WO2014125960A1 - Signal processing device and signal processing method - Google Patents

Signal processing device and signal processing method Download PDF

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Publication number
WO2014125960A1
WO2014125960A1 PCT/JP2014/052500 JP2014052500W WO2014125960A1 WO 2014125960 A1 WO2014125960 A1 WO 2014125960A1 JP 2014052500 W JP2014052500 W JP 2014052500W WO 2014125960 A1 WO2014125960 A1 WO 2014125960A1
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WO
WIPO (PCT)
Prior art keywords
radar
communication
signal
detection
racon
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PCT/JP2014/052500
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French (fr)
Japanese (ja)
Inventor
潤 山林
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古野電気株式会社
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Publication of WO2014125960A1 publication Critical patent/WO2014125960A1/en

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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.
    • 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
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary 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
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control

Definitions

  • the present invention relates to a signal processing device provided in a radar device and a signal processing method in the radar device.
  • Patent Documents 1 and 2 disclose a configuration in which information held by a radar device is transmitted using a pulse signal.
  • the radar beacon 102 is referred to as a racon 102.
  • the racon 102 is disposed in the vicinity of the land 104.
  • the radar apparatus 100 communicates with the racon 102 in the communication range 106.
  • the communication range 106 is a fan-shaped range centering on the antenna unit 105 of the radar apparatus 100. In this case, in the communication range 106, the radar apparatus 100 does not transmit a pulse signal for detection, and thus does not detect a target.
  • echo images are not displayed on the PPI screen 107 of the radar apparatus 100 for the racon 102, the other ship 103, and the land 104 existing in the communication range 106. More specifically, the echo image of the racon 102 is not seen at all, and the echo image P103 of the other ship 103 and the echo image P104 of the land 104 are lacking in the communication range 106. Therefore, the operator of the radar apparatus 100 cannot recognize the target in the communication range 106 on the PPI screen 107.
  • the present invention has an object to provide a signal processing device and a signal processing method capable of displaying a detection result even in an area where data transmission is performed in view of the above situation.
  • a signal processing device is a signal processing device provided in a radar device.
  • the signal processing device includes a detection signal generation unit, a communication signal generation unit, a communication range detection unit, and an image data generation unit.
  • the detection signal generation unit is configured to transmit a detection signal for detecting a target around the radar device.
  • the communication signal generation unit is configured to transmit a communication signal for communicating with a predetermined communication target.
  • the communication range detection unit is configured to detect a communication range communicating with the communication target in an azimuth direction around the radar device.
  • the image data generation unit is configured to generate image data indicating a detection result using the detection signal.
  • a process for generating the image data indicating the detection result of the communication range is different from a process for generating the image data indicating the detection result outside the communication range.
  • the signal processing device further includes a determination unit that determines which of the detection signal and the communication signal is transmitted.
  • the determination unit makes the transmission interval of the detection signal in the communication range larger than the transmission interval of the detection signal outside the communication range.
  • the determination unit transmits the communication signal when the detection signal is not transmitted in the communication range.
  • the image data generation unit generates the image data indicating a detection result of the communication range using a past detection result.
  • the signal processing device further includes a sweep memory.
  • the sweep memory stores a detection reception signal received after transmission of the detection signal.
  • the image data generation unit can use the detection reception signal stored in the sweep memory as the past detection result.
  • the signal processing device further includes an image memory.
  • the image memory stores image data indicating past detection results as past image data.
  • the image data generation unit uses the past image data as the past detection result.
  • the image data generation unit generates the image data so that display specifying the communication range is performed.
  • the image data generation unit generates the image data so that display specifying the position of the communication target is performed.
  • a signal processing method is a signal processing method in a radar apparatus.
  • the signal processing method includes a detection signal generation step, a communication signal generation step, a communication range detection step, and an image data generation step.
  • a detection signal for detecting a target around the radar apparatus is generated.
  • a communication signal transmitting step a communication signal for communicating with a predetermined communication target is generated.
  • a communication range communicating with the communication target is detected in an azimuth direction around the radar device.
  • image data generation step image data indicating a detection result using the detection signal is generated.
  • the process for generating the image data indicating the detection result of the communication range is different from the process for generating the image data indicating the detection result outside the communication range.
  • the detection result can be displayed even in the area where data transmission is performed.
  • FIG. 1 is a conceptual diagram for explaining the concept of the radar system 1 according to the first embodiment of the present invention.
  • the radar system 1 is a marine radar system will be described as an example.
  • the radar system 1 may be a radar system for other moving objects such as an aircraft.
  • the radar system 1 includes a radar transceiver 10 and a radar beacon (hereinafter referred to as a racon) 20.
  • the radar transceiver 10 is an example of the “radar apparatus” in the present invention.
  • the racon 20 is an example of the “communication target” in the present invention.
  • FIG. 2 is a schematic diagram showing an example of the positional relationship between the radar transceiver 10 and the racon 20.
  • FIG. 2 shows a circular area centering on the radar transceiver 10 (own ship 2).
  • FIG. 3 is a diagram showing a display example of a PPI (Plan Position Indicator) screen 161 of a radar image display 16 to be described later of the radar transceiver 10.
  • FIG. 2 shows a display corresponding to the display content on the PPI screen 161.
  • PPI Plan Position Indicator
  • FIG. 2 shows a state where the racon 20, the other ship 3, and the land 4 are present around the radar transceiver 10 (own ship 2).
  • a radar transceiver 10 is a marine radar provided in a vessel such as a fishing boat.
  • the ship provided with the radar transceiver 10 is referred to as “own ship”.
  • a ship other than own ship 2 is referred to as other ship 3.
  • the radar transceiver 10 is configured to alternately perform transmission of an electromagnetic wave and reception of an echo signal Ec generated by reflecting the emitted electromagnetic wave. More specifically, the radar transceiver 10 is configured to transmit a radar wave W10.
  • the radar wave W10 includes a radar detection pulse W11 for detecting a target or a radar communication pulse W12 for communication.
  • the radar detection pulse W11 is a pulse signal for detecting a target around the ship 2.
  • An echo signal Ec is transmitted toward the ship 2 due to the emission of the radar detection pulse W11.
  • the radar transceiver 10 generates image data of an image displayed on the PPI screen 161 using the echo signal Ec.
  • the radar communication pulse W12 is a communication signal for transmitting radar communication information D10 held by the radar transceiver 10 to the racon 20.
  • the radar communication information D10 is, for example, information (a ship's register, ship number, etc.) that identifies the ship 2.
  • the radar communication information D10 may not be information that identifies the ship 2 but may be arbitrary information such as character information, image information, or voice information.
  • the racon 20 is disposed in a narrow channel. In the present embodiment, a case where the ship 2 navigates the gorge channel will be described as an example.
  • the racon 20 transmits the racon response wave W20. That is, the racon 20 is configured to transmit the racon response wave W20 using the radar wave W10 as a trigger.
  • the racon response wave W20 includes a racon notification pulse W21 or a racon communication pulse W22.
  • the racon notification pulse W ⁇ b> 21 is a notification signal for notifying the radar transceiver 10 of the presence of the racon 20.
  • the racon communication pulse W22 is a communication signal for transmitting the racon communication information D20 given to the racon 20 to the radar transceiver 10.
  • the racon communication information D20 is information including at least one of characters, images, and sounds.
  • the racon communication information D20 includes information indicating the position (latitude and longitude) of the racon 20 and weather information of the sea area where the racon 20 is installed. Note that the racon communication information D20 is not limited to the above-described exemplary content, and may be other information.
  • the racon communication information D20 is information that is not intended to be displayed on the PPI screen 161.
  • the radar transceiver 10 receives the antenna reception wave W1 in response to the transmission of the radar wave W10. Specifically, when the radar transceiver 10 transmits a radar detection pulse W11, the antenna reception wave W1 includes an echo signal Ec. The radar transceiver 10 displays an echo image specified by the echo signal Ec on the PPI screen 161. In this case, when the antenna received wave W1 includes the racon notification pulse W21, an image specified by the racon notification pulse W21 is also displayed on the PPI screen 161.
  • FIG. 3 displays a Morse code-like image PD indicating “D” as an image specified by the racon notification pulse W21.
  • the radar transceiver 10 transmits the radar communication pulse W12 toward the racon 20, the antenna reception wave W1 includes the racon communication pulse W22.
  • the radar transceiver 10 displays the racon communication information D20 included in the racon communication pulse W22 on a screen different from the PPI screen 161.
  • FIG. 4 is a block diagram showing the configuration of the racon 20. Next, a specific configuration of the racon 20 will be described. As shown in FIGS. 1 and 4, the racon 20 is provided as a transponder device, and transmits a racon response wave W20 in response to receiving the radar wave W10.
  • the racon 20 includes an antenna unit 21, a circulator 22, a receiver 23, a transmitter 24, an information transmission / reception processing unit 25, a racon communication information memory 26, and a reception information memory 27.
  • the antenna unit 21 is configured to perform reception of electromagnetic waves and transmission of electromagnetic waves. Specifically, the antenna unit 21 receives the radar wave W ⁇ b> 10 and outputs the radar wave W ⁇ b> 10 to the receiver 23 via the circulator 22. The antenna unit 21 transmits a racon response wave W20 output from the transmitter 24 via the circulator 22.
  • the antenna unit 21 is used to transmit and receive electromagnetic waves, but this need not be the case.
  • the electromagnetic wave transmitting antenna unit and the electromagnetic wave receiving antenna unit may be separate.
  • the circulator 22 is a three-port circulator to which the antenna unit 21, the receiver 23, and the transmitter 24 are connected.
  • the circulator 22 transmits the radar wave W10 received by the antenna unit 21 to the receiver 23. Further, the circulator 22 transmits the racon response wave W20 output from the transmitter 24 to the antenna unit 21.
  • the receiver 23 amplifies the radar wave W10 output from the circulator 22 and outputs it to the information transmission / reception processing unit 25.
  • the transmitter 24 upconverts and amplifies the racon response wave W20 generated by the information transmission / reception processor 25 to a predetermined RF frequency band.
  • the transmitter 24 outputs the racon response wave W20 to the circulator 22 at the timing indicated by the transmission trigger Tg generated by the information transmission / reception processing unit 25. Accordingly, the transmitter 24 transmits the racon response wave W20 toward the antenna unit 11 of the radar transceiver 10.
  • the information transmission / reception processing unit 25 When receiving the radar wave W10 from the radar transceiver 10, the information transmission / reception processing unit 25 is configured to generate a racon response wave W20 corresponding to the radar wave W10 and to perform transmission processing of the racon response wave W20. Has been.
  • the information transmission / reception processing unit 25 is configured using a CPU, a RAM, a ROM (not shown), and the like.
  • the information transmission / reception processing unit 25 includes a demodulation processing unit 251, a transmission information setting unit 252, a pulse waveform generation unit 253, and a transmission timing setting unit 254.
  • the demodulation processing unit 251 is connected to the receiver 23 and receives the radar wave W10 from the receiver 23.
  • the demodulation processing unit 251 demodulates the radar communication pulse W12 using a demodulation method corresponding to the modulation method of the radar transceiver 10.
  • the demodulation processing unit 251 acquires the signal sequence of the radar communication information D10 by the demodulation process of the radar communication pulse W12.
  • the demodulation processing unit 251 outputs the radar communication information D10 to the transmission information setting unit 252.
  • the demodulation processing unit 251 outputs the demodulation processing result of the radar detection pulse W11 to the transmission information setting unit 252.
  • the transmission information setting unit 252 sets a predetermined signal sequence based on the processing result of the demodulation processing unit 251. Specifically, when the demodulation processing unit 251 outputs the signal sequence of the radar communication information D10, the transmission information setting unit 252 reads the racon communication information D20 from the racon communication information memory 26. Then, transmission information setting section 252 generates a signal sequence of racon communication information D21.
  • the signal sequence of the racon communication information D21 is a signal sequence obtained by adding an additional signal sequence to the signal sequence of the racon communication information D20.
  • the additional signal sequence includes a signal sequence as a preamble for the radar transceiver 10 to detect and synchronize the racon response wave W20, and a signal sequence for specifying a code for error detection / error correction.
  • Each of the signal sequence and the additional signal sequence of the racon communication information D20 is a binary code string indicating the information as binary values of “0” and “1”.
  • the transmission information setting unit 252 when the demodulation processing unit 251 outputs the demodulation processing result of the radar detection pulse W11, the transmission information setting unit 252 generates a signal sequence of the racon notification pulse W21.
  • the pulse waveform generation unit 253 modulates the signal series set by the transmission information setting unit 252 by a predetermined method. As a result, the pulse waveform generator 253 generates the racon response wave W20 (the racon detection pulse W21 or the racon communication pulse W22).
  • the racon communication pulse W22 includes racon communication information D20.
  • ASK Amplitude Shift Keying
  • FSK Frequency Shift Keying
  • PSK Phase Shift Keying
  • the timing at which the transmitter 24 outputs the racon response wave W20 is set by the transmission timing setting unit 254.
  • the transmission timing setting unit 254 detects the falling edge or the rising edge of the radar wave W10.
  • the transmission timing setting unit 254 generates a transmission trigger Tg of the racon response wave W20 after a predetermined period has elapsed since the detection of the edge.
  • the transmission timing setting unit 254 outputs this transmission trigger Tg to the transmitter 24.
  • this transmission trigger Tg is given, the transmitter 24 outputs a racon response wave W20 to the antenna 21 via the circulator 22.
  • the racon communication information memory 26 is a storage unit provided in the racon 20, and is formed by using, for example, a nonvolatile memory such as a ROM or a flash memory.
  • the racon communication information memory 26 may be provided as one component of the racon 20 or may be provided as an element different from the racon 20.
  • the reception information memory 27 is a storage unit provided in the racon 20 and is formed by using, for example, a nonvolatile memory such as a ROM or a flash memory.
  • the reception information memory 27 may be provided as one component of the racon 20 or may be provided as an element different from the racon 20.
  • the reception information memory 27 stores the demodulation processing result of the demodulation processing unit 251.
  • the racon 20 can store the radar communication information D10.
  • the radar communication information D10 is used as, for example, a ship navigation history.
  • FIG. 5 is a block diagram showing the configuration of the radar transceiver 10.
  • the radar transceiver 10 includes an antenna unit 11, a circulator 12, a transmitter 13, a receiver 14, a signal processing unit 15, a radar image display 16, and communication.
  • An information display 17 and a radar communication information memory 18 are provided.
  • the antenna unit 11 is configured to perform transmission of electromagnetic waves and reception of electromagnetic waves. Specifically, the antenna unit 11 outputs a radar wave W10 output from the transmitter 13 via the circulator 12. The antenna unit 11 receives the antenna reception wave W1 and outputs the antenna reception wave W1 to the receiver 14 via the circulator 12.
  • the antenna unit 11 transmits the radar wave W10 to the 360 degrees around the ship 2 while receiving the antenna reception wave W1 while rotating around the vertical axis.
  • the operation from the transmission of the radar wave W10 to the transmission of the next pulsed radio wave is referred to as “sweep”.
  • the operation of rotating the antenna unit 11 360 ° while transmitting / receiving radio waves is referred to as “scan”.
  • the antenna reception wave W1 received after the transmission includes the echo signal Ec.
  • the echo signal Ec is a reflected wave generated by the transmission of the radar detection pulse W11.
  • the racon 20 transmits the racon notification pulse W21. Therefore, in this case, the antenna reception wave W1 includes the racon notification pulse W21 in addition to the echo signal Ec.
  • the echo signal Ec and the racon notification pulse W21 are collectively referred to as a detection reception signal R (k).
  • the detection reception signal R (k) is a signal received by the antenna unit 11 after the antenna unit 11 transmits the radar detection pulse W11.
  • the time k indicates the time when the detection reception signal R (k) is received.
  • the radar transceiver 10 transmits the radar communication pulse W12 toward the racon 20, the received antenna reception wave W1 includes the racon communication pulse W22 but does not include the echo signal Ec.
  • the antenna unit 11 is used to perform a transmission operation and a reception operation.
  • the electromagnetic wave transmitting antenna unit and the electromagnetic wave receiving antenna unit may be separate.
  • the circulator 12 is a three-port circulator to which the antenna unit 11, the transmitter 13, and the receiver 14 are connected.
  • the circulator 12 transmits the radar wave W10 output from the transmitter 13 to the antenna unit 11. Further, the circulator 12 transmits the antenna reception wave W ⁇ b> 1 received by the antenna unit 11 to the receiver 14.
  • the transmitter 13 up-converts and amplifies the radar wave W10 (radar detection pulse W11 or radar communication pulse W12) generated by the signal processing unit 15 to a predetermined RF (Radio frequency) frequency band.
  • the receiver 14 amplifies the antenna reception wave W1 from the antenna unit 11.
