WO2014077149A1 - レーダ装置、及びレーダ映像表示方法 - Google Patents
レーダ装置、及びレーダ映像表示方法 Download PDFInfo
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- WO2014077149A1 WO2014077149A1 PCT/JP2013/079823 JP2013079823W WO2014077149A1 WO 2014077149 A1 WO2014077149 A1 WO 2014077149A1 JP 2013079823 W JP2013079823 W JP 2013079823W WO 2014077149 A1 WO2014077149 A1 WO 2014077149A1
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- echo
- radar image
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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
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/22—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency
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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
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/12—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the pulse-recurrence frequency is varied to provide a desired time relationship between the transmission of a pulse and the receipt of the echo of a preceding pulse
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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
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
- G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
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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
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/30—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using more than one pulse per radar period
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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
- G01S13/88—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
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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
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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.
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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
- G01S7/282—Transmitters
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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
Definitions
- the present invention mainly relates to a radar device capable of displaying radar images of a plurality of display ranges simultaneously or by switching.
- the user uses different radar images with different display ranges depending on the purpose. For example, when the user wants to confirm the state of the vicinity of the ship in detail, the user uses a radar image with a narrow display range. In addition, when the user wants to check a distant state, the user uses a radar image having a wide display range.
- the pulse width of the pulse signal to be transmitted is determined in advance according to the display range of the radar image. For example, when a radar image display range is narrow, a pulse signal is transmitted with a relatively narrow pulse width. As a result, the distance resolution can be improved, so that it is possible to meet the need for confirming the detailed state in the vicinity of the ship.
- the signal-to-noise power ratio of the echo signal from the target may decrease, and the visibility of the echo image on the radar image may decrease. Therefore, when the display range of the radar image is wide, a pulse signal is transmitted with a relatively wide pulse width. Thereby, since the pulse width of the echo from the target is also widened, the signal-to-noise power ratio of the echo signal from the target is improved, and the visibility of the echo image can be improved.
- the pulse width of the pulse signal to be transmitted is varied according to the display range.
- Patent Document 1 discloses a radar apparatus that realizes a “two-screen simultaneous display mode” in which two radar images having different display ranges are generated and displayed simultaneously.
- a pulse signal for the display range R1 and a pulse signal for the display range R2 are alternately transmitted. Then, a radar image of the display range R1 is generated based on the echo obtained during the transmission / reception period of the pulse signal for R1, and the radar image of the display range R2 is generated based on the echo obtained during the transmission / reception period of the pulse signal for R2. Radar image is generated.
- a pulse compression radar device In the pulse compression radar, the S / N ratio can be improved by transmitting a frequency-modulated pulse signal (modulation pulse) and subjecting echoes received from the surroundings to pulse compression processing.
- modulation pulse frequency-modulated pulse signal
- the width of the modulation pulse to be transmitted is wider.
- the pulse width of the modulation pulse is widened, there is a problem that the dead zone during the transmission / reception period of the modulation pulse becomes large (echoes cannot be received from a short distance).
- an unmodulated pulse having a narrow pulse width (a pulse signal that is not frequency-modulated) may be used in combination to compensate for the dead zone of the modulated pulse.
- a non-modulated pulse having a narrow pulse width and a modulated pulse having a wide pulse width are alternately transmitted, and a short distance obtained during a transmission / reception period of the non-modulated pulse is obtained.
- a synthesized echo signal is generated by synthesizing the echo signal and a far echo signal obtained during the transmission / reception period of the modulation pulse.
- a radar image obtained by synthesizing a short-range radar image based on a non-modulated pulse and a distant radar image based on a modulated pulse is generated. Obtainable. Thereby, the target can be detected from a short distance to a long distance.
- the pulse compression radar apparatus transmits two types of pulses (non-modulated pulse and modulated pulse).
- a pulse signal is transmitted with two kinds of pulse widths according to two display ranges (R1 and R2).
- the non-modulated pulse and the modulated pulse are transmitted with two kinds of pulse widths, respectively, so that a total of four kinds of pulses
- the signals need to be sent in order.
- four types of pulse signals, an unmodulated pulse for R1, a modulated pulse for R1, an unmodulated pulse for R2, and a modulated pulse for R2 are sequentially arranged. Send.
