WO2012114816A1 - Appareil et procédé d'identification de signaux et appareil radar - Google Patents

Appareil et procédé d'identification de signaux et appareil radar Download PDF

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Publication number
WO2012114816A1
WO2012114816A1 PCT/JP2012/051569 JP2012051569W WO2012114816A1 WO 2012114816 A1 WO2012114816 A1 WO 2012114816A1 JP 2012051569 W JP2012051569 W JP 2012051569W WO 2012114816 A1 WO2012114816 A1 WO 2012114816A1
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Prior art keywords
points
signal
phase change
target
identification device
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PCT/JP2012/051569
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English (en)
Japanese (ja)
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彩衣 竹元
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古野電気株式会社
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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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft

Definitions

  • the present invention relates to a configuration of a signal identification device, a signal identification method, and a radar device that perform detection by transmitting and receiving electromagnetic waves.
  • the radar device receives not only the target but also the echo signal of the reflecting object including white noise and clutter.
  • the conventional radar apparatus sets a threshold value for the signal level of the echo signal and binarizes the echo signal. Then, adjacent echo signals having a signal level equal to or higher than a threshold value are connected and grouped, and when the area of the grouped echo signal area is equal to or larger than a certain value, the grouped echo signals are extracted from the target. It was identified as an echo signal.
  • Patent Document 1 relating to an ARPA (Automatic Radar / Plotting / Aids) function in a radar apparatus is based on the amount of phase change between echo signals of a plurality of points having substantially the same distance from the radar apparatus and different azimuths. Is a technique for estimating a target's risk based on the relative speed. Based on the amount of phase change between each sweep of the radar, real-time speed information of the target can be acquired, and a more accurate ARPA function is realized.
  • ARPA Automatic Radar / Plotting / Aids
  • the configuration / method of binarizing the above-described echo signal by providing a threshold value for the signal level has the following problems.
  • echo signals from multiple targets are connected, and the multiple targets are erroneously detected as one target.
  • echo signals from the sea surface reflections are connected and erroneously detected as one target.
  • a phenomenon in which the tracking target is transferred to another reflecting object (transfer) or a phenomenon in which the tracking target is lost (lost) may occur. there were.
  • the received signal was binarized by the signal level threshold, it was difficult to detect a target with a low signal level, such as a buoy or a small ship, depending on how the threshold was set. Furthermore, for a target whose signal level is around the threshold value, the detection status changes with each scan, so there are cases where the target is transferred or lost.
  • the target candidate information becomes unstable because the shape of the region to be connected changes every scan, and multiple targets are processed as one target was there.
  • the present invention has been made in view of such a problem, and an object of the present invention is to provide a signal identification device that detects a target with higher accuracy than before.
  • a signal identification device is based on a transmission / reception unit that repeats transmission / reception of electromagnetic waves, and echo signals of a plurality of points that have substantially the same distance from the transmission / reception unit and different directions.
  • a phase change amount calculation unit that calculates a phase change amount between echo signals, and a connection processing unit that groups a plurality of adjacent points as the same reflector based on the phase change amount, To do.
  • connection processing unit groups the plurality of adjacent points having substantially the same phase change amount as a reflector.
  • connection processing unit groups the plurality of adjacent points whose phase change amount continuously changes with respect to the direction as the same reflector. It is characterized by.
  • a relatively large target changes its phase change amount substantially continuously on the azimuth axis of the target.
  • the signal identification device of the present invention is based on the amount of phase change between the transmitter / receiver that repeats the transmission / reception of electromagnetic waves, and the echo signals of a plurality of points that have substantially the same distance from the transmitter / receiver and different directions.
  • a relative speed calculation unit that calculates a relative speed of a reflecting object around the device itself, and a connection processing unit that groups a plurality of adjacent points as the same reflecting object based on the relative speed.
  • the relative speeds can be connected as separate reflectors.
  • no transfer or lost occurs when passing each other, when there is a lot of sea surface reflection, or when there is a pulling wave.
  • connection processing unit groups the plurality of adjacent points having substantially the same relative speed as the same reflector.
  • connection processing unit groups the plurality of adjacent points where the relative speed changes substantially continuously with respect to an azimuth as a same reflector. It is characterized by.