  • the receiver 14 outputs the amplified antenna reception wave W ⁇ b> 1 to the signal processing unit 15.
  • the signal processing unit 15 is an example of the “signal processing device” in the present invention.
  • the signal processing unit 15 is configured to generate a radar wave W10. Further, the signal processing unit 15 generates the pixel data Y k [i, j] of the image to be displayed on the radar image display 16 and the racon communication information to be displayed on the communication information display 17 based on the antenna reception wave W1. D20 is extracted.
  • the signal processing unit 15 includes a sweep memory 151, an image data generation unit 152, a demodulation processing unit 153, a determination unit 154, a radar communication information setting unit 155, a radar communication pulse generation unit 156, and a radar detection pulse generation unit. 157 and a transmission waveform switching unit 158.
  • the sweep memory 151 is configured to store the detection reception signal R (k) received by the receiver 14.
  • the detection reception signal R (k) is a reception signal of R- ⁇ system coordinates. The position corresponding to the detection reception signal R (k) is indicated by polar coordinates shown in FIG. 2 where the position from the antenna unit 11 (own ship 2) is the distance r and the angle about the antenna unit 11 is the antenna angle ⁇ . Identified.
  • the sweep memory 151 stores the latest detection reception signal R (k) or the detection reception signal R (k ⁇ 1) of the past for one sweep.
  • the reception signal R (k ⁇ 1) for past detection for one sweep is an example of the “past detection result” of the present invention.
  • the detection reception signals R (k) and R (k ⁇ 1) are collectively referred to as detection reception signals R (K).
  • FIG. 6 is a flowchart for explaining an example of the operation of the sweep memory 151.
  • the sweep memory 151 determines whether or not the radar wave W10 transmitted at the most recent time is a detector detection pulse W11 (step S101). Specifically, the sweep memory 151 determines whether or not a command signal CM (described later) output from the determination unit 154 is a command for transmitting the radar detection pulse W11.
  • CM command signal
  • the sweep memory 151 stores the detection reception signal R (k) from the receiver 14 (step S102). . That is, the sweep memory 151 updates the detection reception signal R (k).
  • the sweep memory 151 does not store the detection reception signal R (k) from the receiver 14 (Step S101). S103). In this case, the sweep memory 151 does not update the stored contents, and retains the detection reception signal R (k ⁇ 1) that is already held as a past detection result.
  • the detection reception signal R (k) or the detection reception signal R (k ⁇ 1) stored in the sweep memory 151 is supplied to the image data generation unit 152.
  • the image data generation unit 152 is configured to generate image data based on the detection result using the radar detection pulse W11. More specifically, the image data generation unit 152 generates pixel data Y k [i, j] for causing the radar image display 16 to display using the detection reception signal R (K).
  • the pixel data Y k [i, j] is an example of the “image data” in the present invention.
  • the image data generation unit 152 includes a pixel data generation unit 152a and an image memory 152b.
  • the pixel data generation unit 152a determines pixel data G k [i, j] to be written to the image memory 152b based on the detection reception signal R (K).
  • [I, j] indicates coordinates in the XY coordinate system
  • pixel data G k [i, j] indicates a signal level at coordinates specified by [i, j].
  • the pixel data generation unit 152a converts each position specified by the detection reception signal R (K) from the R- ⁇ coordinate system to the XY coordinate system (orthogonal coordinate system).
  • the pixel data generation unit 152a sets the position of the antenna unit 11 as the origin (i 0 , j 0 ).
  • the pixel data generation unit 152a corresponds to the XY coordinate system based on the antenna angle ⁇ and the reading position of the detection reception signal R (K) (corresponding to the distance r from the antenna unit 11).
  • the address (position) is determined.
  • Pixel data G k [i, j] obtained based on one detection reception signal R (K) is pixel data of a region detected by one sweep operation.
  • the pixel data generation unit 152a outputs the pixel data G k [i, j] to the image memory 152b.
  • the image memory 152b stores pixel data G k [i, j] for a plurality of sweeps corresponding to one scan.
  • the image memory 152b performs processing on at least a part of the accumulated pixel data G k [i, j] for one scan. Thereby, each pixel data G k [i, j] is output to the radar image display 16 as pixel data Y k [i, j].
  • the radar image display 16 is configured to display an image specified by the pixel data Y k [i, j].
  • the radar image display 16 is a display device such as a liquid crystal display.
  • the PPI screen 161 of the radar image display 16 is configured to two-dimensionally display the position of the target by scanning lines that rotate on a circular display area.
  • the PPI screen 161 displays the position of own ship 2 as the center. Each pixel of the PPI screen 161 displays a color and gradation according to the received signal level at the corresponding coordinates (i, j). As a result, the echo image P3 of the other ship 3, the echo image P4 of the land 4 and the echo image P20 of the racon 20 are displayed on the PPI screen 161.
  • the radar transceiver 10 is configured to alternatively transmit a radar detection pulse W11 and a radar communication pulse W12. For this reason, the radar transceiver 10 cannot detect the target because it does not transmit the radar detection pulse W11 while transmitting the radar communication pulse W12.
  • pixel data Y k [i, j] is generated when the radar wave W10 can communicate with the racon 20 and when the radar wave W10 cannot communicate with the racon 20.
  • the processing to do is different.
  • the radar detection pulse W11 is also used in the PCA1 corresponding to the communication range CA1 in which the radar transceiver 10 and the racon 20 can communicate on the PPI screen 161. The detection result is displayed. A specific example of such processing will be described later.
  • the communication range CA1 indicates a range in which the radar transceiver 10 and the racon 20 can communicate with each other.
  • the communication range CA1 is a fan-shaped area in plan view.
  • the antenna reception wave W1 is output to the demodulation processing unit 153 in addition to the sweep memory 151.
  • the demodulation processing unit 153 demodulates the racon response wave W20 using a demodulation method corresponding to the modulation method of the racon 20. Thereby, the demodulation process part 153 acquires racon communication information D20.
  • the racon communication information D20 is output to the communication information display 17 and the determination unit 154.
  • the communication information display 17 is a display for displaying the racon communication information D20.
  • the communication information indicator 17 is a display device such as a liquid crystal display.
  • the communication information display 17 and the radar image display 16 are configured separately, but this need not be the case.
  • the communication information display 17 and the radar image display 16 may be configured by a display device having a single display screen.
  • the determination unit 154 is an example of the “communication range detection unit” in the present invention.
  • the determination unit 154 is provided to determine which of the radar detection pulse W11 and the radar communication pulse W12 is to be transmitted.
  • the determination unit 154 performs processing for transmitting the radar detection pulse W11 to the communication range CA1 between transmissions of the radar communication pulse W12. An example of the flow of processing in the determination unit 154 will be described later. Next, a configuration for generating the radar communication pulse W12 will be described.
  • the radar information setting unit 155 is configured to generate a signal sequence of the radar communication information D11.
  • the signal sequence of the radar communication information D11 is a signal sequence obtained by adding an additional signal sequence to the signal sequence of the radar communication information D10 stored in the radar communication information memory 18.
  • the additional signal series includes a signal series as a preamble indicating the radar communication pulse W12, and a signal series for specifying a code for error detection / error correction.
  • the radar communication information setting unit 155 outputs the signal sequence of the radar communication information D11 to the radar communication pulse generation unit 156.
  • the radar communication information memory 18 in which the radar communication information D10 is stored is a storage unit provided in the radar transceiver 10, and is formed by using, for example, a nonvolatile memory such as a ROM or a flash memory.
  • the radar communication information memory 18 may be provided as one component of the radar transceiver 10 or may be provided as an element different from the radar transceiver 10.
  • the radar communication pulse generation unit 156 is an example of the “communication signal generation unit” in the present invention.
  • the radar communication pulse generation unit 156 performs generation processing of the radar communication pulse W12.
  • the radar communication pulse generator 156 modulates the signal sequence of the radar communication information D11 by a predetermined method. Thereby, the radar communication pulse generation unit 156 generates the radar communication pulse W12.
  • the radar communication pulse W12 is an example of the “communication signal for communicating with a communication target” in the present invention.
  • Radar communication pulse W12 is output to transmission waveform switching section 158.
  • the transmission waveform switching unit 158 is connected to the radar detection pulse generation unit 157 in addition to the radar communication pulse generation unit 156.
  • the radar detection pulse generation unit 157 is an example of the “detection signal generation unit” in the present invention.
  • the radar detection pulse generator 157 generates a waveform of the radar detection pulse W11.
  • the radar detection pulse W11 is an example of the “detection signal for detecting a target around the radar device” of the present invention, and generates an echo signal Ec having a sufficiently strong intensity when irradiated on the target. It is a pulse. As a result, the target can be detected using the radar detection pulse W11.
  • the radar communication pulse W12 is a data communication pulse for transmitting the radar communication information D10, and is not a pulse for generating the echo signal Ec when the target is irradiated. That is, the radar communication pulse W12 is not used for detecting a target.
  • the radar detection pulse generation unit 157 transmits the radar detection pulse W11 to the transmission waveform switching unit 158.
  • the transmission waveform switching unit 158 switches between the mode for transmitting the radar detection pulse W11 and the mode for transmitting the radar communication pulse W12 based on the command signal CM from the determination unit 154.
  • the transmission waveform switching unit 158 selects the mode for transmitting the radar detection pulse W11
  • the transmission waveform switching unit 158 outputs the radar detection pulse W11 from the radar detection pulse generation unit 157 to the transmitter 13.
  • the transmission waveform switching unit 158 selects the mode for transmitting the radar communication pulse W12
  • the transmission waveform switching unit 158 outputs the radar communication pulse W12 from the radar communication pulse generation unit 156 to the transmitter 13.
  • FIG. 7 is a flowchart illustrating an example of a processing flow of the determination unit 154.
  • the determination unit 154 determines whether the antenna received wave W1 demodulated by the demodulation processing unit 153 includes the racon response wave W20 (step S201). For example, when the power of the antenna reception wave W1 is less than the predetermined power, the determination unit 154 determines that the racon response wave W20 is not included in the antenna reception wave W1 (NO in step S201).
  • the determination unit 154 determines the presence or absence of the racon response wave W20 depending on whether or not the demodulation processing result in the demodulation processing unit 153 includes a preamble signal sequence indicating the racon response wave W20. Also good. For example, when the demodulation processing unit 153 successfully demodulates the racon response wave W20, the determination unit 154 may determine that the antenna received wave W1 includes the racon response wave W20.
  • the determination unit 154 transmits a signal indicating that the radar detection pulse W11 is transmitted as the command signal CM to the transmission waveform switching unit. It transmits to 158 (step S202).
  • the determination unit 154 determines that the racon response wave W20 is included in the antenna reception wave W1 (YES in step S201). Determination unit 154 treats the range in which racon response wave W20 is detected as communication range CA1. Thus, the determination unit 154 detects the communication range CA1 that communicates with the racon 20 in the azimuth direction C1 by determining whether or not the racon response wave W20 is included in the antenna reception wave W1.
  • the determination unit 154 determines the number of times the radar communication pulse W12 is continuously transmitted (step S203). Specifically, if the radar communication pulse W12 from radar transceiver 10 has been continuously transmitted x 1 time (YES in step S203), the determination unit 154 as a command signal CM, transmits the radar detection pulse W11 The signal is output to the transmission waveform switching unit 158 (step S202). Thereby, the radar transceiver 10 can be switched to the detection mode even while the radar transceiver 10 is in the communication mode.
  • the continuous transmission number of racons communication pulse W22 is is less than x 1 sweep times (NO in step S203), the determination unit 154 as a command signal CM, the signal to be transmitted radar communication pulse W12, transmission waveform switching The data is output to the unit 158 (step S204).
  • the above is an example of processing in the determination unit 154. Next, a state realized by the determination by the determination unit 154 will be described.
  • FIG. 8 is a diagram for explaining the main points of the operation of the radar transceiver 10 and the main points of the operation of the racon 20.
  • the radar transceiver 10 transmits the radar detection pulse W ⁇ b> 11 to the outside of the communication range CA ⁇ b> 1 in the operation of the ⁇ 1 sweep (timing T ⁇ b> 1), the racon 20 The racon response wave W20 is not transmitted. Thereafter, in the operation of the ⁇ 2 sweep, the radar transceiver 10 transmits the radar detection pulse W11 toward the communication range CA1 (timing T2). Thereafter, the radar transceiver 10 starts receiving the detection reception signal R (k) (timing T3).
  • the racon 20 transmits a racon notification pulse W21 to the radar transceiver 10 (timing T4).
  • the racon response wave W20 is received by the radar transceiver 10.
  • the radar transceiver 10 recognizes the presence of the racon 20.
  • radar transceiver 10 transmits a radar communication pulse W12 (timing T5), then starts receiving the racon communication pulse W22 (Step T6).
  • the racon 20 that has received the radar communication pulse W12 acquires the radar communication information D10 by performing demodulation processing on the radar communication pulse W12, and stores the radar communication information D10 in the reception information memory 27.
  • the racon 20 outputs a racon communication pulse W22 in parallel with this storage operation (timing T7).
  • the racon communication pulse W22 is received by the radar transceiver 10, and as a result, the racon communication information D20 is displayed on the communication information display 17.
  • the radar communication pulse W12 is not transmitted continuously x 2 times. Therefore, the radar transceiver 10, the theta 4 sweep th operation, again, sends the radar communication pulse W12 (timing T8). Thereafter, the radar transceiver 10 starts receiving the racon communication pulse W22 (timing T9).
  • the racon 20 that has received the radar communication pulse W12 performs demodulation processing of the radar detection pulse W11, thereby acquiring the radar communication information D10, and stores the radar communication information D10 in the reception information memory 27.
  • the racon 20 outputs a racon communication pulse W22 in parallel with this storage operation (timing T10).
  • the racon communication pulse W22 is received by the radar transceiver 10, and as a result, the racon communication information D20 is displayed on the communication information display 17.
  • radar communications pulse W12 is, x 2 sweeps (2 sweep) is transmitted continuously. Therefore, the determination unit 154 outputs a transmission command of the radar detection pulse W11 to the transmission waveform switching unit 158 as the command signal CM.
  • the radar transceiver 10 theta 5 in sweep th operation, transmits the radar detection pulse W11 (timing T11). Thereafter, the radar transceiver 10 starts receiving the detection reception signal R (k) (timing T12).
  • the operation from timing T2 to timing T11 is repeated while reaching the racon 20. That is, the operation from timing T11 to T20 is the same as the operation from timing T2 to timing T11.
  • the radar transceiver 10 After timing T20, when the radar wave W10 does not reach the communication range CA1 with the rotation of the antenna unit 11, the radar transceiver 10 repeats transmission of the radar detection pulse W11. When the radar wave W10 reaches the communication range CA1 again with the rotation of the antenna unit 11, the processes at timings T2 to T11 are repeated.
  • the radar detection pulse W11 is transmitted between the time when the radar communication pulse W12 is repeatedly transmitted. 2, 3, and 5, with the above-described configuration, on PPI screen 161, display without a sense of incongruity is performed between range PCA ⁇ b> 1 corresponding to communication range CA ⁇ b> 1 and other ranges.
  • the outside of the range PCA1 corresponding to outside the communication range CA1 shows a detection result obtained by transmitting the radar detection pulse W11 at the same azimuth interval as the resolution of the radar transceiver 10. .
  • the echo image P3 of the other ship 3 and the echo image P4 of the land 4 are displayed as images continuous in the azimuth direction C1.
  • a range PCA1 corresponding to the communication range CA1 indicates a detection result when the radar detection pulse W11 is transmitted at an azimuth interval three times the resolution of the radar transceiver 10.
  • the image of the direction in which the radar communication pulse W12 is transmitted is displayed on the PPI screen 161 using the detection result by the transmission of the latest radar detection pulse W11. Is done.
  • the range PCA1 corresponding to the communication range CA1 the lack of images due to the fact that the radar detection pulse W11 is not transmitted is compensated.
  • the signal processing unit 15 of the present embodiment has a configuration for indicating that the echo image display processing related to the range PCA1 corresponding to the communication range CA1 is different from the echo image display processing related to other than the range PCA1. is doing.
  • the determination unit 154 specifies a range in which the racon response wave W20 is detected in the azimuth direction C1 by referring to the command signal CM generated by itself.
  • the determination unit 154 outputs a command signal CM for changing the contour of the pixel region corresponding to this range as indicated by a broken line to the image memory 152b.
  • the image memory 152b changes the corresponding pixel data G k [i, j] in the image memory 152b as instructed.
  • the pixel data after this change processing is performed is output as pixel data Y k [i, j].
  • the outline of the communication range CA1 is indicated by a dotted line.