- the decrease in RPF leads to deterioration in detection performance, a decrease in S / C improvement in Doppler processing, and a decrease in S / N improvement in coherent integration.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a configuration in which a decrease in PRF is suppressed in a radar apparatus capable of simultaneously or selectively displaying radar images of a plurality of display ranges. is there.
- a radar apparatus having the following configuration. That is, the radar apparatus includes a transmission unit, a reception unit, a first radar image generation unit, a second radar image generation unit, a display unit, and an echo width adjustment unit.
- the transmission unit transmits a pulse signal.
- the receiving unit receives an echo signal during a transmission / reception period of the pulse signal.
- the first radar image generation unit generates a radar image of a first display range based on the echo signal.
- the second radar image generation unit generates a radar image having a second display range wider than the first display range based on the echo signal.
- the display unit displays the radar image of the first display range and the radar image of the second display range simultaneously or selectively.
- the echo width adjusting unit adjusts the pulse width of each echo included in the echo signal or the radar image according to the display range of the radar image.
- the conventional radar device transmits a pulse signal with a different pulse width for each display range.
- the configuration of the present invention adjusts the width of the echo included in the received echo signal according to the display range.
- the pulse width of the echo is adjusted afterwards, there is no need to transmit a pulse signal with different pulse widths for each display range. Therefore, the number of types of pulse signals to be transmitted is small, and a decrease in PRF can be prevented.
- the first radar image generation unit and the second radar image generation unit generate a radar image of each display range based on a common echo signal.
- the number of types of pulse signals to be transmitted can be reduced, and a decrease in PRF can be prevented.
- At least one of the first radar image generation unit and the second radar image generation unit generates a radar image based on an echo signal whose echo pulse width is adjusted by the echo width adjustment unit. It is preferable to do.
- the radar image of each display range can be appropriately generated.
- the above radar apparatus is preferably configured as follows. That is, the transmission unit transmits the pulse signal with a pulse width corresponding to the first display range.
- the echo width adjusting unit extends the pulse width of the echo included in the echo signal to a pulse width corresponding to the second display range.
- the first radar image generation unit generates a radar image of the first display range based on an echo signal whose echo pulse width is not adjusted by the echo width adjustment unit.
- the second radar image generation unit generates a radar image of the second display range based on an echo signal in which an echo pulse width is expanded by the echo width adjustment unit.
- the radar image of the first display range can be generated as usual. Further, by extending the echo width, the echo width suitable for the radar image of the second display range wider than the first display range can be obtained. Thereby, the radar image of the second display range can be appropriately generated.
- the above radar apparatus is preferably configured as follows. That is, the transmission unit transmits at least a non-modulated pulse and a modulated pulse.
- the receiving unit receives an unmodulated echo signal during the transmission / reception period of the unmodulated pulse, and receives a modulated echo signal during the transmission / reception period of the modulation pulse.
- the radar apparatus further includes a modulation echo signal processing unit that generates a compressed echo signal by pulse-compressing the modulation echo signal.
- the first radar image generation unit and the second radar image generation unit generate the radar image based on the modulated echo signal and the compressed echo signal, respectively.
- the echo width adjusting unit adjusts a pulse width of an echo included in at least one of the modulated echo signal and the compressed echo signal according to a display range of the radar image.
- the above radar apparatus is preferably configured as follows. That is, the radar apparatus includes a pulse synthesis unit that synthesizes the unmodulated echo signal and the compressed echo signal to generate a synthesized echo signal.
- the echo width adjusting unit adjusts a pulse width of an echo included in the synthesized echo signal according to the display range.
- the echo width adjustment process is performed after the unmodulated echo signal and the compressed echo signal are combined, there is no need to separately process the unmodulated echo signal and the compressed echo signal. As a result, the arithmetic processing is simplified and a more natural radar image can be generated.
- this radar image display method includes a transmission step, a reception step, a first radar image generation step, a second radar image generation step, a display step, and an echo width adjustment step.
- a pulse signal is transmitted.
- an echo signal is received during a transmission / reception period of the pulse signal.