  • the distance direction component of the relative velocity changes substantially continuously on the azimuth direction axis of the target.
  • the absolute velocity of the reflector around the device is calculated based on the relative velocity calculated by the relative velocity calculation unit and the absolute velocity of the device.
  • An absolute velocity calculation unit is provided, and the connection processing unit groups a plurality of adjacent points as the same reflector based on the absolute velocity.
  • the target that is actually stationary is identified as speeding up when processing at the relative speed.
  • the distance direction component of the relative speed differs depending on the azimuth, but the distance direction component of the absolute speed is zero regardless of the azimuth, and should be in one group. Is possible.
  • the relative velocity calculation unit calculates a distance direction component of a relative velocity between the own device and a reflector around the own device based on the phase change amount.
  • the connection processing unit groups a plurality of adjacent points as the same reflector based on a distance direction component of the relative speed.
  • connection processing unit groups a plurality of points close to the surroundings in which the signal level of the echo signal is equal to or higher than a predetermined threshold as the same reflector.
  • the connection processing unit determines the plurality of grouped points as one target. It is characterized by.
  • connection processing unit when the connection processing unit has a azimuth-direction width of the grouped point range equal to or longer than a predetermined length, the plurality of grouped points are combined into one signal. It is characterized by being judged as a target.
  • the minute area such as sea surface reflection noise that is clearly not the target is canceled, and only the target is identified. can do.
  • connection processing unit when the connection processing unit has a width in a distance direction of the range of the grouped points that is equal to or longer than a predetermined length, the grouped points are combined into one signal. It is characterized by being judged as a target.
  • the minute area such as sea surface reflection noise that is clearly not the target is canceled, and only the target is identified. can do.
  • the grouping unit when the level of the echo signal of the representative point among the grouped points is a predetermined level or more, the grouping unit It is characterized by judging a point as one target.
  • the minute area such as sea surface reflection noise that is clearly not the target is canceled, and only the target is identified. can do.
  • a target information creation unit that creates information on at least a position, a size, or a speed of a representative point among a plurality of points determined by the connection processing unit as a target. It is characterized by providing.
  • the transmission / reception unit repeats transmission / reception of electromagnetic waves via an antenna rotating in the same plane.
  • the signal identification method of the present invention repeats the transmission and reception of electromagnetic waves, calculates the amount of phase change between the echo signals based on the echo signals of a plurality of points having substantially the same distance from the device and different directions, A plurality of adjacent points are grouped and connected as the same reflector based on the amount of phase change.
  • the signal identification method of the present invention repeats transmission / reception of electromagnetic waves, and based on the amount of phase change between the echo signals at a plurality of points having substantially the same distance from the own apparatus and different azimuths among the received echo signals, A relative speed between the own apparatus and a reflecting object around the own apparatus is calculated, and a plurality of adjacent points are grouped and connected as the same reflecting object based on the relative speed.
  • a radar apparatus equipped with the signal identification device of the present invention includes a transmission / reception unit configured to repeat transmission / reception of electromagnetic waves via an antenna, and echoes of a plurality of points having substantially the same distance from the transmission / reception unit and different directions. Based on the signal, a phase change amount calculation unit that calculates a phase change amount between the echo signals, and a plurality of adjacent points as a same reflector based on the phase change amount calculated by the phase change amount calculation unit And a display for displaying a radar image indicating the position of the target around the device.
  • a radar apparatus equipped with the signal identification device of the present invention includes a transmission / reception unit configured to repeat transmission / reception of electromagnetic waves via an antenna, and echoes of a plurality of points having substantially the same distance from the transmission / reception unit and different directions. Based on the amount of phase change between the signals, the relative speed calculation unit that calculates the relative speed between the own device and the reflector around the device, and the proximity based on the relative speed calculated by the relative speed calculation unit A connection processing unit that groups a plurality of points as the same reflection object, and a display that displays a radar image indicating the position of a target around the device itself are provided.
  • FIG. 1 is a block diagram showing a main configuration of a marine radar apparatus having an ARPA (automatic collision prevention assistance) function according to the present embodiment.
  • ARPA automatic collision prevention assistance
  • the signal identification device 10 of the present embodiment includes a radar antenna 1, a transmission / reception unit 2, an A / D conversion unit 3, a target candidate detection unit 4, a target selection unit 5, and a motion estimation unit 6. .