  • the radar communication pulse W12 is transmitted in the communication range CA1. Then, while the radar communication pulse W12 is being transmitted, the radar detection pulse W11 is not transmitted. For this reason, the target is not detected in the area where the radar detection pulse W11 is not transmitted in the communication range CA1.
  • the pixel data Y k [i, j] indicating the detection result of the communication range CA1 and process for generating, pixel data indicating the communication range CA1 outside of the detection results Y k [i, j] This is different from the process for generating.
  • the pixel data G k [i, j] indicating the target detection result can be generated by the image data generation unit 152 even in the area where the radar detection pulse W11 is not transmitted in the communication range CA1. It becomes possible. As described above, the detection result using the radar detection pulse W11 can be displayed on the PPI screen 161 for the communication range CA1 in which data communication is performed.
  • the determination unit 154 makes the transmission interval of the radar detection pulse W11 in the communication range CA1 larger than the transmission interval of the radar detection pulse W11 outside the communication range CA1.
  • the determination unit 154 causes the radar communication pulse W12 to be transmitted when the radar detection pulse W11 is not transmitted in the communication range CA1. Thereby, the radar transceiver 10 can detect the target while transmitting the radar communication information D10 in the communication range CA1.
  • the image data generation unit 152 uses the past detection reception signal R (k-1) in addition to the detection reception signal R (k) to detect the communication range CA1. To generate pixel data G k [i, j]. Thereby, the radar transceiver 10 can generate the pixel data G k [i, j] by using the past detection result even in the region where the radar detection pulse W11 is not transmitted.
  • the image data generation unit 152 uses the past detection reception signal R (k ⁇ 1) stored in the sweep memory 151 as the past detection result. That is, the image data generation unit 152 can use the detection reception signal R (k ⁇ 1) as raw data obtained by transmitting the radar detection pulse W11 as a past detection result. . Thereby, the image data generation unit 152 can generate more accurate pixel data Y k [i, j]. As a result, the image data generation unit 152 can generate pixel data Y k [i, j] that can more accurately display the target detection result in the communication range CA1 on the PPI screen 161.
  • the image data generation unit 152 generates pixel data G k [i, j] that can be displayed to specify the communication range CA1. Thereby, the operator who has seen the PPI screen 161 can recognize the communication range CA1. As a result, it is possible to notify the operator of the radar transceiver 10 that the detection result of the communication range CA1 and the detection result outside the communication range CA1 are displayed on the PPI screen 161 through different image processing.
  • the image data generation unit 152 generates the pixel data Y k [i, j] so that display for specifying the position of the racon 20 is performed.
  • the operator who sees the display on the PPI screen 161 can know the position of the racon 20. That is, the echo image P20 of the racon 20 as a target within the communication range CA1 to which the radar communication pulse W12 is transmitted can be displayed on the PPI screen 161.
  • the second embodiment of the present invention is different from the first embodiment in the processing in the sweep memory 151, the processing in the selection unit 154, and the processing in the image memory 152b. This will be specifically described below.
  • the sweep memory 151 holds only the reception signal R (k) for detection in the latest sweep operation regardless of whether or not the radar wave W1 transmitted from the radar transceiver 10 is the radar detection pulse W11.
  • FIG. 9 is a flowchart for explaining an example of a processing flow in the determination unit 154 according to the second embodiment of the present invention.
  • the determination unit 154 performs the process shown in FIG. 9 for each sweep operation. As shown in FIGS. 5 and 9, the determination unit 154 first determines whether or not the antenna received wave W1 received by the receiver 14 includes the racon communication pulse W22 (step 301). The determination unit 154 determines the presence or absence of the racon communication pulse W22 based on, for example, whether or not a preamble indicating the racon communication pulse W22 is included.
  • the determination unit 154 transmits a signal indicating that the radar detection pulse W11 is transmitted in the same direction at the next scan as the command signal CM.
  • the waveform is transmitted to the transmission waveform switching unit 158 (step S302).
  • determining unit 154 determines that racon communication pulse W22 is included in antenna reception wave W1 (YES in step S301)
  • racon communication pulse W22 continues in the direction in which racon communication pulse W22 is received.
  • the number of times of transmission is determined (step S303).
  • the radar transceiver 10 can be switched to the detection mode even while the radar transceiver 10 is in the communication mode.
  • step S301 the continuous transmission number of racons communication pulse W22 is is less than 2 times x (NO in step S303), determination unit 154, as a command signal CM, A signal for transmitting the radar communication pulse W12 in the same direction at the next scan is output to the transmission waveform switching unit 158 (step S304).
  • the above is an example of the flow of processing in the determination unit 154 according to the second embodiment of the present invention. Next, a state realized by the determination by the determination unit 154 will be described.
  • FIG. 10 is a diagram for explaining the main points of the operation of the radar transceiver 10 and the main points of the operation of the racon 20 in the second embodiment of the present invention.
  • FIG. 10 shows the operation of the radar transceiver 10 and the operation of the racon 20 at each of the N-2 scan time, the N-1 scan time, and the N scan time.
  • the radar transceiver 10 As shown in FIGS. 5, 9 and 10, the N-2 scan time, the radar transceiver 10, the operation of the theta 1 sweep th transmitting the radar detection pulse W11. However, in this ⁇ 1 sweep, the radar wave W10 is not received by the racon 20, and the racon response wave W20 is not transmitted to the radar transceiver 10.
  • the radar transceiver 10 transmits the radar detection pulse W11 again at the ⁇ 2 sweep, the radar detection pulse W11 is received by the racon 20. As a result, the racon 20 transmits a racon notification pulse W21 to the radar transceiver 10.
  • the radar detection pulse W11 is transmitted during the ⁇ 2 sweep operation at the next N ⁇ 1 scan (step S302). .
  • the radar detection pulse W11 is transmitted during the ⁇ 2 sweep operation.
  • the operation in the theta 3 sweeps.
  • N-2 scan time when the theta 3 sweep operation, by radar communication pulse W12 is transmitted, racon communication pulse W22 are transmitted.
  • the number of transmissions racons communication pulse W22 in theta 3 sweep operation time is still once (NO at step S303). Therefore, the radar transceiver 10, when the theta 3 sweep operation in the next N-1 scan time, transmits radar communication pulse W12 (step S304).
  • the racon communication pulse W22 is transmitted from the racon 20 during the ⁇ 3 sweep operation at the N-1 scan time.
  • the radar transceiver 10 the continuous reception times of racon communication pulse W22 in theta 3 sweep operation time reaches the second time (YES in step S303). Therefore, the radar transceiver 10 transmits the radar detection pulse W11 during the next N scan operation (step S302).
  • Both the ⁇ 4 sweep operation and the ⁇ 5 sweep operation are the same as the operations in the ⁇ 3 sweep operation.
  • the radar transceiver 10 receives the racon notification pulse W21 and then transmits the radar communication pulse W12 during each sweep operation of ⁇ 3 , ⁇ 4 , ⁇ 5 in the communication range CA1. repeat.
  • the radar transceiver 10 receives the racon notification pulse W21 and then transmits the radar communication pulse W12 during each sweep operation of ⁇ 3 , ⁇ 4 , ⁇ 5 in the communication range CA1. repeat.
  • the radar transceiver 10 repeats the transmission of the radar detection pulse W11 even though it receives the racon notification pulse W21 from the racon 20.
  • the operation at the N-2 scan time, the operation at the N-1 scan time, and the operation at the N scan time are repeatedly performed.
  • the image memory 152b stores pixel data Y k ⁇ 1 [i, j] at the time point before one scan.
  • the pixel data Y k ⁇ 1 [i, j] is an example of “past image data indicating a past detection result” in the present invention.
  • the image memory 152b scans for each pixel using the pixel data G k [i, j] generated by the pixel data generation unit 152a and the past corresponding pixel data Y k ⁇ 1 [i, j]. Perform correlation processing. Specifically, the level Y k [i, j] of the pixel data output from the image memory 152b is obtained by the following calculation.
  • Y k [i, j] ⁇ ⁇ Y k ⁇ 1 [i, j] + ⁇ ⁇ G k [i, j]
  • ⁇ and ⁇ are predetermined weighting coefficients, respectively.
  • the blending ratio between the past pixel data Y k ⁇ 1 [i, j] and the latest pixel data G k [i, j] is determined by the weighting coefficients ⁇ and ⁇ .
  • the sum of the weighting coefficients ⁇ and ⁇ is set to 1.
  • each pixel data Y k [i, j] is weighted by a case where it is generated along with transmission of the radar detection pulse W11 and a case where it is generated along with transmission of the radar communication pulse W12.
  • the setting values ⁇ and ⁇ are different.
  • FIG. 11 is a flowchart for explaining an example of a processing flow for setting the weighting coefficients ⁇ and ⁇ by the image memory 152b.
  • the image memory 152b reads the determination result in the determination unit 154 (step S401).
  • the image memory 152b determines whether or not the radar detection pulse W11 is transmitted at the latest sweep time (step S402).
  • step S402 the image memory 152b performs weighting so that both the past pixel data Y k-1 [i, j] and the latest pixel data G k [i, j] are reflected.
  • step S402 the radar detection pulse W11 is not transmitted.
  • the detection reception signal R (k) is not input to the sweep memory 151.
  • the echo image P20 of the racon 20 and the like can be displayed on the PPI screen 161 using the past pixel data Y k-1 [i, j] also for the location where the radar communication pulse W12 is transmitted. .
  • the image memory 152b stores pixel data indicating past detection results as past pixel data Y k-1 [i, j]. Further, the image data generation unit 152 uses the past pixel data Y k ⁇ 1 [i, j] as a past detection result using the radar detection pulse W11. The data amount of the pixel data G k [i, j] is small compared to the data amount of the detection reception signal R (k) as raw data. Therefore, the memory capacity required for the radar transceiver 10 can be reduced.
  • the radar transceiver 10 transmits the radar detection pulse W11 in the communication range CA1 while transmitting the radar communication pulse W12. In such a configuration, the transmission speed of the radar communication pulse W12 decreases. However, as a result of the radar detection pulse W11 being transmitted to the communication range CA1, it is possible to detect a target existing within the communication range CA1. On the other hand, in the second embodiment of the present invention, more radar communication pulses W12 can be transmitted in the communication range CA1 at the N-2 scan time and the N-1 scan time. Therefore, the transmission speed of information by the radar transceiver 10 can be further increased.
  • the portion where the radar detection pulse W11 is not transmitted is displayed on the PPI screen 161 using the past pixel data Y k-1 [i, j]. Therefore, there is room for improvement in the accuracy of detection of the presence / absence of a target at a location where the radar detection pulse W11 is not transmitted.
  • FIG. 12 is a block diagram showing a configuration of a radar transceiver 10A according to the third embodiment of the present invention.
  • a radar transceiver 10A includes an antenna unit 11, a circulator 12, a transmitter 13, a receiver 14, a signal processing unit 15A, a radar video display 16, and a communication information display 17. And a radar communication information memory 18.
  • the signal processing unit 15A includes a sweep memory 151, an image data generation unit 152, a demodulation processing unit 153, a determination unit 154, a radar communication information setting unit 155, a radar communication pulse generation unit 156, and a radar detection pulse generation unit. 157, a transmission waveform switching unit 158, and a control unit 159.
  • the control unit 159 is connected to the receiver 14, the determination unit 154, and the pixel data generation unit 152a.
  • FIG. 13 is a flowchart for explaining an example of a process flow in the control unit 159.
  • control unit 159 determines the type of radar wave W10 at the latest time point (step S501).
  • the control unit 159 determines the type of the radar wave W10 by referring to the command signal CM output from the determination unit 154 to the transmission waveform switching unit 158.
  • the control unit 159 reads the latest detection reception signal R (k) stored in the sweep buffer 151 (Ste S502).
  • the control unit 159 stores the past (before one sweep operation) stored in the image memory 152b. Pixel data Y k ⁇ 1 [i, j] is read (step S503).
  • control unit 159 refers to the read detection reception signal R (k) or the pixel data Y k ⁇ 1 [i, j]. Thus, the control unit 159 determines whether or not a target (another ship 3 or the like) exists between the radar transceiver 10A and the racon 20 (step S504). Specifically, the control unit 159 determines whether or not the signal level in the region between the radar transceiver 10A and the racon 20 exceeds a predetermined threshold value.
  • the control unit 159 determines that a target exists between the radar transceiver 10A and the racon 20 (YES in step S504). In this case, the control unit 159 causes the determination unit 154 to set the first processing mode (step S505).
  • the first processing mode is a mode for performing processing similar to the processing in the first embodiment of the present invention. When the first processing mode is set, processing similar to the processing in the flowcharts shown in FIGS. 6 and 7 is performed. Therefore, detailed description of the first processing mode is omitted.
  • the control unit 159 determines that there is no target between the radar transceiver 10A and the racon 20 (NO in step S504). In this case, the control unit 159 causes the determination unit 154 to set the second processing mode (step S506).
  • the second processing mode is a mode for performing processing similar to the processing in the second embodiment of the present invention. When the second processing mode is set, processing similar to the processing in the flowcharts shown in FIGS. 9 and 11 is performed. Therefore, detailed description of the second processing mode is omitted.
  • the radar transceiver 10A of the third embodiment of the present invention when a target such as the other ship 3 exists in the vicinity of the own ship 2, the process in the first processing mode is performed. Thereby, when the target exists in the vicinity of the own ship 2, the radar detection pulse W11 is transmitted toward the communication range CA1 every time the scanning operation is performed. Thereby, the radar transceiver 10A can detect the target in the vicinity of the ship 2 more accurately.
  • the processing in the second processing mode is performed.
  • a radar that can display the echo image P3 of the target existing in the communication range CA1 on the PPI screen 161 and transmit it to the racon 20.
  • More communication pulses W12 can be made. Thereby, the total amount of information that can be transmitted to the racon 20 in one scan operation can be increased.
  • the signal processing unit 15,15A the generated pixel data Y k indicating the detection result of the communication range CA1 [i, j] and generation processing, the pixel data Y k indicating the detection results of the outside communication range CA1 [i, j] What is necessary is just to be comprised so that a process may differ.
  • the image data generation unit 152 uses the past detection result (the detection reception signal R (k ⁇ 1) or the past pixel data Y k ⁇ 1 [i, j]), An example in which pixel data Y k [i, j] indicating the detection result of the communication range CA1 is generated has been described. However, this need not be the case. For example, the image data generation unit 152 may generate the pixel data Y k [i, j] without using the past detection result.
  • the signal processing unit 15 has been described as an example in which the past detection reception signal R (k ⁇ 1) is not used. However, this need not be the case.
  • the past detection reception signal R (k ⁇ 1) may be output from the sweep memory 151 to the image data generation unit 152.
  • the image data generation unit 152 may generate image data of an image without a display that identifies the communication range CA1 (displayed with a broken line in FIG. 3).
  • the radar transceivers 10 and 10A communicate with the racon 20.
  • the radar transceivers 10 and 10 ⁇ / b> A may communicate with a communication target other than the racon 20.
  • the radar transmitter / receiver 10, 10A has been described as an example in which one radar communication information D10 is repeatedly transmitted. However, this need not be the case.
  • the radar transceivers 10 and 10A may transmit different types of radar communication information. In this case, different types of radar communication information may be transmitted in a lump or may be individually transmitted by a plurality of radar communication pulses W12.

Abstract

[Problem] To provide a signal processing device and signal processing method whereby detection results can be displayed even in regions in which data transmission is performed. [Solution] A signal processing unit (15) in a radar transceiver (10) is provided with a radar detection-pulse generation unit (157), a radar communication-pulse generation unit (156), a determination unit (154), and an image-data generation unit (152). The determination unit (154) detects communication bounds (CA1) within which the radar transceiver (10) can communicate with a racon (20). The image-data generation unit (152) generates pixel data (Yk[i,j]) based on detection results obtained using radar detection pulses (W11). The process performed in the signal processing unit (15) to generate pixel data (Yk[i,j]) representing detection results within the aforementioned communication bounds (CA1) is different from the process performed in the signal processing unit (15) to generate pixel data (Yk[i,j]) representing detection results outside said communication bounds (CA1).

Description

信号処理装置、及び信号処理方法Signal processing apparatus and signal processing method
　本発明は、レーダ装置に備えられる信号処理装置、及びレーダ装置における信号処理方法に関する。 The present invention relates to a signal processing device provided in a radar device and a signal processing method in the radar device.
　例えば、船舶は、レーダ装置等を備えている。レーダ装置は、パルス信号を用いて、当該レーダ装置の周囲の物標を探知する。このようなレーダ装置において、物標の探知に加え、情報を送信する構成が知られている（例えば、特許文献１，２参照）。特許文献１，２には、レーダ装置が保持する情報を、パルス信号を用いて送信する構成が開示されている。 For example, a ship is equipped with a radar device and the like. The radar device detects a target around the radar device using the pulse signal. In such a radar apparatus, a configuration for transmitting information in addition to detecting a target is known (see, for example, Patent Documents 1 and 2). Patent Documents 1 and 2 disclose a configuration in which information held by a radar device is transmitted using a pulse signal.