- a radar image of the first display range is generated based on the echo signal.
- a radar image having a second display range wider than the first display range is generated based on the echo signal.
- the display step the radar image of the first display range and the radar image of the second display range are displayed simultaneously or selectively.
- the echo width adjusting step the pulse width of each echo included in the echo signal or the radar image is adjusted according to the display range of the radar image.
- FIG. 1 is a block diagram of a radar apparatus according to an embodiment of the present invention.
- the figure which shows the relationship between the pulse signal which the radar image
- FIG. 1 is a block diagram of a radar apparatus 50 according to this embodiment.
- the radar apparatus 50 of this embodiment is configured as a marine pulse radar apparatus.
- the radar apparatus 50 is configured to be able to operate in a “two-screen simultaneous display mode” in which two radar images having different display ranges are arranged and displayed simultaneously. Note that the radar apparatus 50 of the present embodiment can operate in a normal mode in which only one radar image is displayed, but a description thereof will be omitted. Hereinafter, a configuration for realizing the “two-screen simultaneous display mode” will be described.
- the antenna 1 has a sharp directivity and is configured to transmit and receive high-frequency signals.
- the antenna 1 has a known configuration that repeats signal transmission and reception while rotating in a horizontal plane at a predetermined period.
- the display range setting unit 2 sets the display range of the radar image displayed by the radar device 50.
- the display range for example, one or a plurality of display ranges can be selected and set from a plurality of display ranges of R1, R2, R3.
- two different display ranges for example, R1 and R2 are set in the display range setting unit 2 for description. Note that the size relationship of the display range is R1 ⁇ R2.
- the transmission timing control unit 3 outputs a transmission trigger for controlling the transmission timing of the pulse signal transmitted from the antenna 1.
- the transmission waveform generation unit 4 has an oscillator that generates a high-frequency signal.
- a semiconductor (solid-state) oscillator is employed, and is configured to output a frequency-modulated high-frequency signal.
- the transmission waveform generation unit 4 is configured to alternately output a non-modulated pulse and a modulated pulse every time a transmission trigger is input from the transmission timing control unit 3.
- An unmodulated pulse is a pulse-like signal having a constant carrier frequency (not frequency-modulated).
- the modulation pulse is a pulse-like signal (for example, a chirp signal) that is frequency-modulated so that the carrier frequency continuously changes with time.
- the transmission unit 5 amplifies the pulse signal (unmodulated pulse or modulation pulse) output from the transmission waveform generation unit 4 and outputs the amplified signal to the antenna 1. Thereby, an unmodulated pulse and a modulated pulse are alternately output from the antenna 1.
- the transmission timing control unit 3 is configured to control the interval at which the trigger signal is output in accordance with the type of pulse signal output by the transmission waveform generation unit 4 (whether it is an unmodulated pulse or a modulated pulse). Thereby, the transmission / reception period of each pulse signal (non-modulation pulse and modulation pulse) can be appropriately controlled.
- a series of signals received by the antenna 1 during a certain pulse signal transmission / reception period is called an “echo signal”.
- a series of signals received by the antenna 1 during an unmodulated pulse transmission / reception period is called an “unmodulated echo signal”
- a series of signals received by the antenna 1 during a modulation pulse transmission / reception period is a “modulated echo signal”.
- each echo for example, an echo from a target included in each echo signal is simply referred to as “echo”.
- the receiving unit 6 amplifies the echo signal (unmodulated echo signal or modulated echo signal) received by the antenna 1 and outputs the amplified signal to the unmodulated echo signal processing unit 7 or the modulated echo signal processing unit 8.
- the unmodulated echo signal processing unit 7 performs predetermined signal processing on the unmodulated echo signal and outputs it to the pulse synthesis unit 9. Examples of the signal processing include sensitivity adjustment and clutter removal processing.
- the modulation echo signal processing unit 8 performs pulse compression processing on the modulation echo signal and outputs the result to the pulse synthesis unit 9. Since the pulse compression process is known, a description thereof will be omitted.
- a signal output from the modulated echo signal processing unit 8 is referred to as a compressed echo signal.