  • the transmission / reception unit 2 is configured to be able to transmit an electromagnetic wave signal having a sharp directivity via the radar antenna 1 and to receive an echo signal from a target around the device itself.
  • the radar antenna 1 rotates in the same plane with a predetermined rotation period, and the transmission / reception unit 2 is configured to repeatedly transmit and receive the signal.
  • the transmission / reception unit 2 is not limited to the one having a rotary antenna.
  • it may be configured by a system (phased array radar) that can shake a beam with the antenna fixed.
  • the time taken for the echo signal to return after the signal identification device 10 transmits the electromagnetic wave signal is proportional to the distance from the radar antenna 1 to the target. Therefore, the position of the target with the radar antenna 1 as the center is determined by the time from the transmission of the electromagnetic wave signal to the reception of the echo signal and the azimuth angle of the antenna when the electromagnetic wave signal is transmitted and received. Can be obtained in a table.
  • the transmission / reception unit 2 receives unnecessary echo signals from sea surface reflections, interference signals, and the like in addition to the echo signals from the target. Therefore, the echo signal from the target received by the transmission / reception unit 2, the unnecessary echo signal from the sea surface reflection, the interference signal, and the like are collectively referred to as “reception signal”.
  • the received signal includes white noise.
  • the transmission / reception unit 2 performs quadrature detection (IQ phase detection) in order to acquire information on the amplitude and phase of the received signal.
  • IQ phase detection quadrature detection
  • a complex signal composed of an I signal and a Q signal can be obtained. Details of this quadrature detection will be described later.
  • the A / D conversion unit 3 converts the analog I signal and Q signal output from the transmission / reception unit 2 into multi-bit digital data (IQ reception data) and outputs the digital data to the target candidate detection unit 4.
  • the received signal is sampled by the transmitter / receiver 2 so that the digital signal The I signal and the Q signal may be directly generated. In this case, the A / D conversion unit 3 can be omitted.
  • the target candidate detection unit 4 detects an echo signal from the target from the received signal, and generates information such as the position, size, or speed of the target.
  • the target candidate detection unit 4 includes a phase detection unit 41, a connection processing unit 42, and a target candidate information creation unit 43.
  • the phase detection unit 41 includes a sweep memory 411 and a phase change amount calculation unit 412.
  • the phase detection unit calculates the amount of phase change from a point where the distance from the radar antenna 1 is approximately the same and has a different azimuth at each sampling point of the received signal, and outputs the phase change amount information to the connection processing unit 42.
  • the sweep memory 411 is a so-called buffer, and stores IQ signal reception data of a necessary number of sweeps in real time.
  • “sweep” refers to a series of operations from transmission of a signal to transmission of the next signal.
  • the phase change amount calculation unit 412 calculates a phase change amount between echo signals at a plurality of points that are substantially the same distance from the radar antenna 1 and have different azimuths among the signals received by the transmission / reception unit 2. A specific calculation method will be described later.
  • connection processing unit 42 Based on the phase change amount calculated by the phase change calculation unit 412, the connection processing unit 42 connects (groups) the equiphase change amount regions and identifies the connected range as a target as shown in FIG. 3. To do.
  • FIG. 3 shows sampling points of received signals received for each sweep, centering on the own ship 910 equipped with the radar antenna 1.
  • the target 900, the target 901, and the reflector 902 are arranged as shown in FIG. 3, conventionally, the signal level of the echo signal of the target 900 is lower than the threshold value, or the target 901 and the reflector 902 There is a problem that the target cannot be detected when the areas are overlapped.
  • the phase change amount calculated by the phase change amount calculation unit is approximately equal, and adjacent points are grouped to identify the reflecting object in the case of the above-described problem. Is possible.
  • the signal identification device of the present invention can identify the ship by grouping in the equiphase change amount area. it can.
  • the target 900 when it is desired to identify whether the target 900 is a sea surface reflection or a target, it is possible to distinguish the area of the identified reflection object from the sea surface reflection and the target according to various predetermined conditions. For example, within the equiphase change amount area, when the size of the area is equal to or greater than the threshold, the equiphase area is connected as a single target so that the object can be detected from echo signals including clutter and white noise. It is possible to distinguish and identify only the mark. Specifically, as an example of a means for determining an equal phase change amount region, the phase change amount is divided into levels within a desired phase change amount range, and a phase change amount region of the same level is set as an equal phase change amount region.