特許第２７９７１４５号明細書（［作用］）Japanese Patent No. 2797145 ([Action]) 特開２０１０－８０６９号公報（［００２３］）JP 2010-8069 A ([0023])
　特許文献２に記載の構成では、パルス電波に、通信データを重畳して形成された通信データ重畳電波を送信する場合を、データ送信状態として規定している。このデータ送信状態では、通信データ重畳電波の反射によって生じる反射波は、物標の探知に用いられない。このため、特許文献２に記載の構成では、データ送信状態において、物標を探知できない。その結果、レーダ装置のＰＰＩ（Plan Position Indicator scope）画面のうち、データ送信状態に対応する領域には、物標が表示されない。 In the configuration described in Patent Document 2, a case where a communication data superimposed radio wave formed by superimposing communication data on a pulse radio wave is transmitted is defined as a data transmission state. In this data transmission state, the reflected wave generated by the reflection of the communication data superimposed radio wave is not used for target detection. For this reason, the configuration described in Patent Document 2 cannot detect a target in the data transmission state. As a result, the target is not displayed in the area corresponding to the data transmission state in the PPI (Plan Position Indicator scope) screen of the radar apparatus.
　具体的には、図１４に示すように、レーダ装置１００を搭載した船舶（自船１０１）が、レーダービーコン１０２及び他船１０３の周囲を航行している場合を考える。以下、レーダービーコン１０２を、レーコン１０２という。レーコン１０２は、陸地１０４の近傍に配置されている。この場合、レーダ装置１００は、レーコン１０２と通信範囲１０６で通信する。通信範囲１０６は、レーダ装置１００のアンテナ部１０５を中心とする、扇状の範囲である。この場合、通信範囲１０６では、レーダ装置１００は、探知用のパルス信号を送信しないので、物標を探知しない。 Specifically, as shown in FIG. 14, consider a case where a ship (own ship 101) equipped with the radar apparatus 100 is navigating around the radar beacon 102 and the other ship 103. Hereinafter, the radar beacon 102 is referred to as a racon 102. The racon 102 is disposed in the vicinity of the land 104. In this case, the radar apparatus 100 communicates with the racon 102 in the communication range 106. The communication range 106 is a fan-shaped range centering on the antenna unit 105 of the radar apparatus 100. In this case, in the communication range 106, the radar apparatus 100 does not transmit a pulse signal for detection, and thus does not detect a target.
　その結果、図１５に示すように、レーダ装置１００のＰＰＩ画面１０７には、通信範囲１０６に存在しているレーコン１０２、他船１０３及び陸地１０４について、エコー像は、表示されない。より具体的には、レーコン１０２のエコー像は、全く見えず、他船１０３のエコー像Ｐ１０３及び陸地１０４のエコー像Ｐ１０４は、通信範囲１０６内の部分が欠けている。したがって、レーダ装置１００のオペレータは、通信範囲１０６における物標を、ＰＰＩ画面１０７によっては認識できない。 As a result, as shown in FIG. 15, echo images are not displayed on the PPI screen 107 of the radar apparatus 100 for the racon 102, the other ship 103, and the land 104 existing in the communication range 106. More specifically, the echo image of the racon 102 is not seen at all, and the echo image P103 of the other ship 103 and the echo image P104 of the land 104 are lacking in the communication range 106. Therefore, the operator of the radar apparatus 100 cannot recognize the target in the communication range 106 on the PPI screen 107.
　本発明は、上記実情に鑑みることにより、データ送信が行われる領域についても、探知結果を表示することのできる、信号処理装置、及び信号処理方法を提供することを目的とする。 The present invention has an object to provide a signal processing device and a signal processing method capable of displaying a detection result even in an area where data transmission is performed in view of the above situation.
　（１）上記課題を解決するために、この発明のある局面に係わる信号処理装置は、レーダ装置に備えられる信号処理装置である。前記信号処理装置は、探知信号生成部と、通信信号生成部と、通信範囲検出部と、画像データ生成部と、を備える。前記探知信号生成部は、前記レーダ装置の周囲の物標を探知するための探知信号を送信するように構成されている。前記通信信号生成部は、所定の通信対象と通信するための通信信号を送信するように構成されている。前記通信範囲検出部は、前記レーダ装置の周囲の方位方向において、前記通信対象と通信する通信範囲を検出するように構成されている。前記画像データ生成部は、前記探知信号を用いた探知結果を示す画像データを生成するように構成されている。前記信号処理装置において、前記通信範囲の探知結果を示す前記画像データを生成するための処理と、前記通信範囲外の探知結果を示す前記画像データを生成するための処理と、が異なっている。 (1) In order to solve the above problems, a signal processing device according to an aspect of the present invention is a signal processing device provided in a radar device. The signal processing device includes a detection signal generation unit, a communication signal generation unit, a communication range detection unit, and an image data generation unit. The detection signal generation unit is configured to transmit a detection signal for detecting a target around the radar device. The communication signal generation unit is configured to transmit a communication signal for communicating with a predetermined communication target. The communication range detection unit is configured to detect a communication range communicating with the communication target in an azimuth direction around the radar device. The image data generation unit is configured to generate image data indicating a detection result using the detection signal. In the signal processing apparatus, a process for generating the image data indicating the detection result of the communication range is different from a process for generating the image data indicating the detection result outside the communication range.
　（２）好ましくは、前記信号処理装置は、前記探知信号及び前記通信信号の何れを送信するかを判断する、判断部を更に備える。前記判断部は、前記通信範囲における前記探知信号の送信間隔を、前記通信範囲外における前記探知信号の送信間隔よりも大きくさせる。前記判断部は、前記通信範囲において、前記探知信号が送信されていないときに前記通信信号を送信させる。 (2) Preferably, the signal processing device further includes a determination unit that determines which of the detection signal and the communication signal is transmitted. The determination unit makes the transmission interval of the detection signal in the communication range larger than the transmission interval of the detection signal outside the communication range. The determination unit transmits the communication signal when the detection signal is not transmitted in the communication range.
　（３）好ましくは、前記画像データ生成部は、過去の探知結果を用いて、前記通信範囲の探知結果を示す前記画像データを生成する。 (3) Preferably, the image data generation unit generates the image data indicating a detection result of the communication range using a past detection result.
　（４）より好ましくは、前記信号処理装置は、スイープメモリを更に備える。前記スイープメモリは、前記探知信号の送信後に受信された探知用受信信号を記憶する。前記画像データ生成部は、前記スイープメモリに記憶されている前記探知用受信信号を、前記過去の探知結果として用いることが可能である。 (4) More preferably, the signal processing device further includes a sweep memory. The sweep memory stores a detection reception signal received after transmission of the detection signal. The image data generation unit can use the detection reception signal stored in the sweep memory as the past detection result.
　（５）また、より好ましくは、前記信号処理装置は、画像メモリを更に備える。前記画像メモリは、過去の探知結果を示す画像データを過去画像データとして記憶する。前記画像データ生成部は、前記過去画像データを、前記過去の探知結果として用いる。 (5) More preferably, the signal processing device further includes an image memory. The image memory stores image data indicating past detection results as past image data. The image data generation unit uses the past image data as the past detection result.
　（６）好ましくは、前記画像データ生成部は、前記通信範囲を特定する表示が行われるように前記画像データを生成する。 (6) Preferably, the image data generation unit generates the image data so that display specifying the communication range is performed.
　（７）好ましくは、前記画像データ生成部は、前記通信対象の位置を特定する表示が行われるように前記画像データを生成する。 (7) Preferably, the image data generation unit generates the image data so that display specifying the position of the communication target is performed.
　（８）上記課題を解決するために、この発明のある局面に係わる信号処理方法は、レーダ装置における信号処理方法である。前記信号処理方法は、探知信号生成ステップと、通信信号生成ステップと、通信範囲検出ステップと、画像データ生成ステップと、を含む。前記探知信号生成ステップでは、前記レーダ装置の周囲の物標を探知するための探知信号を生成する。前記通信信号送信ステップでは、所定の通信対象と通信するための通信信号を生成する。前記通信範囲検出ステップでは、前記レーダ装置の周囲の方位方向において、前記通信対象と通信する通信範囲を検出する。前記画像データ生成ステップでは、前記探知信号を用いた探知結果を示す画像データを生成する。前記信号処理方法において、前記通信範囲の探知結果を示す前記画像データを生成するための処理と、前記通信範囲外の探知結果を示す前記画像データを生成するための処理と、が異なっている。 (8) In order to solve the above problems, a signal processing method according to an aspect of the present invention is a signal processing method in a radar apparatus. The signal processing method includes a detection signal generation step, a communication signal generation step, a communication range detection step, and an image data generation step. In the detection signal generation step, a detection signal for detecting a target around the radar apparatus is generated. In the communication signal transmitting step, a communication signal for communicating with a predetermined communication target is generated. In the communication range detection step, a communication range communicating with the communication target is detected in an azimuth direction around the radar device. In the image data generation step, image data indicating a detection result using the detection signal is generated. In the signal processing method, the process for generating the image data indicating the detection result of the communication range is different from the process for generating the image data indicating the detection result outside the communication range.
　本発明によると、データ送信が行われる領域についても、探知結果を表示することができる。 According to the present invention, the detection result can be displayed even in the area where data transmission is performed.
本発明の第１実施形態に係るレーダシステムの概念を説明するための概念図である。It is a conceptual diagram for demonstrating the concept of the radar system which concerns on 1st Embodiment of this invention. レーダ送受信機と、レーコンとの位置関係の一例を示す、模式図である。It is a schematic diagram which shows an example of the positional relationship between a radar transceiver and a racon. レーダ送受信機のレーダ映像表示器のＰＰＩ画面の表示例を示す図である。It is a figure which shows the example of a display of the PPI screen of the radar image display of a radar transceiver. レーコンの構成を示すブロック図である。It is a block diagram which shows the structure of a racon. レーダ送受信機の構成を示すブロック図である。It is a block diagram which shows the structure of a radar transceiver. スイープメモリの動作の一例を説明するためのフローチャートである。It is a flowchart for demonstrating an example of operation | movement of a sweep memory. 判断部の処理の流れの一例を示すフローチャートである。It is a flowchart which shows an example of the flow of a process of a judgment part. レーダ送受信機の動作の要点と、レーコンの動作の要点とを説明するための図である。It is a figure for demonstrating the main point of operation | movement of a radar transmitter / receiver, and the main point of operation | movement of a racon. 本発明の第２実施形態における判断部での処理の流れの一例を説明するためのフローチャートである。It is a flowchart for demonstrating an example of the flow of a process in the judgment part in 2nd Embodiment of this invention. 本発明の第２実施形態におけるレーダ送受信機の動作の要点と、レーコンの動作の要点とを説明するための図である。It is a figure for demonstrating the main point of operation | movement of the radar transmitter-receiver in 2nd Embodiment of this invention, and the main point of operation | movement of a racon. 画像メモリによる、重み付け係数を設定する処理の流れの一例を説明するためのフローチャートである。It is a flowchart for demonstrating an example of the flow of a process which sets a weighting coefficient by an image memory. 本発明の第３実施形態に係るレーダ送受信機の構成を示すブロック図である。It is a block diagram which shows the structure of the radar transmitter / receiver which concerns on 3rd Embodiment of this invention. 制御部における処理の流れの一例を説明するためのフローチャートである。It is a flowchart for demonstrating an example of the flow of a process in a control part. 従来技術のレーダ装置を説明するための模式図である。It is a schematic diagram for demonstrating the radar apparatus of a prior art. 従来技術のレーダ装置のＰＰＩ画面の表示例を説明するための模式図である。It is a schematic diagram for demonstrating the example of a display of the PPI screen of the radar apparatus of a prior art.
［第１実施形態］
　以下、本発明を実施するための形態について、図面を参照しつつ説明する。本発明は、信号処理装置、及び信号処理方法として広く適用することができる。尚、以下では、図中同一または相当部分には、同一符号を付してその説明は繰り返さない。 [First Embodiment]
Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The present invention can be widely applied as a signal processing apparatus and a signal processing method. In the following, the same or corresponding parts in the drawings are denoted by the same reference numerals, and description thereof will not be repeated.
　まず、本実施形態に係るレーダシステム１の概念を説明する。図１は、本発明の第１実施形態に係るレーダシステム１の概念を説明するための概念図である。本実施形態では、レーダシステム１が、船舶用のレーダシステムである場合を例に説明する。尚、レーダシステム１は、航空機等、他の移動体用のレーダシステムであってもよい。 First, the concept of the radar system 1 according to the present embodiment will be described. FIG. 1 is a conceptual diagram for explaining the concept of the radar system 1 according to the first embodiment of the present invention. In the present embodiment, a case where the radar system 1 is a marine radar system will be described as an example. The radar system 1 may be a radar system for other moving objects such as an aircraft.
　レーダシステム１は、レーダ送受信機１０と、レーダービーコン（以下、レーコンという）２０と、を有している。レーダ送受信機１０は、本発明の「レーダ装置」の一例である。また、レーコン２０は、本発明の「通信対象」の一例である。 The radar system 1 includes a radar transceiver 10 and a radar beacon (hereinafter referred to as a racon) 20. The radar transceiver 10 is an example of the “radar apparatus” in the present invention. The racon 20 is an example of the “communication target” in the present invention.
　図２は、レーダ送受信機１０と、レーコン２０との位置関係の一例を示す、模式図である。図２は、レーダ送受信機１０（自船２）を中心とする、円形状の領域を示している。図３は、レーダ送受信機１０の後述するレーダ映像表示器１６のＰＰＩ（Plan Position Indicator）画面１６１の表示例を示す図である。図２は、ＰＰＩ画面１６１での表示内容に対応した表示をしている。 FIG. 2 is a schematic diagram showing an example of the positional relationship between the radar transceiver 10 and the racon 20. FIG. 2 shows a circular area centering on the radar transceiver 10 (own ship 2). FIG. 3 is a diagram showing a display example of a PPI (Plan Position Indicator) screen 161 of a radar image display 16 to be described later of the radar transceiver 10. FIG. 2 shows a display corresponding to the display content on the PPI screen 161.
　図２は、レーダ送受信機１０（自船２）の周囲に、レーコン２０、他船３、及び陸地４が存在している状態を示している。図１～図３を参照して、レーダ送受信機１０は、漁船等の船舶に備えられる舶用レーダである。本実施形態では、レーダ送受信機１０が備えられている船舶を「自船」という。また、自船２以外の船舶を、他船３という。 FIG. 2 shows a state where the racon 20, the other ship 3, and the land 4 are present around the radar transceiver 10 (own ship 2). 1 to 3, a radar transceiver 10 is a marine radar provided in a vessel such as a fishing boat. In this embodiment, the ship provided with the radar transceiver 10 is referred to as “own ship”. A ship other than own ship 2 is referred to as other ship 3.
　レーダ送受信機１０は、電磁波の送信と、発射された電磁波が反射することで生じるエコー信号Ｅｃの受信と、を交互に行うように構成されている。より具体的には、レーダ送受信機１０は、レーダ波Ｗ１０を送信するように構成されている。このレーダ波Ｗ１０は、物標の探知を目的としたレーダ探知パルスＷ１１、又は、通信を目的としたレーダ通信パルスＷ１２を含む。 The radar transceiver 10 is configured to alternately perform transmission of an electromagnetic wave and reception of an echo signal Ec generated by reflecting the emitted electromagnetic wave. More specifically, the radar transceiver 10 is configured to transmit a radar wave W10. The radar wave W10 includes a radar detection pulse W11 for detecting a target or a radar communication pulse W12 for communication.
　レーダ探知パルスＷ１１は、自船２の周囲の物標を探知するためのパルス信号である。レーダ探知パルスＷ１１が発射されることに起因して、エコー信号Ｅｃが自船２に向けて送信される。レーダ送受信機１０は、このエコー信号Ｅｃを用いて、ＰＰＩ画面１６１に表示される画像の画像データを生成する。 The radar detection pulse W11 is a pulse signal for detecting a target around the ship 2. An echo signal Ec is transmitted toward the ship 2 due to the emission of the radar detection pulse W11. The radar transceiver 10 generates image data of an image displayed on the PPI screen 161 using the echo signal Ec.