- the pulse synthesizing unit 9 synthesizes the unmodulated echo signal output from the unmodulated echo signal processing unit 7 and the compressed echo signal output from the modulated echo signal processing unit 8 and outputs a synthesized echo signal. Since this synthesis process has been described as a prior art, a description thereof is omitted here.
- the first radar image generation unit 10 is configured to generate a radar image in a PPI (Plan Position Indicator) scope format based on the synthesized echo signal output from the pulse synthesis unit 9.
- the first radar image generation unit 10 generates a radar image having a narrower display range (display range R1 in the present embodiment) of the two display ranges set in the display range setting unit 2.
- the radar image of the display range R1 generated by the first radar image generation unit 10 is stored in the first image memory 12.
- the second radar image generation unit 13 is also configured to generate a radar image in the PPI scope format based on the synthesized echo signal output from the pulse synthesis unit 9.
- the second radar image generation unit 13 generates a radar image having a wider display range (the display range R2 in the present embodiment) of the two display ranges set in the display range setting unit 2.
- the radar image in the display range R2 generated by the second radar image generation unit 13 is stored in the second image memory 16.
- the radar image of the display range R1 stored in the first image memory 12 and the radar image of the display range R2 stored in the second image memory 16 are transferred to the display unit 17, respectively.
- the display unit 17 displays the radar image of the display range R1 and the radar image of the display range R2 side by side at the same time.
- the radar apparatus 50 can realize the “two-screen simultaneous display mode” for simultaneously displaying radar images of different display ranges.
- the pulse width of the pulse signal to be transmitted is made different for each display range of the radar image. For this reason, when trying to realize the two-screen simultaneous display mode, it is necessary to sequentially transmit pulse signals of two types of pulse widths in accordance with two types of display ranges, so there are many types of pulse signals to be transmitted. As a result, the PRF decreased.
- the radar apparatus 50 of the present embodiment is configured to adjust the pulse width of the echo included in the received echo signal in accordance with the display range of the radar image.
- the radar device 50 of the present embodiment adjusts the pulse width after the fact.
- the radar apparatus 50 of this embodiment adjusts the pulse width after receiving the echo signal, it is not necessary to make the pulse width different for each display range at the stage of transmitting the pulse signal.
- the radar apparatus 50 of the present embodiment alternately transmits a total of two types of pulse signals, that is, one type of non-modulated pulse and one type of modulated pulse. It is configured as follows. As described above, according to the configuration of the present embodiment, each of the non-modulated pulse and the modulated pulse may be transmitted with one type of pulse width.
- the radar apparatus 50 realizes the “two-screen simultaneous display mode” in the pulse compression radar apparatus, but the total number of types of pulse signals to be transmitted may be two.
- the PRF can be improved as compared with the conventional configuration (FIG. 3C) in which the pulse signals are sequentially transmitted.
- the pulse width of the echo included in the received echo signal is adjusted afterwards according to the display range, so the pulse width of the pulse signal to be transmitted is used to generate a radar image.
- the pulse width of the pulse signal to be transmitted is used to generate a radar image.
- the radar image of the one display range will be the same as before (echo pulse). This is preferable because it can be generated without adjusting the width.
- the transmission waveform generation unit 4 of the present embodiment has the narrowest display range (in the case of the present embodiment) of the plurality of display ranges (R1 and R2 in the case of the present embodiment) set in the display range setting unit 2. It is configured to output a pulse signal with a pulse width suitable for R1).
- the transmission waveform generation unit 4 of the present embodiment alternates between an unmodulated pulse having a pulse width suitable for the display range R1 and a modulated pulse having a pulse width also suitable for the display range R1. Output to.
- the non-modulated pulse and the modulated pulse transmitted by the radar apparatus 50 of the present embodiment each have a pulse width suitable for the display range R1. Therefore, the pulse width of the echo included in the synthesized echo signal (output of the pulse synthesizing unit 9) obtained by synthesizing the echo signal received by the antenna 1 is a pulse width suitable for the display range R1.
- the first radar image generation unit 10 of the present embodiment is configured to generate a radar image of the display range R1 using the synthesized echo signal as it is (without adjusting the pulse width of the echo).
- the first radar image generation unit 10 includes the first image memory 12 and the coordinate conversion unit 11 described above.