  • the threshold value of the size of the equiphase change amount region is determined by the echo signal group belonging to the group, the group distance width, and the group azimuth width. Note that the threshold value varies depending on the antenna rotation speed, transmission repetition frequency, transmission pulse, beam width, and desired target conditions (such as whether to extract only large targets).
  • the echo signal concatenation process based on the phase change amount may not be the equiphase change region.
  • the phase change amount changes substantially continuously in the azimuth direction within the region even if the target is the same.
  • the target candidate information creation unit 43 creates information on the position, size, and current phase change amount of the target identified by the connection processing unit 42.
  • the created target candidate information is used in subsequent processing in the radar apparatus.
  • the target candidate information creation unit 43 creates information on the position, size, and current phase change amount of the target identified by the connection processing unit 42.
  • the created target candidate information is used by the target selection unit 5 and the motion estimation unit 6 in the subsequent stage.
  • Carrier of the electromagnetic wave signal transmitted from the radar antenna 1 is assumed to be a cosine wave of frequency f 0.
  • the reception signal S (t) is expressed by (Equation 1). Can do.
  • ⁇ (t) is the phase of the carrier wave of the received echo with respect to the carrier wave of the electromagnetic wave signal (hereinafter simply referred to as phase).
  • phase is the phase of the carrier wave of the received echo with respect to the carrier wave of the electromagnetic wave signal (hereinafter simply referred to as phase).
  • the received signal S (t) is branched into two systems after being received by the transmission / reception unit 2.
  • a signal expressed by (Equation 2) is obtained by integrating and synthesizing one received signal S (t) with a reference signal 2 cos (2 ⁇ f 0 t) having the same frequency and the same phase as the carrier wave of the electromagnetic wave signal. . Further, the reference signal ⁇ 2 sin (2 ⁇ f 0 t), whose phase is shifted by 90 ° at the same frequency as the carrier wave of the electromagnetic wave signal, is integrated and synthesized on the other side of the branch of the reception signal S (t). 5) is obtained. The first term (double frequency component) on the right side of (Expression 2) and (Expression 3) is removed by a low-pass filter (LPF). As a result, the I signal shown in (Expression 4) and the Q signal shown in (Expression 5) are output from the transmission / reception unit 2.
  • LPF low-pass filter
  • phase change amount calculation unit 412 Next, a method of calculating the phase change amount calculated by the phase change amount calculation unit 412 will be described.
  • the phase change amount is calculated by applying the autocorrelation method to the reception signal digitized by the A / D conversion unit 3 and the reception signal stored in the sweep memory. Assume that there is an echo whose phase change amount is ⁇ .
  • the distance number corresponding to the distance of this target is n 0
  • the azimuth number of the first direction in which an echo from this target is received is k 0 (see FIG. 3).
  • M pieces of adjacent received data received from points having substantially the same distance from the radar antenna 1 are respectively represented as S [k 0 , n 0 ], S [k 0 +1, n 0 ], S [k 0 +2].
  • the received data z [m] can be expressed by (Equation 6). Further, the following equation holds for the phase change amount ⁇ per sweep.
  • arg [•] indicates a complex argument.
  • a method of estimating the phase change amount ⁇ from the received data z [m] using (Equation 9) is called an autocorrelation method.
  • FIG. 5 is a block diagram showing a main configuration of a marine radar apparatus having an ARPA (automatic collision prevention assistance) function according to the present embodiment.
  • ARPA automatic collision prevention assistance
  • the overall configuration of the signal identification device 10 of the present embodiment is the same as the overall configuration of the radar device described in ⁇ Embodiment 1> except that the own ship speed and own ship direction are input to the target candidate detection unit. I will omit it.
  • “velocity” indicates a velocity vector of a distance direction component.
  • the target candidate detection unit 4 includes a speed calculation unit 44, a connection processing unit 42, and a target candidate information creation unit 43.
  • the speed calculation unit 44 includes a sweep memory 411, a relative speed calculation unit 441, and an absolute speed calculation unit 442.