　レーダ通信パルスＷ１２は、レーダ送受信機１０が保有しているレーダ通信情報Ｄ１０を、レーコン２０に送信するための通信信号である。レーダ通信情報Ｄ１０は、例えば、自船２を特定する情報（船籍、船舶番号等）である。尚、レーダ通信情報Ｄ１０は、自船２を特定する情報でなくてもよく、文字情報、画像情報、又は音声情報等、任意の情報であってもよい。 The radar communication pulse W12 is a communication signal for transmitting radar communication information D10 held by the radar transceiver 10 to the racon 20. The radar communication information D10 is, for example, information (a ship's register, ship number, etc.) that identifies the ship 2. The radar communication information D10 may not be information that identifies the ship 2 but may be arbitrary information such as character information, image information, or voice information.
　本実施形態では、レーコン２０は、峡水道（narrow channel）に配置されている。本実施形態では、自船２が峡水道を航行する場合を例に説明する。レーコン２０は、レーダ波Ｗ１０を受信したことに応答して、レーコン応答波Ｗ２０を送信する。即ち、レーコン２０は、レーダ波Ｗ１０をトリガとして、レーコン応答波Ｗ２０を送信するように構成されている。レーコン応答波Ｗ２０は、レーコン通知パルスＷ２１、又はレーコン通信パルスＷ２２を含んでいる。レーコン通知パルスＷ２１は、レーコン２０の存在をレーダ送受信機１０に通知するための、通知信号である。レーコン通信パルスＷ２２は、レーコン２０に与えられているレーコン通信情報Ｄ２０をレーダ送受信機１０に送信するための、通信信号である。 In the present embodiment, the racon 20 is disposed in a narrow channel. In the present embodiment, a case where the ship 2 navigates the gorge channel will be described as an example. In response to receiving the radar wave W10, the racon 20 transmits the racon response wave W20. That is, the racon 20 is configured to transmit the racon response wave W20 using the radar wave W10 as a trigger. The racon response wave W20 includes a racon notification pulse W21 or a racon communication pulse W22. The racon notification pulse W <b> 21 is a notification signal for notifying the radar transceiver 10 of the presence of the racon 20. The racon communication pulse W22 is a communication signal for transmitting the racon communication information D20 given to the racon 20 to the radar transceiver 10.
　本実施形態では、レーコン通信情報Ｄ２０は、文字、画像、及び音声の少なくとも一つを含む情報である。本実施形態では、レーコン通信情報Ｄ２０は、レーコン２０の位置（緯度及び経度）を示す情報、及びレーコン２０が設置されている海域の天候情報を含んでいる。尚、レーコン通信情報Ｄ２０は、上述の例示内容に限定されず、他の情報であってもよい。レーコン通信情報Ｄ２０は、ＰＰＩ画面１６１への表示を意図されていない情報である。 In the present embodiment, the racon communication information D20 is information including at least one of characters, images, and sounds. In the present embodiment, the racon communication information D20 includes information indicating the position (latitude and longitude) of the racon 20 and weather information of the sea area where the racon 20 is installed. Note that the racon communication information D20 is not limited to the above-described exemplary content, and may be other information. The racon communication information D20 is information that is not intended to be displayed on the PPI screen 161.
　レーダ送受信機１０は、レーダ波Ｗ１０を送信したことに応じて、アンテナ受信波Ｗ１を受信する。具体的には、レーダ送受信機１０がレーダ探知パルスＷ１１を送信した場合、アンテナ受信波Ｗ１は、エコー信号Ｅｃを含んでいる。レーダ送受信機１０は、エコー信号Ｅｃによって特定されるエコー像を、ＰＰＩ画面１６１に表示する。この場合において、アンテナ受信波Ｗ１に、レーコン通知パルスＷ２１が含まれている場合、レーコン通知パルスＷ２１で特定される画像も、ＰＰＩ画面１６１に表示される。図３は、レーコン通知パルスＷ２１で特定される画像として、"Ｄ"を示すモールス符号状の像ＰＤを表示している。 The radar transceiver 10 receives the antenna reception wave W1 in response to the transmission of the radar wave W10. Specifically, when the radar transceiver 10 transmits a radar detection pulse W11, the antenna reception wave W1 includes an echo signal Ec. The radar transceiver 10 displays an echo image specified by the echo signal Ec on the PPI screen 161. In this case, when the antenna received wave W1 includes the racon notification pulse W21, an image specified by the racon notification pulse W21 is also displayed on the PPI screen 161. FIG. 3 displays a Morse code-like image PD indicating “D” as an image specified by the racon notification pulse W21.
　一方、レーダ送受信機１０がレーコン２０に向けてレーダ通信パルスＷ１２を送信した場合、アンテナ受信波Ｗ１は、レーコン通信パルスＷ２２を含んでいる。この場合、レーダ送受信機１０は、レーコン通信パルスＷ２２に含まれているレーコン通信情報Ｄ２０を、ＰＰＩ画面１６１とは別の画面に表示する。 On the other hand, when the radar transceiver 10 transmits the radar communication pulse W12 toward the racon 20, the antenna reception wave W1 includes the racon communication pulse W22. In this case, the radar transceiver 10 displays the racon communication information D20 included in the racon communication pulse W22 on a screen different from the PPI screen 161.
［レーコンの詳細な構成］　図４は、レーコン２０の構成を示すブロック図である。次に、レーコン２０の具体的な構成について説明する。図１及び図４に示すように、レーコン２０は、トランスポンダ装置として設けられており、レーダ波Ｗ１０を受信したことに反応して、レーコン応答波Ｗ２０を送信する。 [Detailed Configuration of Racon] FIG. 4 is a block diagram showing the configuration of the racon 20. Next, a specific configuration of the racon 20 will be described. As shown in FIGS. 1 and 4, the racon 20 is provided as a transponder device, and transmits a racon response wave W20 in response to receiving the radar wave W10.
　レーコン２０は、アンテナ部２１と、サーキュレータ２２と、受信機２３と、送信機２４と、情報送受信処理部２５と、レーコン通信情報メモリ２６と、受信情報メモリ２７と、を有している。 The racon 20 includes an antenna unit 21, a circulator 22, a receiver 23, a transmitter 24, an information transmission / reception processing unit 25, a racon communication information memory 26, and a reception information memory 27.
　アンテナ部２１は、電磁波の受信と、電磁波の送信と、を行うように構成されている。具体的には、アンテナ部２１は、レーダ波Ｗ１０を受信し、このレーダ波Ｗ１０を、サーキュレータ２２経由で受信機２３へ出力する。また、アンテナ部２１は、送信機２４からサーキュレータ２２を経由して出力されたレーコン応答波Ｗ２０を、送信する。 The antenna unit 21 is configured to perform reception of electromagnetic waves and transmission of electromagnetic waves. Specifically, the antenna unit 21 receives the radar wave W <b> 10 and outputs the radar wave W <b> 10 to the receiver 23 via the circulator 22. The antenna unit 21 transmits a racon response wave W20 output from the transmitter 24 via the circulator 22.
　尚、本実施形態では、アンテナ部２１を用いて、電磁波の送信及び受信を行っているけれども、この通りでなくてもよい。例えば、レーコン２０において、電磁波の送信用アンテナ部と、電磁波の受信用アンテナ部とは、別体であってもよい。 In the present embodiment, the antenna unit 21 is used to transmit and receive electromagnetic waves, but this need not be the case. For example, in the racon 20, the electromagnetic wave transmitting antenna unit and the electromagnetic wave receiving antenna unit may be separate.
　サーキュレータ２２は、アンテナ部２１、受信機２３及び送信機２４が接続された、３ポートサーキュレータである。このサーキュレータ２２は、アンテナ部２１で受信されたレーダ波Ｗ１０を、受信機２３へ伝達する。また、サーキュレータ２２は、送信機２４から出力されたレーコン応答波Ｗ２０を、アンテナ部２１へ伝達する。 The circulator 22 is a three-port circulator to which the antenna unit 21, the receiver 23, and the transmitter 24 are connected. The circulator 22 transmits the radar wave W10 received by the antenna unit 21 to the receiver 23. Further, the circulator 22 transmits the racon response wave W20 output from the transmitter 24 to the antenna unit 21.
　受信機２３は、サーキュレータ２２から出力されたレーダ波Ｗ１０を増幅し、情報送受信処理部２５に出力する。 The receiver 23 amplifies the radar wave W10 output from the circulator 22 and outputs it to the information transmission / reception processing unit 25.
　送信機２４は、情報送受信処理部２５によって生成されたレーコン応答波Ｗ２０を、所定のＲＦ周波数帯にアップコンバート及び増幅する。送信機２４は、レーコン応答波Ｗ２０を、情報送受信処理部２５で生成された送信トリガＴｇの示すタイミングで、サーキュレータ２２に出力する。これにより、送信機２４は、レーダ送受信機１０のアンテナ部１１へ向けて、レーコン応答波Ｗ２０を送信する。 The transmitter 24 upconverts and amplifies the racon response wave W20 generated by the information transmission / reception processor 25 to a predetermined RF frequency band. The transmitter 24 outputs the racon response wave W20 to the circulator 22 at the timing indicated by the transmission trigger Tg generated by the information transmission / reception processing unit 25. Accordingly, the transmitter 24 transmits the racon response wave W20 toward the antenna unit 11 of the radar transceiver 10.
　情報送受信処理部２５は、レーダ送受信機１０からレーダ波Ｗ１０を受信した場合に、このレーダ波Ｗ１０に応じたレーコン応答波Ｗ２０を生成し、且つ、レーコン応答波Ｗ２０の送信処理を行うように構成されている。情報送受信処理部２５は、ＣＰＵ、ＲＡＭ及びＲＯＭ（図示せず）等を用いて構成されている。 When receiving the radar wave W10 from the radar transceiver 10, the information transmission / reception processing unit 25 is configured to generate a racon response wave W20 corresponding to the radar wave W10 and to perform transmission processing of the racon response wave W20. Has been. The information transmission / reception processing unit 25 is configured using a CPU, a RAM, a ROM (not shown), and the like.
　情報送受信処理部２５は、復調処理部２５１と、送信情報設定部２５２と、パルス波形生成部２５３と、送信タイミング設定部２５４と、を有している。 The information transmission / reception processing unit 25 includes a demodulation processing unit 251, a transmission information setting unit 252, a pulse waveform generation unit 253, and a transmission timing setting unit 254.
　復調処理部２５１は、受信機２３に接続されており、この受信機２３から、レーダ波Ｗ１０を受け付ける。レーダ波Ｗ１０がレーダ通信パルスＷ１２である場合、復調処理部２５１は、レーダ送受信機１０の変調方式に対応する復調方式を用いて、レーダ通信パルスＷ１２を復調処理する。復調処理部２５１は、レーダ通信パルスＷ１２の復調処理により、レーダ通信情報Ｄ１０の信号系列を取得する。復調処理部２５１は、レーダ通信情報Ｄ１０を、送信情報設定部２５２へ出力する。一方、レーダ波Ｗ１０がレーダ探知パルスＷ１１である場合、復調処理部２５１は、レーダ探知パルスＷ１１の復調処理結果を、送信情報設定部２５２へ出力する。 The demodulation processing unit 251 is connected to the receiver 23 and receives the radar wave W10 from the receiver 23. When the radar wave W10 is the radar communication pulse W12, the demodulation processing unit 251 demodulates the radar communication pulse W12 using a demodulation method corresponding to the modulation method of the radar transceiver 10. The demodulation processing unit 251 acquires the signal sequence of the radar communication information D10 by the demodulation process of the radar communication pulse W12. The demodulation processing unit 251 outputs the radar communication information D10 to the transmission information setting unit 252. On the other hand, when the radar wave W10 is the radar detection pulse W11, the demodulation processing unit 251 outputs the demodulation processing result of the radar detection pulse W11 to the transmission information setting unit 252.
　送信情報設定部２５２は、復調処理部２５１の処理結果に基づいて、所定の信号系列を設定する。具体的には、復調処理部２５１が、レーダ通信情報Ｄ１０の信号系列を出力した場合、送信情報設定部２５２は、レーコン通信情報メモリ２６から、レーコン通信情報Ｄ２０を読み出す。そして、送信情報設定部２５２は、レーコン通信情報Ｄ２１の信号系列を生成する。レーコン通信情報Ｄ２１の信号系列は、レーコン通信情報Ｄ２０の信号系列に付加信号系列を付加した、信号系列である。 The transmission information setting unit 252 sets a predetermined signal sequence based on the processing result of the demodulation processing unit 251. Specifically, when the demodulation processing unit 251 outputs the signal sequence of the radar communication information D10, the transmission information setting unit 252 reads the racon communication information D20 from the racon communication information memory 26. Then, transmission information setting section 252 generates a signal sequence of racon communication information D21. The signal sequence of the racon communication information D21 is a signal sequence obtained by adding an additional signal sequence to the signal sequence of the racon communication information D20.
　上記の付加信号系列は、レーダ送受信機１０がレーコン応答波Ｗ２０を検出及び同期するためのプリアンブルとしての信号系列と、誤り検出・誤り訂正のための符号を特定する信号系列と、を含んでいる。レーコン通信情報Ｄ２０の信号系列、及び付加信号系列は、何れも、情報を、「０」及び「１」の２値で示した２値符号列である。 The additional signal sequence includes a signal sequence as a preamble for the radar transceiver 10 to detect and synchronize the racon response wave W20, and a signal sequence for specifying a code for error detection / error correction. . Each of the signal sequence and the additional signal sequence of the racon communication information D20 is a binary code string indicating the information as binary values of “0” and “1”.
　一方、復調処理部２５１が、レーダ探知パルスＷ１１の復調処理結果を出力した場合、送信情報設定部２５２は、レーコン通知パルスＷ２１の信号系列を生成する。 On the other hand, when the demodulation processing unit 251 outputs the demodulation processing result of the radar detection pulse W11, the transmission information setting unit 252 generates a signal sequence of the racon notification pulse W21.
　パルス波形生成部２５３は、送信情報設定部２５２で設定された信号系列に、所定の方式で変調を施す。これにより、パルス波形生成部２５３は、レーコン応答波Ｗ２０（レーコン探知パルスＷ２１又はレーコン通信パルスＷ２２）を生成する。レーコン通信パルスＷ２２は、レーコン通信情報Ｄ２０を含んでいる。 The pulse waveform generation unit 253 modulates the signal series set by the transmission information setting unit 252 by a predetermined method. As a result, the pulse waveform generator 253 generates the racon response wave W20 (the racon detection pulse W21 or the racon communication pulse W22). The racon communication pulse W22 includes racon communication information D20.
　上記の変調方法として、ＡＳＫ（Amplitude Shift Keying）変調、ＦＳＫ（Frequency Shift Keying）変調、ＰＳＫ（Phase Shift Keying）変調等を用いることができる。パルス波形生成部２５３で生成されたレーコン応答波Ｗ２０は、送信機２４へ出力される。 As the modulation method, ASK (Amplitude Shift Keying) modulation, FSK (Frequency Shift Keying) modulation, PSK (Phase Shift Keying) modulation, or the like can be used. The racon response wave W20 generated by the pulse waveform generator 253 is output to the transmitter 24.
　送信機２４が、レーコン応答波Ｗ２０を出力するタイミングは、送信タイミング設定部２５４によって、設定される。 The timing at which the transmitter 24 outputs the racon response wave W20 is set by the transmission timing setting unit 254.
　送信タイミング設定部２５４は、レーダ波Ｗ１０について、立下りまたは立上りのエッジを検知する。送信タイミング設定部２５４は、上記のエッジを検知してから所定期間経過後に、レーコン応答波Ｗ２０の送信トリガＴｇを生成する。送信タイミング設定部２５４は、この送信トリガＴｇを、送信機２４へ出力する。送信機２４は、この送信トリガＴｇが与えられると、レーコン応答波Ｗ２０を、サーキュレータ２２を介して、アンテナ２１へ出力する。 The transmission timing setting unit 254 detects the falling edge or the rising edge of the radar wave W10. The transmission timing setting unit 254 generates a transmission trigger Tg of the racon response wave W20 after a predetermined period has elapsed since the detection of the edge. The transmission timing setting unit 254 outputs this transmission trigger Tg to the transmitter 24. When this transmission trigger Tg is given, the transmitter 24 outputs a racon response wave W20 to the antenna 21 via the circulator 22.
　レーコン通信情報メモリ２６は、レーコン２０に設けられた記憶部であり、例えば、ＲＯＭ、フラッシュメモリ等の不揮発性メモリを用いて形成されている。尚、レーコン通信情報メモリ２６は、レーコン２０の一構成要素として設けられていてもよいし、レーコン２０とは別の要素として設けられていてもよい。 The racon communication information memory 26 is a storage unit provided in the racon 20, and is formed by using, for example, a nonvolatile memory such as a ROM or a flash memory. The racon communication information memory 26 may be provided as one component of the racon 20 or may be provided as an element different from the racon 20.