- the first image memory 12 is configured to store a radar image as two-dimensional raster image data composed of a set of digital pixel data expressed in an XY orthogonal coordinate system.
- the echo signal received by the antenna can be expressed in the r ⁇ coordinate system (polar coordinate system) (where r is the distance to the echo source and ⁇ is the antenna. Direction).
- the coordinate conversion unit 11 performs coordinate conversion of the range corresponding to the display range R1 in the synthesized echo signal of the r ⁇ coordinate system output from the pulse synthesis unit 9 to the orthogonal coordinate system, and stores it in the first image memory 12.
- the radar image of the display range R1 is formed on the first image memory 12 in the PPI format. Since a configuration for generating a PPI-type radar image by converting the echo signal of the r ⁇ coordinate system is known, details are omitted.
- the radar apparatus 50 since the radar apparatus 50 according to the present embodiment transmits a pulse signal with a pulse width suitable for the display range R1, the radar image of the display range R1 is synthesized and echoed by the same processing as the conventional radar apparatus. Appropriately generated based on the signal.
- the non-modulated pulse and the modulated pulse transmitted by the radar apparatus 50 of the present embodiment do not necessarily have a pulse width suitable for the display range R2. Therefore, the pulse width of the echo included in the synthesized echo signal (output of the pulse synthesizing unit 9) obtained by synthesizing the echo signal received by the antenna 1 is not a pulse width suitable for the display range R2. For this reason, when generating a radar image of the display range R2, it is necessary to adjust the pulse width of the echo included in the synthesized echo signal.
- the second radar image generation unit 13 of the present embodiment further includes an echo width adjustment unit 14 in addition to the coordinate conversion unit 15 and the second image memory 16.
- the echo width adjusting unit 14 is configured to adjust the pulse width of the echo included in the synthesized echo signal output from the pulse synthesizing unit 9 so as to be a pulse width suitable for the display range R2.
- the pulse width of the echo included in the synthesized echo signal is a pulse width suitable for the display range R1 that is narrower than the display range R2, the signal-to-noise power is used as the signal for the display range R2.
- the ratio is low. For this reason, if the radar image of the display range R2 is generated using the echo having the pulse width as it is, the visibility of the echo image may be lowered.
- the echo width adjusting unit 14 of the present embodiment performs processing to extend the pulse width of the echo included in the synthesized echo signal to a pulse width suitable for R2 (high visibility).
- the process of extending the pulse width of the echo included in the echo signal can be realized by applying a known low-pass filter or blurring filter such as a known moving average filter or Gaussian filter to the echo signal.
- the second image memory 16 is configured to store a radar image as two-dimensional raster image data composed of a set of digital pixel data expressed in an XY orthogonal coordinate system.
- the coordinate conversion unit 15 performs coordinate conversion of the range corresponding to the display range R ⁇ b> 2 in the synthesized echo signal in which the echo is expanded by the echo width adjustment unit 14, and stores it in the second image memory 16. As a result, a radar image of the display range R2 is formed on the second image memory 16 in the PPI format.
- the radar apparatus 50 extends the pulse width of the echo included in the synthesized echo signal to a pulse width suitable for the display range R2, thereby allowing the echo image in the radar image of the display range R2 to be displayed. Since visibility can be improved, a radar image of the display range R2 can be appropriately generated and displayed.
- the first radar image generation unit 10 and the second radar image generation unit 13 of the present embodiment are configured to display the radar image of each display range based on the common echo signal (specifically, the synthesized echo signal). Is generated.
- the common echo signal specifically, the synthesized echo signal.
- the transmission / reception period of the pulse signal (the period until the next pulse signal is transmitted) is made longer.
- a common pulse signal is used to generate radar images of two display ranges (R1 and R2), transmission and reception that can cover the display ranges of both display ranges (R1 and R2).
- a period needs to be set.
- R1 ⁇ R2 it is preferable that the transmission / reception period of the pulse signal is set based on R2, which is the wider display range.
- the transmission / reception period of the modulation pulse is set to be the same as or longer than the display range of the display range R2.