  • the velocity calculation unit 44 calculates the absolute velocity of the reflector based on the amount of phase change from a point at which the distance from the radar antenna 1 is approximately the same and has a different azimuth at each sampling point of the received signal, and the absolute velocity of the reflector is calculated. Information is output to the connection processing unit 42.
  • the sweep memory 411 is a so-called buffer, and stores IQ signal reception data of a necessary number of sweeps in real time.
  • “sweep” refers to a series of operations from transmission of a signal to transmission of the next signal.
  • the relative velocity calculation unit 441 is based on the amount of phase change between the echo signals of a plurality of points having substantially the same distance from the radar antenna 1 and different directions from the signals received by the transmission / reception unit 2. The relative speed of is calculated. A specific calculation method will be described later.
  • the absolute speed calculation unit 442 uses the radar antenna 1 based on the relative speed calculated by the relative speed calculation unit 441, the ship speed of the ship acquired from a GPS receiver, and the heading obtained from an orientation sensor. The absolute velocity of the signal from the point where the distances are substantially equal is calculated.
  • connection processing unit 42 connects (groups) the equal velocity regions based on the absolute velocity of the reflection object calculated by the velocity calculation unit 44, and identifies the connected range as a target. .
  • FIG. 3 shows sampling points of received signals received for each sweep with the radar antenna 1 as the center.
  • the target 900, the target 901, and the reflective object 902 are arranged as shown in FIG. 3, conventionally, the signal level of the echo signal of the target 900 is smaller than the threshold value, or the target 901 There is a problem that the target cannot be detected when the areas are overlapped like the reflective object 902.
  • the adjacent points whose absolute velocities calculated by the velocity calculation unit 44 are substantially equal are grouped to identify even the reflecting object in the case of the aforementioned problem. Is possible.
  • the signal identification device of the present invention can be used to group and accurately detect in the uniform velocity region. Further, even in the case where the ship is in the sea surface reflection area, such as the target 901 and the reflection object 902, the signal identification device of the present invention can identify the ship by grouping in the uniform speed area.
  • the target 900 is a sea surface reflection or a target
  • the velocity is classified into levels within a desired velocity range, and a region having the same level of velocity is defined as the uniform velocity region.
  • the threshold value of the uniform velocity region size is determined by the echo signal group belonging to the group, the group distance width, and the group azimuth width. Note that the threshold value varies depending on the antenna rotation speed, transmission repetition frequency, transmission pulse, beam width, and desired target conditions (such as whether to extract only large targets).
  • the concatenation process of the echo signals based on the speed may not be in the constant speed region.
  • the speed of the distance direction component with respect to the ship changes substantially continuously in the azimuth direction within that region.
  • echoes within a certain speed range may be connected. At this time, in the case of a target whose speed is near the turn-back speed, an echo having a speed close to the turn-back is taken into consideration.
  • V t + V ⁇ > V max When selecting (V max return velocity) and a Vt couples The speed range is V t ⁇ V ⁇ ⁇ V ⁇ V max or ⁇ V max ⁇ V ⁇ ⁇ 2 V max + V t + V ⁇ .
  • the target candidate information creation unit 43 creates information regarding the position, size, and current speed of the target identified by the connection processing unit 42.
  • the created target candidate information is used in subsequent processing in the radar apparatus.
  • the target candidate information creation unit 43 creates information regarding the position, size, and current speed of the target identified by the connection processing unit 42.
  • the created target candidate information is used by the target selection unit 5 and the motion estimation unit 6 in the subsequent stage.
  • the relative velocity is calculated by applying the autocorrelation method to the reception signal digitized by the A / D conversion unit 3 and the reception signal stored in the sweep memory.
  • the distance number corresponding to the distance of this target is n 0
  • the azimuth number of the first direction in which an echo from this target is received is k 0 (see FIG. 3).
  • M pieces of adjacent received data received from points having substantially the same distance from the radar antenna 1 are respectively represented as S [k 0 , n 0 ], S [k 0 +1, n 0 ], S [k 0 +2].
  • the received data z [m] can be expressed by (Equation 6).