　受信情報メモリ２７は、レーコン２０に設けられた記憶部であり、例えば、ＲＯＭ、フラッシュメモリ等の不揮発性メモリを用いて形成されている。尚、受信情報メモリ２７は、レーコン２０の一構成要素として設けられていてもよいし、レーコン２０とは別の要素として設けられていてもよい。受信情報メモリ２７は、復調処理部２５１の復調処理結果を記憶する。これにより、レーコン２０は、レーダ通信情報Ｄ１０を記憶することができる。レーダ通信情報Ｄ１０は、例えば、船舶の航行履歴として活用される。 The reception information memory 27 is a storage unit provided in the racon 20 and is formed by using, for example, a nonvolatile memory such as a ROM or a flash memory. The reception information memory 27 may be provided as one component of the racon 20 or may be provided as an element different from the racon 20. The reception information memory 27 stores the demodulation processing result of the demodulation processing unit 251. As a result, the racon 20 can store the radar communication information D10. The radar communication information D10 is used as, for example, a ship navigation history.
［レーダ送受信機の詳細な構成］
　次に、レーダ送受信機１０の具体的な構成について説明する。図５は、レーダ送受信機１０の構成を示すブロック図である。図１及び図５に示すように、このレーダ送受信機１０は、アンテナ部１１と、サーキュレータ１２と、送信機１３と、受信機１４と、信号処理部１５と、レーダ映像表示器１６と、通信情報表示器１７と、レーダ通信情報メモリ１８と、を有している。 [Detailed configuration of radar transceiver]
Next, a specific configuration of the radar transceiver 10 will be described. FIG. 5 is a block diagram showing the configuration of the radar transceiver 10. As shown in FIGS. 1 and 5, the radar transceiver 10 includes an antenna unit 11, a circulator 12, a transmitter 13, a receiver 14, a signal processing unit 15, a radar image display 16, and communication. An information display 17 and a radar communication information memory 18 are provided.
　アンテナ部１１は、電磁波の送信と、電磁波の受信と、を行うように構成されている。具体的には、アンテナ部１１は、サーキュレータ１２を介して送信機１３から出力されたレーダ波Ｗ１０を、出力する。また、アンテナ部１１は、アンテナ受信波Ｗ１を受信し、このアンテナ受信波Ｗ１を、サーキュレータ１２を介して受信機１４へ出力する。 The antenna unit 11 is configured to perform transmission of electromagnetic waves and reception of electromagnetic waves. Specifically, the antenna unit 11 outputs a radar wave W10 output from the transmitter 13 via the circulator 12. The antenna unit 11 receives the antenna reception wave W1 and outputs the antenna reception wave W1 to the receiver 14 via the circulator 12.
　アンテナ部１１は、鉛直軸回りを回転しつつ、自船２の周囲３６０度に対してレーダ波Ｗ１０を送信するとともに、アンテナ受信波Ｗ１を受信する。なお、以下の説明では、レーダ波Ｗ１０を送信してから次のパルス状電波を送信するまでの動作を、「スイープ」という。また、電波の送受信を行いながらアンテナ部１１を３６０°回転させる動作を、「スキャン」という。 The antenna unit 11 transmits the radar wave W10 to the 360 degrees around the ship 2 while receiving the antenna reception wave W1 while rotating around the vertical axis. In the following description, the operation from the transmission of the radar wave W10 to the transmission of the next pulsed radio wave is referred to as “sweep”. Further, the operation of rotating the antenna unit 11 360 ° while transmitting / receiving radio waves is referred to as “scan”.
　レーダ送受信機１０がレーダ探知パルスＷ１１を送信した場合、この送信後に受信されるアンテナ受信波Ｗ１は、エコー信号Ｅｃを含んでいる。エコー信号Ｅｃは、レーダ探知パルスＷ１１の送信によって生じた反射波である。また、レーダ波Ｗ１０がレーコン２０に到達した場合、前述したように、レーコン２０は、レーコン通知パルスＷ２１を送信する。よって、この場合、アンテナ受信波Ｗ１は、エコー信号Ｅｃに加えて、レーコン通知パルスＷ２１を含んでいる。尚、以下では、エコー信号Ｅｃ及びレーコン通知パルスＷ２１を総称して、探知用受信信号Ｒ（ｋ）という。探知用受信信号Ｒ（ｋ）は、アンテナ部１１がレーダ探知パルスＷ１１を送信した後に、アンテナ部１１によって受信された信号である。時刻ｋは、探知用受信信号Ｒ（ｋ）が受信された時刻を示す。 When the radar transceiver 10 transmits the radar detection pulse W11, the antenna reception wave W1 received after the transmission includes the echo signal Ec. The echo signal Ec is a reflected wave generated by the transmission of the radar detection pulse W11. Further, when the radar wave W10 reaches the racon 20, as described above, the racon 20 transmits the racon notification pulse W21. Therefore, in this case, the antenna reception wave W1 includes the racon notification pulse W21 in addition to the echo signal Ec. Hereinafter, the echo signal Ec and the racon notification pulse W21 are collectively referred to as a detection reception signal R (k). The detection reception signal R (k) is a signal received by the antenna unit 11 after the antenna unit 11 transmits the radar detection pulse W11. The time k indicates the time when the detection reception signal R (k) is received.
　また、レーダ送受信機１０がレーコン２０へ向けてレーダ通信パルスＷ１２を送信した場合、受信されるアンテナ受信波Ｗ１は、レーコン通信パルスＷ２２を含んでいるけれども、エコー信号Ｅｃは含んでいない。 Further, when the radar transceiver 10 transmits the radar communication pulse W12 toward the racon 20, the received antenna reception wave W1 includes the racon communication pulse W22 but does not include the echo signal Ec.
　尚、本実施形態では、このアンテナ部１１を用いて、送信動作及び受信動作を行っている。しかしながら、この通りでなくてもよい。例えば、電磁波の送信用アンテナ部と、電磁波の受信用アンテナ部とは、別体であってもよい。 In this embodiment, the antenna unit 11 is used to perform a transmission operation and a reception operation. However, this need not be the case. For example, the electromagnetic wave transmitting antenna unit and the electromagnetic wave receiving antenna unit may be separate.
　本実施形態では、サーキュレータ１２は、アンテナ部１１、送信機１３及び受信機１４が接続された、３ポートサーキュレータである。このサーキュレータ１２は、送信機１３から出力されたレーダ波Ｗ１０を、アンテナ部１１へ伝達する。また、サーキュレータ１２は、アンテナ部１１で受信されたアンテナ受信波Ｗ１を、受信機１４へ伝達する。 In this embodiment, the circulator 12 is a three-port circulator to which the antenna unit 11, the transmitter 13, and the receiver 14 are connected. The circulator 12 transmits the radar wave W10 output from the transmitter 13 to the antenna unit 11. Further, the circulator 12 transmits the antenna reception wave W <b> 1 received by the antenna unit 11 to the receiver 14.
　送信機１３は、信号処理部１５によって生成されたレーダ波Ｗ１０（レーダ探知パルスＷ１１又はレーダ通信パルスＷ１２）を、所定のＲＦ（Radio Frequency）周波数帯にアップコンバート及び増幅する。 The transmitter 13 up-converts and amplifies the radar wave W10 (radar detection pulse W11 or radar communication pulse W12) generated by the signal processing unit 15 to a predetermined RF (Radio frequency) frequency band.
　受信機１４は、アンテナ部１１からのアンテナ受信波Ｗ１を、増幅する。受信機１４は、増幅したアンテナ受信波Ｗ１を、信号処理部１５に出力する。 The receiver 14 amplifies the antenna reception wave W1 from the antenna unit 11. The receiver 14 outputs the amplified antenna reception wave W <b> 1 to the signal processing unit 15.
　信号処理部１５は、本発明の「信号処理装置」の一例である。信号処理部１５は、レーダ波Ｗ１０を生成するように構成されている。また、信号処理部１５は、アンテナ受信波Ｗ１を基に、レーダ映像表示器１６に表示させる画像の画素データＹｋ［ｉ，ｊ］の生成と、通信情報表示器１７に表示させるレーコン通信情報Ｄ２０の抽出と、を行うように構成されている。 The signal processing unit 15 is an example of the “signal processing device” in the present invention. The signal processing unit 15 is configured to generate a radar wave W10. Further, the signal processing unit 15 generates the pixel data Y k [i, j] of the image to be displayed on the radar image display 16 and the racon communication information to be displayed on the communication information display 17 based on the antenna reception wave W1. D20 is extracted.
　信号処理部１５は、スイープメモリ１５１と、画像データ生成部１５２と、復調処理部１５３と、判断部１５４と、レーダ通信情報設定部１５５と、レーダ通信パルス生成部１５６と、レーダ探知パルス生成部１５７と、送信波形切替部１５８と、を有している。 The signal processing unit 15 includes a sweep memory 151, an image data generation unit 152, a demodulation processing unit 153, a determination unit 154, a radar communication information setting unit 155, a radar communication pulse generation unit 156, and a radar detection pulse generation unit. 157 and a transmission waveform switching unit 158.
　スイープメモリ１５１は、受信機１４で受信された探知用受信信号Ｒ（ｋ）を記憶するように構成されている。探知用受信信号Ｒ（ｋ）は、Ｒ－θ系座標の受信信号である。図２に示す、アンテナ部１１（自船２）からの位置を距離ｒ、アンテナ部１１を中心とする角度をアンテナ角度θとする極座標によって、探知用受信信号Ｒ（ｋ）に対応する位置が特定される。スイープメモリ１５１は、最新の探知用受信信号Ｒ（ｋ）、又は１スイープ分過去の探知用受信信号Ｒ（ｋ－１）を、記憶している。１スイープ分過去の探知用受信信号Ｒ（ｋ－１）は、本発明の「過去の探知結果」の一例である。尚、以下では、探知用受信信号Ｒ（ｋ），Ｒ（ｋ－１）を総称していう場合、探知用受信信号Ｒ（Ｋ）という。 The sweep memory 151 is configured to store the detection reception signal R (k) received by the receiver 14. The detection reception signal R (k) is a reception signal of R-θ system coordinates. The position corresponding to the detection reception signal R (k) is indicated by polar coordinates shown in FIG. 2 where the position from the antenna unit 11 (own ship 2) is the distance r and the angle about the antenna unit 11 is the antenna angle θ. Identified. The sweep memory 151 stores the latest detection reception signal R (k) or the detection reception signal R (k−1) of the past for one sweep. The reception signal R (k−1) for past detection for one sweep is an example of the “past detection result” of the present invention. Hereinafter, the detection reception signals R (k) and R (k−1) are collectively referred to as detection reception signals R (K).
　図６は、スイープメモリ１５１の動作の一例を説明するためのフローチャートである。以下では、フローチャートを参照しながら説明する場合、他の図面も適宜参照する。図６を参照して、スイープメモリ１５１は、直近の時点で送信されたレーダ波Ｗ１０が、レータ探知パルスＷ１１であるか否かを判断する（ステップＳ１０１）。具体的には、スイープメモリ１５１は、判断部１５４から出力される指令信号ＣＭ（後述）が、レーダ探知パルスＷ１１を送信する指令であったか否かを判断する。 FIG. 6 is a flowchart for explaining an example of the operation of the sweep memory 151. In the following, when the description is made with reference to flowcharts, other drawings are also referred to as appropriate. With reference to FIG. 6, the sweep memory 151 determines whether or not the radar wave W10 transmitted at the most recent time is a detector detection pulse W11 (step S101). Specifically, the sweep memory 151 determines whether or not a command signal CM (described later) output from the determination unit 154 is a command for transmitting the radar detection pulse W11.
　指令信号ＣＭが、レーダ探知パルスＷ１１を送信する指令であった場合（ステップＳ１０１でＹＥＳ）、スイープメモリ１５１は、受信機１４からの探知用受信信号Ｒ（ｋ）を、記憶する（ステップＳ１０２）。即ち、スイープメモリ１５１は、探知用受信信号Ｒ（ｋ）を更新する。一方、指令信号ＣＭが、レーダ通信パルスＷ１２を送信する指令であった場合（ステップＳ１０１でＮＯ）、スイープメモリ１５１は、受信機１４からの探知用受信信号Ｒ（ｋ）を、記憶しない（ステップＳ１０３）。この場合、スイープメモリ１５１は、記憶内容を更新せず、既に保持している探知用受信信号Ｒ（ｋ－１）を、過去の探知結果として保持する。 When the command signal CM is a command for transmitting the radar detection pulse W11 (YES in step S101), the sweep memory 151 stores the detection reception signal R (k) from the receiver 14 (step S102). . That is, the sweep memory 151 updates the detection reception signal R (k). On the other hand, when the command signal CM is a command for transmitting the radar communication pulse W12 (NO in Step S101), the sweep memory 151 does not store the detection reception signal R (k) from the receiver 14 (Step S101). S103). In this case, the sweep memory 151 does not update the stored contents, and retains the detection reception signal R (k−1) that is already held as a past detection result.
　再び図２及び図５を参照して、スイープメモリ１５１に記憶されている探知用受信信号Ｒ（ｋ）又は探知用受信信号Ｒ（ｋ－１）は、画像データ生成部１５２へ与えられる。 Referring to FIGS. 2 and 5 again, the detection reception signal R (k) or the detection reception signal R (k−1) stored in the sweep memory 151 is supplied to the image data generation unit 152.
　画像データ生成部１５２は、レーダ探知パルスＷ１１を用いた探知結果に基づく画像データを生成するように構成されている。より具体的には、画像データ生成部１５２は、探知用受信信号Ｒ（Ｋ）を用いて、レーダ映像表示器１６に表示を行わせるための画素データＹｋ［ｉ，ｊ］を生成する。画素データＹｋ［ｉ，ｊ］は、本発明の「画像データ」の一例である。 The image data generation unit 152 is configured to generate image data based on the detection result using the radar detection pulse W11. More specifically, the image data generation unit 152 generates pixel data Y k [i, j] for causing the radar image display 16 to display using the detection reception signal R (K). The pixel data Y k [i, j] is an example of the “image data” in the present invention.
　画像データ生成部１５２は、画素データ生成部１５２ａと、画像メモリ１５２ｂと、を有している。 The image data generation unit 152 includes a pixel data generation unit 152a and an image memory 152b.
　画素データ生成部１５２ａは、探知用受信信号Ｒ（Ｋ）を基に、画像メモリ１５２ｂへ書き込む画素データＧｋ［ｉ，ｊ］を決定する。尚、［ｉ，ｊ］は、Ｘ－Ｙ座標系での座標を示しており、画素データＧｋ［ｉ，ｊ］は、［ｉ，ｊ］で特定される座標での信号レベルを示す。このように、画素データ生成部１５２ａは、探知用受信信号Ｒ（Ｋ）で特定される各位置を、Ｒ－θ座標系からＸ－Ｙ座標系（直交座標系）に変換する。 The pixel data generation unit 152a determines pixel data G k [i, j] to be written to the image memory 152b based on the detection reception signal R (K). [I, j] indicates coordinates in the XY coordinate system, and pixel data G k [i, j] indicates a signal level at coordinates specified by [i, j]. In this way, the pixel data generation unit 152a converts each position specified by the detection reception signal R (K) from the R-θ coordinate system to the XY coordinate system (orthogonal coordinate system).
　より具体的には、画素データ生成部１５２ａは、アンテナ部１１の位置を、原点（ｉ０，ｊ０）として設定する。画素データ生成部１５２ａは、原点（ｉ０，ｊ０）から所定方向（例えば、真北方向）をθ＝０として、アンテナ角度θを設定する。そして、画素データ生成部１５２ａは、アンテナ角度θと、探知用受信信号Ｒ（Ｋ）の読み出し位置（アンテナ部１１からの距離ｒに相当）と、を基に、Ｘ－Ｙ座標系の対応する番地（位置）を、決定する。座標（ｉ，ｊ）は、下記式（１），（２）で表される。　ｉ＝ｉ０＋ｒｃｏｓθ・・・・・（１）　ｊ＝ｊ０＋ｒｓｉｎθ・・・・・（２） More specifically, the pixel data generation unit 152a sets the position of the antenna unit 11 as the origin (i 0 , j 0 ). The pixel data generation unit 152a sets the antenna angle θ with θ = 0 as a predetermined direction (for example, true north direction) from the origin (i 0 , j 0 ). Then, the pixel data generation unit 152a corresponds to the XY coordinate system based on the antenna angle θ and the reading position of the detection reception signal R (K) (corresponding to the distance r from the antenna unit 11). The address (position) is determined. The coordinates (i, j) are represented by the following formulas (1) and (2). i = i 0 + r cos θ (1) j = j 0 + r sin θ (2)
　１つの探知用受信信号Ｒ（Ｋ）に基づいて得られる画素データＧｋ［ｉ，ｊ］は、１スイープ動作によって探知される領域の画素データである。画素データ生成部１５２ａは、画素データＧｋ［ｉ，ｊ］を、画像メモリ１５２ｂへ出力する。画像メモリ１５２ｂは、１スキャンに相当する複数スイープ分の画素データＧｋ［ｉ，ｊ］を、蓄積する。画像メモリ１５２ｂは、蓄積した１スキャン分の画素データＧｋ［ｉ，ｊ］の少なくとも一部に処理を施す。これにより、各画素データＧｋ［ｉ，ｊ］は、画素データＹｋ［ｉ，ｊ］として、レーダ映像表示器１６へ出力される。 Pixel data G k [i, j] obtained based on one detection reception signal R (K) is pixel data of a region detected by one sweep operation. The pixel data generation unit 152a outputs the pixel data G k [i, j] to the image memory 152b. The image memory 152b stores pixel data G k [i, j] for a plurality of sweeps corresponding to one scan. The image memory 152b performs processing on at least a part of the accumulated pixel data G k [i, j] for one scan. Thereby, each pixel data G k [i, j] is output to the radar image display 16 as pixel data Y k [i, j].