- the transmission / reception interval of the non-modulated pulse should be wider than the pulse width of the modulated pulse. As described above, it is sufficient to receive an echo from the dead zone corresponding to the pulse width of the modulated pulse during the transmission / reception period of the non-modulated pulse.
- this radar image display method includes a transmission step, a reception step, a first radar image generation step, a second radar image generation step, a display step, and an echo width adjustment step.
- the transmission unit 5 transmits a pulse signal with a pulse width corresponding to the display range R1.
- the receiving unit 6 receives an echo signal during a transmission / reception period of the pulse signal.
- the echo width adjusting unit 14 adjusts the pulse width of each echo included in the echo signal according to the display range R2.
- the first radar image generating unit 10 In the first radar image generating step, the first radar image generating unit 10 generates a radar image of the display range R1 based on an echo signal whose echo pulse width is not adjusted by the echo width adjusting unit 14.
- the second radar image generation unit 13 In the second radar image generation step, the second radar image generation unit 13 generates a radar image of the display range R2 based on the echo signal whose echo pulse width is adjusted by the echo width adjustment unit 14.
- the display unit 17 simultaneously displays the radar image in the display range R1 and the radar image in the display range R2.
- This radar image display method can simultaneously display radar images in the display ranges R1 and R2. According to this method, since it is not necessary to transmit pulse signals having different pulse widths for each display range, the number of types of pulse signals to be transmitted is small, and a decrease in PRF can be prevented.
- the configuration of the present invention is not limited to marine radar devices, but can be widely used for radar devices for other purposes.
- the radar images of the two display ranges are displayed on the display unit 17 at the same time, but the present invention is not limited to this.
- the display unit 17 may be configured to selectively switch and display a radar image in the display range R1 and a radar image in the display range R2.
- the first radar image generation unit 10 and the second radar image generation unit 13 are described as separate blocks, but the radar image generation units 10 and 13 do not have to be configured separately. That is, the functions of both the first radar image generation unit 10 and the second radar image generation unit 13 may be realized by processing one radar image generation unit in a time division manner.
- the radar images of two types (R1 and R2) of display ranges are configured to be displayed simultaneously (or selectively).
- the radar images of three or more types of display ranges are displayed simultaneously (or selected).
- the configuration of the present invention can be applied even to a configuration that displays. That is, a third radar image generation unit that generates a radar image of the third display range, a fourth radar image generation unit that generates a radar image of the fourth display range, and the like may be further provided.
- the echo width adjusting unit 14 performs processing for adjusting the pulse width for the synthesized echo signal (output of the pulse synthesizing unit 9).
- a process of adjusting the pulse width for the unmodulated echo signal output by the unmodulated echo signal processing unit 7 and the compressed echo signal output by the modulated echo signal processing unit 8 is performed, Thereafter, the pulse synthesizer 9 may synthesize both to generate a synthesized echo signal.
- processing for adjusting the pulse width of the echo image according to the display range may be performed on the orthogonal coordinate system radar image generated on the image memories 12 and 16.
- radar images of two display ranges are generated based on the same unmodulated pulse and modulated pulse. That is, the non-modulation pulse and the modulation pulse are shared in two display ranges.
- the present invention is not limited to this.
- a configuration may be adopted in which only modulated pulses are shared and non-modulated pulses are not shared. That is, in this case, three types of pulse signals are transmitted in order: an unmodulated pulse for R1, an unmodulated pulse for R2, and an unmodulated pulse shared by R1 and R2. Since there are three types of pulses, the PRF is lower than in the above embodiment, but the unmodulated pulse has the advantage of being able to perform signal processing (sensitivity adjustment, clutter removal processing) with different parameters for R1 and R2.
- the echo width adjusting unit 14 of the above embodiment performs a process of extending the pulse width of the echo included in the echo signal, but conversely, a process of reducing the echo pulse width may be performed.
- the process of adjusting the echo pulse width is not performed.
- the present invention is not limited to this.
- a process of adjusting the pulse width of the echo according to each display range may be performed.
- the radar apparatus of the above embodiment is configured as a pulse compression radar that transmits an unmodulated pulse and a modulated pulse.
- the present invention is not limited to this.
