus, and data processing method |
JP7493882B2 (ja) | 2020-09-18 | 2024-06-03 | 日本無線株式会社 | 画像処理ユニット |
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JPS61231474A (ja) * | 1985-04-05 | 1986-10-15 | Koden Electronics Co Ltd | 反響探知装置 |
JPH05126936A (ja) * | 1991-11-08 | 1993-05-25 | Japan Radio Co Ltd | レーダ指示機及びこれを用いたレーダ装置 |
JPH08271611A (ja) * | 1995-03-28 | 1996-10-18 | Japan Radio Co Ltd | ラスタースキャン方式ppiレーダ映像処理装置 |
JPH0921865A (ja) * | 1995-07-07 | 1997-01-21 | Japan Radio Co Ltd | ターゲット拡大回路 |
JPH1038997A (ja) * | 1996-07-29 | 1998-02-13 | Japan Radio Co Ltd | レーダ映像処理装置 |
JP2003028950A (ja) * | 2001-07-10 | 2003-01-29 | Furuno Electric Co Ltd | レーダー装置及び類似装置並びに画像データ書込方法 |
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US5157406A (en) | 1989-06-06 | 1992-10-20 | Furuno Electric Company, Ltd. | Radar apparatus |
JP2648983B2 (ja) | 1989-06-06 | 1997-09-03 | 古野電気株式会社 | レーダ装置 |
JPH1038977A (ja) * | 1996-07-22 | 1998-02-13 | Fujitsu Ten Ltd | 統合化集積回路 |
JP4195128B2 (ja) * | 1998-08-21 | 2008-12-10 | 古野電気株式会社 | レーダー装置及び類似装置並びに受信データの書込方法 |
JP4413585B2 (ja) * | 2003-11-14 | 2010-02-10 | 古野電気株式会社 | レーダ装置および類似装置 |
JP4917270B2 (ja) * | 2005-04-20 | 2012-04-18 | 古野電気株式会社 | レーダ装置および類似装置 |
-
2003
- 2003-11-14 JP JP2003385396A patent/JP4413585B2/ja not_active Expired - Lifetime
-
2004
- 2004-11-15 US US10/579,197 patent/US7679548B2/en active Active
- 2004-11-15 WO PCT/JP2004/017320 patent/WO2005047927A1/ja active Application Filing
- 2004-11-15 GB GB0609525A patent/GB2423657B/en active Active
Patent Citations (6)
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JPS61231474A (ja) * | 1985-04-05 | 1986-10-15 | Koden Electronics Co Ltd | 反響探知装置 |
JPH05126936A (ja) * | 1991-11-08 | 1993-05-25 | Japan Radio Co Ltd | レーダ指示機及びこれを用いたレーダ装置 |
JPH08271611A (ja) * | 1995-03-28 | 1996-10-18 | Japan Radio Co Ltd | ラスタースキャン方式ppiレーダ映像処理装置 |
JPH0921865A (ja) * | 1995-07-07 | 1997-01-21 | Japan Radio Co Ltd | ターゲット拡大回路 |
JPH1038997A (ja) * | 1996-07-29 | 1998-02-13 | Japan Radio Co Ltd | レーダ映像処理装置 |
JP2003028950A (ja) * | 2001-07-10 | 2003-01-29 | Furuno Electric Co Ltd | レーダー装置及び類似装置並びに画像データ書込方法 |
Also Published As
Publication number | Publication date |
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JP2005147834A (ja) | 2005-06-09 |
GB2423657A (en) | 2006-08-30 |
US20070126624A1 (en) | 2007-06-07 |
GB2423657B (en) | 2007-10-03 |
US7679548B2 (en) | 2010-03-16 |
JP4413585B2 (ja) | 2010-02-10 |
GB0609525D0 (en) | 2006-06-21 |
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