　図３及び図５を参照して、レーダ映像表示器１６は、画素データＹｋ［ｉ，ｊ］で特定される画像を表示するように構成されている。レーダ映像表示器１６は、液晶ディスプレイ等の表示装置である。このレーダ映像表示器１６のＰＰＩ画面１６１は、円形の表示領域上を回転する走査線によって、物標の所在位置を、２次元的に表示するように構成されている。 3 and 5, the radar image display 16 is configured to display an image specified by the pixel data Y k [i, j]. The radar image display 16 is a display device such as a liquid crystal display. The PPI screen 161 of the radar image display 16 is configured to two-dimensionally display the position of the target by scanning lines that rotate on a circular display area.
　ＰＰＩ画面１６１は、自船２の位置を中心に表示する。ＰＰＩ画面１６１の各画素は、対応する座標（ｉ，ｊ）における受信信号レベルに応じた色及び階調の表示を行う。これにより、ＰＰＩ画面１６１には、他船３のエコー像Ｐ３、陸地４のエコー像Ｐ４、及びレーコン２０のエコー像Ｐ２０が表示される。 The PPI screen 161 displays the position of own ship 2 as the center. Each pixel of the PPI screen 161 displays a color and gradation according to the received signal level at the corresponding coordinates (i, j). As a result, the echo image P3 of the other ship 3, the echo image P4 of the land 4 and the echo image P20 of the racon 20 are displayed on the PPI screen 161.
　本実施形態では、レーダ送受信機１０は、レーダ探知パルスＷ１１とレーダ通信パルスＷ１２とを択一的に送信するように構成されている。このため、レーダ送受信機１０は、レーダ通信パルスＷ１２を送信している間、レーダ探知パルスＷ１１を送信しないので、物標を探知できない。 In the present embodiment, the radar transceiver 10 is configured to alternatively transmit a radar detection pulse W11 and a radar communication pulse W12. For this reason, the radar transceiver 10 cannot detect the target because it does not transmit the radar detection pulse W11 while transmitting the radar communication pulse W12.
　そこで、本実施形態の信号処理部１５においては、レーダ波Ｗ１０がレーコン２０と通信可能な場合と、レーダ波Ｗ１０がレーコン２０と通信できない場合とで、画素データＹｋ［ｉ，ｊ］を生成するための処理が異なっている。図２及び図３を参照して、このような構成により、ＰＰＩ画面１６１において、レーダ送受信機１０とレーコン２０とが通信可能な通信範囲ＣＡ１に対応する箇所ＰＣＡ１でも、レーダ探知パルスＷ１１を用いた探知結果は、表示される。このような処理の具体例は、後述する。尚、通信範囲ＣＡ１は、レーダ送受信機１０とレーコン２０とが通信可能な範囲を示している。通信範囲ＣＡ１は、平面視で扇状の領域である。 Therefore, in the signal processing unit 15 of the present embodiment, pixel data Y k [i, j] is generated when the radar wave W10 can communicate with the racon 20 and when the radar wave W10 cannot communicate with the racon 20. The processing to do is different. With reference to FIGS. 2 and 3, with such a configuration, the radar detection pulse W11 is also used in the PCA1 corresponding to the communication range CA1 in which the radar transceiver 10 and the racon 20 can communicate on the PPI screen 161. The detection result is displayed. A specific example of such processing will be described later. The communication range CA1 indicates a range in which the radar transceiver 10 and the racon 20 can communicate with each other. The communication range CA1 is a fan-shaped area in plan view.
　図５を参照して、アンテナ受信波Ｗ１は、スイープメモリ１５１に加えて、復調処理部１５３にも出力される。アンテナ受信波Ｗ１にレーコン通信情報Ｄ２０が含まれている場合、復調処理部１５３は、レーコン２０の変調方式に対応する復調方式を用いて、レーコン応答波Ｗ２０を復調する。これにより、復調処理部１５３は、レーコン通信情報Ｄ２０を取得する。このレーコン通信情報Ｄ２０は、通信情報表示器１７、及び判断部１５４へ出力される。 Referring to FIG. 5, the antenna reception wave W1 is output to the demodulation processing unit 153 in addition to the sweep memory 151. When the antenna received wave W1 includes the racon communication information D20, the demodulation processing unit 153 demodulates the racon response wave W20 using a demodulation method corresponding to the modulation method of the racon 20. Thereby, the demodulation process part 153 acquires racon communication information D20. The racon communication information D20 is output to the communication information display 17 and the determination unit 154.
　通信情報表示器１７は、レーコン通信情報Ｄ２０を表示するための表示器である。通信情報表示器１７は、例えば、液晶ディスプレイ等の表示装置である。尚、本実施形態では、通信情報表示器１７と、レーダ映像表示器１６とは、別々に構成されているけれども、この通りでなくてもよい。例えば、通信情報表示器１７と、レーダ映像表示器１６とは、１つの表示画面を有する表示装置によって、構成されていてもよい。 The communication information display 17 is a display for displaying the racon communication information D20. The communication information indicator 17 is a display device such as a liquid crystal display. In the present embodiment, the communication information display 17 and the radar image display 16 are configured separately, but this need not be the case. For example, the communication information display 17 and the radar image display 16 may be configured by a display device having a single display screen.
　判断部１５４は、本発明の「通信範囲検出部」の一例である。判断部１５４は、レーダ探知パルスＷ１１とレーダ通信パルスＷ１２の何れを送信するかを判断するために、設けられている。判断部１５４は、通信範囲ＣＡ１に対して、レーダ通信パルスＷ１２の送信の合間に、レーダ探知パルスＷ１１を送信させるための処理を行う。判断部１５４での処理の流れの一例は、後述する。次に、レーダ通信パルスＷ１２を生成するための構成を説明する。 The determination unit 154 is an example of the “communication range detection unit” in the present invention. The determination unit 154 is provided to determine which of the radar detection pulse W11 and the radar communication pulse W12 is to be transmitted. The determination unit 154 performs processing for transmitting the radar detection pulse W11 to the communication range CA1 between transmissions of the radar communication pulse W12. An example of the flow of processing in the determination unit 154 will be described later. Next, a configuration for generating the radar communication pulse W12 will be described.
　レーダ情報設定部１５５は、レーダ通信情報Ｄ１１の信号系列を生成するように構成されている。レーダ通信情報Ｄ１１の信号系列は、レーダ通信情報メモリ１８に記憶されているレーダ通信情報Ｄ１０の信号系列に、付加信号系列を付加した、信号系列である。付加信号系列は、レーダ通信パルスＷ１２であることを示すプリアンブルとしての信号系列と、誤り検出・誤り訂正のための符号を特定する信号系列と、を含んでいる。レーダ通信情報設定部１５５は、レーダ通信情報Ｄ１１の信号系列を、レーダ通信パルス生成部１５６へ出力する。 The radar information setting unit 155 is configured to generate a signal sequence of the radar communication information D11. The signal sequence of the radar communication information D11 is a signal sequence obtained by adding an additional signal sequence to the signal sequence of the radar communication information D10 stored in the radar communication information memory 18. The additional signal series includes a signal series as a preamble indicating the radar communication pulse W12, and a signal series for specifying a code for error detection / error correction. The radar communication information setting unit 155 outputs the signal sequence of the radar communication information D11 to the radar communication pulse generation unit 156.
　尚、レーダ通信情報Ｄ１０が格納されているレーダ通信情報メモリ１８は、レーダ送受信機１０に設けられた記憶部であり、例えば、ＲＯＭ、フラッシュメモリ等の不揮発性メモリを用いて形成されている。レーダ通信情報メモリ１８は、レーダ送受信機１０の一構成要素として設けられていてもよいし、レーダ送受信機１０とは別の要素として設けられていてもよい。 The radar communication information memory 18 in which the radar communication information D10 is stored is a storage unit provided in the radar transceiver 10, and is formed by using, for example, a nonvolatile memory such as a ROM or a flash memory. The radar communication information memory 18 may be provided as one component of the radar transceiver 10 or may be provided as an element different from the radar transceiver 10.
　レーダ通信パルス生成部１５６は、本発明の「通信信号生成部」の一例である。レーダ通信パルス生成部１５６は、レーダ通信パルスＷ１２の生成処理を行う。このレーダ通信パルス生成部１５６は、上記のレーダ通信情報Ｄ１１の信号系列に、所定の方式で変調を施す。これにより、レーダ通信パルス生成部１５６は、レーダ通信パルスＷ１２を生成する。レーダ通信パルスＷ１２は、本発明の「通信対象と通信するための通信信号」の一例である。 The radar communication pulse generation unit 156 is an example of the “communication signal generation unit” in the present invention. The radar communication pulse generation unit 156 performs generation processing of the radar communication pulse W12. The radar communication pulse generator 156 modulates the signal sequence of the radar communication information D11 by a predetermined method. Thereby, the radar communication pulse generation unit 156 generates the radar communication pulse W12. The radar communication pulse W12 is an example of the “communication signal for communicating with a communication target” in the present invention.
　上記の変調方法として、ＡＳＫ（Amplitude Shift Keying）変調、ＦＳＫ（Frequency Shift Keying）変調、ＰＳＫ（Phase Shift Keying）変調等を用いることができる。レーダ通信パルスＷ１２は、送信波形切替部１５８へ出力される。送信波形切替部１５８は、レーダ通信パルス生成部１５６に加え、レーダ探知パルス生成部１５７にも接続されている。 As the modulation method, ASK (Amplitude Shift Keying) modulation, FSK (Frequency Shift Keying) modulation, PSK (Phase Shift Keying) modulation, or the like can be used. Radar communication pulse W12 is output to transmission waveform switching section 158. The transmission waveform switching unit 158 is connected to the radar detection pulse generation unit 157 in addition to the radar communication pulse generation unit 156.
　レーダ探知パルス生成部１５７は、本発明の「探知信号生成部」の一例である。レーダ探知パルス生成部１５７は、レーダ探知パルスＷ１１の波形を生成する。レーダ探知パルスＷ１１は、本発明の「レーダ装置の周囲の物標を探知するための探知信号」の一例であり、物標に照射されたときに、十分な強さのエコー信号Ｅｃを生成するパルスである。これにより、レーダ探知パルスＷ１１を用いた、物標の探知が可能となる。 The radar detection pulse generation unit 157 is an example of the “detection signal generation unit” in the present invention. The radar detection pulse generator 157 generates a waveform of the radar detection pulse W11. The radar detection pulse W11 is an example of the “detection signal for detecting a target around the radar device” of the present invention, and generates an echo signal Ec having a sufficiently strong intensity when irradiated on the target. It is a pulse. As a result, the target can be detected using the radar detection pulse W11.
　尚、レーダ通信パルスＷ１２は、レーダ通信情報Ｄ１０を送信するための、データ通信用パルスであり、物標に照射されたときに、エコー信号Ｅｃを発生させるパルスではない。即ち、レーダ通信パルスＷ１２は、物標の探知には用いられない。レーダ探知パルス生成部１５７は、レーダ探知パルスＷ１１を、送信波形切替部１５８へ送信する。 Note that the radar communication pulse W12 is a data communication pulse for transmitting the radar communication information D10, and is not a pulse for generating the echo signal Ec when the target is irradiated. That is, the radar communication pulse W12 is not used for detecting a target. The radar detection pulse generation unit 157 transmits the radar detection pulse W11 to the transmission waveform switching unit 158.
　送信波形切替部１５８は、判断部１５４からの指令信号ＣＭに基づいて、レーダ探知パルスＷ１１を送信するモードと、レーダ通信パルスＷ１２を送信するモードと、を切り替える。送信波形切替部１５８は、レーダ探知パルスＷ１１を送信するモードを選択した場合、レーダ探知パルス生成部１５７からのレーダ探知パルスＷ１１を、送信機１３へ出力する。一方、送信波形切替部１５８は、レーダ通信パルスＷ１２を送信するモードを選択した場合、レーダ通信パルス生成部１５６からのレーダ通信パルスＷ１２を、送信機１３へ出力する。 The transmission waveform switching unit 158 switches between the mode for transmitting the radar detection pulse W11 and the mode for transmitting the radar communication pulse W12 based on the command signal CM from the determination unit 154. When the transmission waveform switching unit 158 selects the mode for transmitting the radar detection pulse W11, the transmission waveform switching unit 158 outputs the radar detection pulse W11 from the radar detection pulse generation unit 157 to the transmitter 13. On the other hand, when the transmission waveform switching unit 158 selects the mode for transmitting the radar communication pulse W12, the transmission waveform switching unit 158 outputs the radar communication pulse W12 from the radar communication pulse generation unit 156 to the transmitter 13.
　次に、判断部１５４の処理手順の一例を、以下に説明する。図７は、判断部１５４の処理の流れの一例を示すフローチャートである。 Next, an example of the processing procedure of the determination unit 154 will be described below. FIG. 7 is a flowchart illustrating an example of a processing flow of the determination unit 154.
　判断部１５４は、まず、復調処理部１５３で復調処理されたアンテナ受信波Ｗ１に、レーコン応答波Ｗ２０が含まれているかどうかを判断する（ステップＳ２０１）。例えば、アンテナ受信波Ｗ１の電力が、所定電力未満であった場合、判断部１５４は、アンテナ受信波Ｗ１にレーコン応答波Ｗ２０が含まれていないと判断する（ステップＳ２０１でＮＯ）。 First, the determination unit 154 determines whether the antenna received wave W1 demodulated by the demodulation processing unit 153 includes the racon response wave W20 (step S201). For example, when the power of the antenna reception wave W1 is less than the predetermined power, the determination unit 154 determines that the racon response wave W20 is not included in the antenna reception wave W1 (NO in step S201).
　尚、判断部１５４は、復調処理部１５３での復調処理結果に、レーコン応答波Ｗ２０であることを示すプリアンブルの信号系列が含まれているか否かによって、レーコン応答波Ｗ２０の有無を判断してもよい。また、判断部１５４は、例えば、復調処理部１５３において、レーコン応答波Ｗ２０の復調に成功した場合に、アンテナ受信波Ｗ１にレーコン応答波Ｗ２０が含まれていると判断してもよい。 The determination unit 154 determines the presence or absence of the racon response wave W20 depending on whether or not the demodulation processing result in the demodulation processing unit 153 includes a preamble signal sequence indicating the racon response wave W20. Also good. For example, when the demodulation processing unit 153 successfully demodulates the racon response wave W20, the determination unit 154 may determine that the antenna received wave W1 includes the racon response wave W20.
　アンテナ受信波Ｗ１にレーコン応答波Ｗ２０が含まれていない場合（前述のステップＳ２０１でＮＯ）、判断部１５４は、指令信号ＣＭとして、レーダ探知パルスＷ１１を送信する旨の信号を、送信波形切替部１５８に送信する（ステップＳ２０２）。 When the racon response wave W20 is not included in the antenna reception wave W1 (NO in step S201 described above), the determination unit 154 transmits a signal indicating that the radar detection pulse W11 is transmitted as the command signal CM to the transmission waveform switching unit. It transmits to 158 (step S202).
　一方、例えば、アンテナ受信波Ｗ１の電力が、所定電力以上であった場合、判断部１５４は、アンテナ受信波Ｗ１にレーコン応答波Ｗ２０が含まれていると判断する（ステップＳ２０１でＹＥＳ）。判断部１５４は、レーコン応答波Ｗ２０が検出された範囲を、通信範囲ＣＡ１として扱う。判断部１５４は、このように、アンテナ受信波Ｗ１にレーコン応答波Ｗ２０が含まれているか否かを判断することで、方位方向Ｃ１において、レーコン２０と通信する通信範囲ＣＡ１を検出する。 On the other hand, for example, when the power of the antenna reception wave W1 is equal to or higher than the predetermined power, the determination unit 154 determines that the racon response wave W20 is included in the antenna reception wave W1 (YES in step S201). Determination unit 154 treats the range in which racon response wave W20 is detected as communication range CA1. Thus, the determination unit 154 detects the communication range CA1 that communicates with the racon 20 in the azimuth direction C1 by determining whether or not the racon response wave W20 is included in the antenna reception wave W1.