- an ordinary radar that transmits only unmodulated pulses can apply the present invention to obtain an effect of preventing a decrease in PRF.
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Abstract
Description
6 受信部
10 第1レーダ映像生成部
13 第2レーダ映像生成部
14 エコー幅調整部
17 表示部
50 レーダ装置
Claims (7)
- パルス信号を送信する送信部と、
前記パルス信号の送受信期間中にエコー信号を受信する受信部と、
第1表示レンジのレーダ映像を前記エコー信号に基づいて生成する第1レーダ映像生成部と、
前記第1表示レンジよりも広い第2表示レンジのレーダ映像を前記エコー信号に基づいて生成する第2レーダ映像生成部と、
前記第1表示レンジのレーダ映像と、前記第2表示レンジのレーダ映像と、を同時に又は選択的に表示する表示部と、
前記エコー信号又は前記レーダ映像に含まれる各エコーのパルス幅を、前記レーダ映像の表示レンジに応じて調整するエコー幅調整部と、
を備えることを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
前記第1レーダ映像生成部と、前記第2レーダ映像生成部は、共通のエコー信号に基づいて、それぞれの表示レンジのレーダ映像を生成することを特徴とするレーダ装置。 - 請求項1又は2に記載のレーダ装置であって、
前記第1レーダ映像生成部及び第2レーダ映像生成部の少なくとも何れか一方は、前記エコー幅調整部によってエコーのパルス幅を調整されたエコー信号に基づいてレーダ映像を生成することを特徴とするレーダ装置。 - 請求項3に記載のレーダ装置であって、
前記送信部は、前記第1表示レンジに応じたパルス幅で前記パルス信号を送信し、
前記エコー幅調整部は、前記エコー信号に含まれるエコーのパルス幅を、前記第2表示レンジに応じたパルス幅まで伸長し、
前記第1レーダ映像生成部は、前記エコー幅調整部によってエコーのパルス幅が調整されていないエコー信号に基づいて前記第1表示レンジのレーダ映像を生成し、
前記第2レーダ映像生成部は、前記エコー幅調整部によってエコーのパルス幅が伸長されたエコー信号に基づいて前記第2表示レンジのレーダ映像を生成することを特徴とするレーダ装置。 - 請求項1から4までの何れか一項に記載のレーダ装置であって、
前記送信部は、無変調パルスと、変調パルスと、を少なくとも送信し、
前記受信部は、前記無変調パルスの送受信期間中に無変調エコー信号を受信するとともに、前記変調パルスの送受信期間中には変調エコー信号を受信し、
前記変調エコー信号をパルス圧縮して圧縮済エコー信号を生成する変調エコー信号処理部を備え、
前記第1レーダ映像生成部及び前記第2レーダ映像生成部は、それぞれ、前記変調エコー信号及び前記圧縮済エコー信号に基づいて前記レーダ映像を生成し、
前記エコー幅調整部は、前記変調エコー信号及び前記圧縮済エコー信号の少なくとも何れか一方のエコー信号に含まれるエコーのパルス幅を、前記レーダ映像の表示レンジに応じて調整することを特徴とするレーダ装置。 - 請求項5に記載のレーダ装置であって、
前記無変調エコー信号及び前記圧縮済エコー信号を合成して合成エコー信号を生成するパルス合成部を備え、
前記エコー幅調整部は、前記合成エコー信号に含まれるエコーのパルス幅を前記表示レンジに応じて調整することを特徴とするレーダ装置。 - パルス信号を送信する送信工程と、
前記パルス信号の送受信期間中にエコー信号を受信する受信工程と、
第1表示レンジのレーダ映像を前記エコー信号に基づいて生成する第1レーダ映像生成工程と、
前記第1表示レンジよりも広い第2表示レンジのレーダ映像を前記エコー信号に基づいて生成する第2レーダ映像生成工程と、
前記第1表示レンジのレーダ映像と、前記第2表示レンジのレーダ映像と、を同時に又は選択的に表示する表示工程と、
前記エコー信号又は前記レーダ映像に含まれる各エコーのパルス幅を、前記レーダ映像の表示レンジに応じて調整するエコー幅調整工程と、
を含むことを特徴とするレーダ映像表示方法。
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