  • the round-trip propagation distance from the radar antenna 1 to the target is reduced by 2 vT during the transmission period T when the target approaches at a relative speed v. Therefore, assuming that the center frequency of the transmission signal is f 0 and the speed of light is c, the phase of the reception data z [m + 1] is a phase change per sweep represented by the following equation with respect to the phase of the reception data z [m]. Increases by the amount ⁇ .
  • this equation is solved for the relative velocity v, the following equation is obtained.
  • Equation 7 A method of estimating the relative velocity v from the received data z [m] using (Equation 12) is called an autocorrelation method.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Avec les appareils radio classiques, quand plusieurs cibles sont proches les unes des autres ou forment plusieurs groupes en mer, les signaux des échos provenant des objets réfléchissants sont unifiés et peuvent, de ce fait, être détectés par erreur en tant que cible unique. En particulier, avec un appareil ARPA et dans le cas de la détection erronée précédemment mentionnée, il peut se produire un phénomène de « transfert » où un objet pisté est transféré sur un autre objet réfléchissant ou un phénomène de « perte » où l'objet pisté est perdu. Pour résoudre ces problèmes, la présente invention propose un appareil d'identification de signaux (10) comprenant : une unité d'émission/réception (2) qui répète l'émission/réception d'ondes électromagnétiques ; une unité de calcul de la quantité de variation de phase (412) qui calcule, sur la base de signaux d'écho provenant de plusieurs points se trouvant à des distances approximativement égales et des azimuts différents par rapport à l'unité d'émission/réception (2), la quantité de variation de phase entre les signaux d'écho ; et une unité d'unification (42) qui regroupe, sur la base de la quantité de variation de phase, plusieurs points proches sous la forme d'un unique objet réfléchissant. De cette manière, l'appareil d'identification de signaux (10) est capable de détecter des cibles avec une plus grande précision que les appareils de l'état de l'art.
PCT/JP2012/051569 2011-02-25 2012-01-25 Appareil et procédé d'identification de signaux et appareil radar WO2012114816A1 (fr)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130187806A1 (en) * 2012-01-25 2013-07-25 Furuno Electric Co., Ltd. Device and method for selecting signal, and radar apparatus
CN103645467A (zh) * 2013-11-11 2014-03-19 北京环境特性研究所 海杂波抑制以及海杂波背景中目标检测的方法和系统
JP2014055883A (ja) * 2012-09-13 2014-03-27 Furuno Electric Co Ltd レーダ装置、探知方法及び探知プログラム

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JPH08313626A (ja) * 1995-05-23 1996-11-29 Honda Motor Co Ltd 車両における対照物検知方法
JP2000162316A (ja) * 1998-12-01 2000-06-16 Mitsubishi Electric Corp レーダ信号処理装置
JP2000180543A (ja) * 1998-12-18 2000-06-30 Mcc:Kk 目標検出方法および目標検出装置
JP2000206241A (ja) * 1999-01-13 2000-07-28 Honda Motor Co Ltd レ―ダ装置
JP2010266292A (ja) * 2009-05-13 2010-11-25 Furuno Electric Co Ltd レーダ装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08313626A (ja) * 1995-05-23 1996-11-29 Honda Motor Co Ltd 車両における対照物検知方法
JP2000162316A (ja) * 1998-12-01 2000-06-16 Mitsubishi Electric Corp レーダ信号処理装置
JP2000180543A (ja) * 1998-12-18 2000-06-30 Mcc:Kk 目標検出方法および目標検出装置
JP2000206241A (ja) * 1999-01-13 2000-07-28 Honda Motor Co Ltd レ―ダ装置
JP2010266292A (ja) * 2009-05-13 2010-11-25 Furuno Electric Co Ltd レーダ装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130187806A1 (en) * 2012-01-25 2013-07-25 Furuno Electric Co., Ltd. Device and method for selecting signal, and radar apparatus
US9075142B2 (en) * 2012-01-25 2015-07-07 Furuno Electric Co., Ltd. Device and method for selecting signal, and radar apparatus
JP2014055883A (ja) * 2012-09-13 2014-03-27 Furuno Electric Co Ltd レーダ装置、探知方法及び探知プログラム
CN103645467A (zh) * 2013-11-11 2014-03-19 北京环境特性研究所 海杂波抑制以及海杂波背景中目标检测的方法和系统

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