　ステップＳ２０１でＹＥＳの場合、判断部１５４は、レーダ通信パルスＷ１２が連続して送信された回数を判断する（ステップＳ２０３）。具体的には、レーダ送受信機１０からレーダ通信パルスＷ１２が連続してｘ１回送信されていた場合（ステップＳ２０３でＹＥＳ）、判断部１５４は、指令信号ＣＭとして、レーダ探知パルスＷ１１を送信する信号を、送信波形切替部１５８へ出力する（ステップＳ２０２）。これにより、レーダ送受信機１０が通信モードにある最中でも、レーダ送受信機１０を探知モードに切り替えることができる。 When YES is determined in the step S201, the determination unit 154 determines the number of times the radar communication pulse W12 is continuously transmitted (step S203). Specifically, if the radar communication pulse W12 from radar transceiver 10 has been continuously transmitted x 1 time (YES in step S203), the determination unit 154 as a command signal CM, transmits the radar detection pulse W11 The signal is output to the transmission waveform switching unit 158 (step S202). Thereby, the radar transceiver 10 can be switched to the detection mode even while the radar transceiver 10 is in the communication mode.
　一方、レーコン通信パルスＷ２２の連続送信回数が、ｘ１スイープ回未満である場合（ステップＳ２０３でＮＯ）、判断部１５４は、指令信号ＣＭとして、レーダ通信パルスＷ１２を送信する信号を、送信波形切替部１５８へ出力する（ステップＳ２０４）。 On the other hand, the continuous transmission number of racons communication pulse W22 is is less than x 1 sweep times (NO in step S203), the determination unit 154 as a command signal CM, the signal to be transmitted radar communication pulse W12, transmission waveform switching The data is output to the unit 158 (step S204).
　尚、上記の定数ｘ１は、自然数であり、本実施形態では、ｘ１＝２に設定されている。ｘ１の設定値は、レーダ探知パルスＷ１１の送信頻度が低下することに起因する、レーダ映像表示器１６のＰＰＩ画面１６１の表示の劣化度合いと、レーダ通信パルスＷ１２によるデータ送信レートとの関係に基づいて決定される。上記の表示の劣化度合いと、データ通信レートとは、トレードオフの関係にある。以上が、判断部１５４での処理の一例である。次に、判断部１５４での判断によって実現される状態を説明する。 The constant x 1 is a natural number and is set to x 1 = 2 in the present embodiment. set value of x 1 is due to the transmission frequency of the radar detecting pulse W11 is decreased, the degree of deterioration of the display of the PPI screen 161 of the radar video display 16, the relationship between the data transmission rate by radar communication pulse W12 To be determined. The degree of display degradation and the data communication rate are in a trade-off relationship. The above is an example of processing in the determination unit 154. Next, a state realized by the determination by the determination unit 154 will be described.
　図８は、レーダ送受信機１０の動作の要点と、レーコン２０の動作の要点とを説明するための図である。 FIG. 8 is a diagram for explaining the main points of the operation of the radar transceiver 10 and the main points of the operation of the racon 20.
　図５、図７及び図８に示すように、レーダ送受信機１０が、θ１スイープ目の動作において、通信範囲ＣＡ１外に向けてレーダ探知パルスＷ１１を送信した場合（タイミングＴ１）、レーコン２０からは、レーコン応答波Ｗ２０は送信されない。その後、θ２スイープ目の動作において、レーダ送受信機１０は、通信範囲ＣＡ１に向けてレーダ探知パルスＷ１１を送信する（タイミングＴ２）。その後、レーダ送受信機１０は、探知用受信信号Ｒ（ｋ）の受信を開始する（タイミングＴ３）。 As shown in FIGS. 5, 7, and 8, when the radar transceiver 10 transmits the radar detection pulse W <b> 11 to the outside of the communication range CA <b> 1 in the operation of the θ1 sweep (timing T <b> 1), the racon 20 The racon response wave W20 is not transmitted. Thereafter, in the operation of the θ 2 sweep, the radar transceiver 10 transmits the radar detection pulse W11 toward the communication range CA1 (timing T2). Thereafter, the radar transceiver 10 starts receiving the detection reception signal R (k) (timing T3).
　この状態のとき、レーコン２０は、レーコン通知パルスＷ２１を、レーダ送受信機１０へ送信する（タイミングＴ４）。このレーコン応答波Ｗ２０は、レーダ送受信機１０で受信される。これにより、レーダ送受信機１０は、レーコン２０の存在を認識する。 In this state, the racon 20 transmits a racon notification pulse W21 to the radar transceiver 10 (timing T4). The racon response wave W20 is received by the radar transceiver 10. As a result, the radar transceiver 10 recognizes the presence of the racon 20.
　次いで、θ２スイープ目の動作において、レーダ送受信機１０は、レーダ通信パルスＷ１２を送信し（タイミングＴ５）、その後、レーコン通信パルスＷ２２の受信を開始する（ステップＴ６）。この状態において、レーダ通信パルスＷ１２を受信したレーコン２０は、レーダ通信パルスＷ１２の復調処理を行うことで、レーダ通信情報Ｄ１０を取得し、このレーダ通信情報Ｄ１０を、受信情報メモリ２７に記憶する。レーコン２０は、この記憶動作と並行して、レーコン通信パルスＷ２２を出力する（タイミングＴ７）。 Then, the theta 2 sweep th operation, radar transceiver 10 transmits a radar communication pulse W12 (timing T5), then starts receiving the racon communication pulse W22 (Step T6). In this state, the racon 20 that has received the radar communication pulse W12 acquires the radar communication information D10 by performing demodulation processing on the radar communication pulse W12, and stores the radar communication information D10 in the reception information memory 27. The racon 20 outputs a racon communication pulse W22 in parallel with this storage operation (timing T7).
　このレーコン通信パルスＷ２２は、レーダ送受信機１０で受信され、その結果、レーコン通信情報Ｄ２０が、通信情報表示器１７に表示される。この場合、レーダ通信パルスＷ１２は、ｘ２回連続して送信されたわけではない。よって、レーダ送受信機１０は、θ４スイープ目の動作において、再び、レーダ通信パルスＷ１２を送信する（タイミングＴ８）。その後、レーダ送受信機１０は、レーコン通信パルスＷ２２の受信を開始する（タイミングＴ９）。 The racon communication pulse W22 is received by the radar transceiver 10, and as a result, the racon communication information D20 is displayed on the communication information display 17. In this case, the radar communication pulse W12 is not transmitted continuously x 2 times. Therefore, the radar transceiver 10, the theta 4 sweep th operation, again, sends the radar communication pulse W12 (timing T8). Thereafter, the radar transceiver 10 starts receiving the racon communication pulse W22 (timing T9).
　この状態において、レーダ通信パルスＷ１２を受信したレーコン２０は、レーダ探知パルスＷ１１の復調処理を行うことで、レーダ通信情報Ｄ１０を取得し、このレーダ通信情報Ｄ１０を、受信情報メモリ２７に記憶する。レーコン２０は、この記憶動作と並行して、レーコン通信パルスＷ２２を出力する（タイミングＴ１０）。 In this state, the racon 20 that has received the radar communication pulse W12 performs demodulation processing of the radar detection pulse W11, thereby acquiring the radar communication information D10, and stores the radar communication information D10 in the reception information memory 27. The racon 20 outputs a racon communication pulse W22 in parallel with this storage operation (timing T10).
　レーコン通信パルスＷ２２は、レーダ送受信機１０で受信され、その結果、レーコン通信情報Ｄ２０が、通信情報表示器１７に表示される。この場合、レーダ通信パルスＷ１２は、ｘ２スイープ（２スイープ）連続して送信されている。よって、判断部１５４は、指令信号ＣＭとして、レーダ探知パルスＷ１１の送信指令を、送信波形切替部１５８に出力する。これにより、レーダ送受信機１０は、θ５スイープ目の動作において、レーダ探知パルスＷ１１を送信する（タイミングＴ１１）。その後、レーダ送受信機１０は、探知用受信信号Ｒ（ｋ）の受信を開始する（タイミングＴ１２）。 The racon communication pulse W22 is received by the radar transceiver 10, and as a result, the racon communication information D20 is displayed on the communication information display 17. In this case, radar communications pulse W12 is, x 2 sweeps (2 sweep) is transmitted continuously. Therefore, the determination unit 154 outputs a transmission command of the radar detection pulse W11 to the transmission waveform switching unit 158 as the command signal CM. Thus, the radar transceiver 10, theta 5 in sweep th operation, transmits the radar detection pulse W11 (timing T11). Thereafter, the radar transceiver 10 starts receiving the detection reception signal R (k) (timing T12).
　レーダ送受信機１０のレーダ波Ｗ１０が通信範囲ＣＡ１に送信されている間、レーコン２０に到達する間、タイミングＴ２～タイミングＴ１１の動作が繰り返される。即ち、タイミングＴ１１～Ｔ２０での動作は、タイミングＴ２～タイミングＴ１１での動作と同じである。 While the radar wave W10 of the radar transceiver 10 is transmitted to the communication range CA1, the operation from timing T2 to timing T11 is repeated while reaching the racon 20. That is, the operation from timing T11 to T20 is the same as the operation from timing T2 to timing T11.
　タイミングＴ２０以降において、アンテナ部１１の回転に伴い、レーダ波Ｗ１０が通信範囲ＣＡ１に到達しなくなった場合、レーダ送受信機１０は、レーダ探知パルスＷ１１の送信を繰り返す。そして、アンテナ部１１の回転に伴い、再び、レーダ波Ｗ１０が通信範囲ＣＡ１に到達した場合、タイミングＴ２～Ｔ１１の処理が繰り返される。 After timing T20, when the radar wave W10 does not reach the communication range CA1 with the rotation of the antenna unit 11, the radar transceiver 10 repeats transmission of the radar detection pulse W11. When the radar wave W10 reaches the communication range CA1 again with the rotation of the antenna unit 11, the processes at timings T2 to T11 are repeated.
　このように、レーダ波Ｗ１０が通信範囲ＣＡ１に到達する場合には、レーダ通信パルスＷ１２が繰り返し送信される合間に、レーダ探知パルスＷ１１が送信される。図２、図３及び図５を参照して、上記の構成により、ＰＰＩ画面１６１において、通信範囲ＣＡ１に相当する範囲ＰＣＡ１と、それ以外の範囲とで、違和感のない表示が行われる。 Thus, when the radar wave W10 reaches the communication range CA1, the radar detection pulse W11 is transmitted between the time when the radar communication pulse W12 is repeatedly transmitted. 2, 3, and 5, with the above-described configuration, on PPI screen 161, display without a sense of incongruity is performed between range PCA <b> 1 corresponding to communication range CA <b> 1 and other ranges.
　具体的には、ＰＰＩ画面１６１において、通信範囲ＣＡ１外に相当する範囲ＰＣＡ１外は、レーダ送受信機１０の分解能と同じ方位間隔で、レーダ探知パルスＷ１１が送信されたことによる探知結果を示している。このため、上記範囲ＰＣＡ１外では、他船３のエコー像Ｐ３及び陸地４のエコー像Ｐ４は、方位方向Ｃ１に連続した像として表示されている。 Specifically, on the PPI screen 161, the outside of the range PCA1 corresponding to outside the communication range CA1 shows a detection result obtained by transmitting the radar detection pulse W11 at the same azimuth interval as the resolution of the radar transceiver 10. . For this reason, outside the range PCA1, the echo image P3 of the other ship 3 and the echo image P4 of the land 4 are displayed as images continuous in the azimuth direction C1.
　一方、通信範囲ＣＡ１に相当する範囲ＰＣＡ１は、レーダ送受信機１０の分解能の３倍の方位間隔で、レーダ探知パルスＷ１１が送信されたことによる探知結果を示している。しかしながら、スイープメモリ１５１における処理（図６に示す処理）の結果、レーダ通信パルスＷ１２が送信された方位の画像は、ＰＰＩ画面１６１において、直近のレーダ探知パルスＷ１１の送信による探知結果を用いて表示される。このため、通信範囲ＣＡ１に相当する範囲ＰＣＡ１においても、レーダ探知パルスＷ１１が送信されないことによる、画像の欠けが補われている。 On the other hand, a range PCA1 corresponding to the communication range CA1 indicates a detection result when the radar detection pulse W11 is transmitted at an azimuth interval three times the resolution of the radar transceiver 10. However, as a result of the processing in the sweep memory 151 (the processing shown in FIG. 6), the image of the direction in which the radar communication pulse W12 is transmitted is displayed on the PPI screen 161 using the detection result by the transmission of the latest radar detection pulse W11. Is done. For this reason, also in the range PCA1 corresponding to the communication range CA1, the lack of images due to the fact that the radar detection pulse W11 is not transmitted is compensated.
　但し、通信範囲ＣＡ１に相当する範囲ＰＣＡ１おける一部のエコー像は、過去のスイープ時点での探知用受信信号Ｒ（ｋ－１）を用いて表示されている。当該エコー像は、上記範囲ＰＣＡ１以外におけるエコー像の表示処理とは異なる処理によって、表示されている。そこで、本実施形態の信号処理部１５は、通信範囲ＣＡ１に相当する範囲ＰＣＡ１に関するエコー像の表示処理と、上記範囲ＰＣＡ１以外に関するエコー像の表示処理とが異なることを示すための構成を、有している。 However, a part of the echo image in the range PCA1 corresponding to the communication range CA1 is displayed using the detection reception signal R (k−1) at the past sweep time. The echo image is displayed by a process different from the echo image display process outside the range PCA1. Therefore, the signal processing unit 15 of the present embodiment has a configuration for indicating that the echo image display processing related to the range PCA1 corresponding to the communication range CA1 is different from the echo image display processing related to other than the range PCA1. is doing.
　具体的には、判断部１５４は、自らが生成した指令信号ＣＭを参照することで、方位方向Ｃ１においてレーコン応答波Ｗ２０が検出された範囲を特定する。判断部１５４は、この範囲に対応する画素領域の輪郭を破線で示されるように変更する指令信号ＣＭを、画像メモリ１５２ｂへ出力する。画像メモリ１５２ｂは、この指令信号ＣＭを受けて、画像メモリ１５２ｂの対応する画素データＧｋ［ｉ，ｊ］を、指令された通りに変更する。この変更処理が行われた後の画素データが、画素データＹｋ［ｉ，ｊ］として出力される。 Specifically, the determination unit 154 specifies a range in which the racon response wave W20 is detected in the azimuth direction C1 by referring to the command signal CM generated by itself. The determination unit 154 outputs a command signal CM for changing the contour of the pixel region corresponding to this range as indicated by a broken line to the image memory 152b. In response to this command signal CM, the image memory 152b changes the corresponding pixel data G k [i, j] in the image memory 152b as instructed. The pixel data after this change processing is performed is output as pixel data Y k [i, j].
　これにより、ＰＰＩ画面１６１において、通信範囲ＣＡ１の輪郭が、点線で示される。 Thereby, on the PPI screen 161, the outline of the communication range CA1 is indicated by a dotted line.
　以上説明したように、レーダ送受信機１０によると、通信範囲ＣＡ１では、レーダ通信パルスＷ１２が送信される。そして、レーダ通信パルスＷ１２が送信されている間、レーダ探知パルスＷ１１は、送信されない。このため、通信範囲ＣＡ１のうち、レーダ探知パルスＷ１１が送信されない領域では、物標は、探知されない。しかしながら、本実施形態では、通信範囲ＣＡ１の探知結果を示す画素データＹｋ［ｉ，ｊ］を生成するための処理と、通信範囲ＣＡ１外の探知結果を示す画素データＹｋ［ｉ，ｊ］を生成するための処理と、が異なっている。これにより、通信範囲ＣＡ１のうち、レーダ探知パルスＷ１１が送信されなかった領域についても、物標の探知結果を示す画素データＧｋ［ｉ，ｊ］を、画像データ生成部１５２で生成することが可能となる。以上より、データ通信が行われる通信範囲ＣＡ１についても、レーダ探知パルスＷ１１を用いた探知結果をＰＰＩ画面１６１に表示できる。 As described above, according to the radar transceiver 10, the radar communication pulse W12 is transmitted in the communication range CA1. Then, while the radar communication pulse W12 is being transmitted, the radar detection pulse W11 is not transmitted. For this reason, the target is not detected in the area where the radar detection pulse W11 is not transmitted in the communication range CA1. However, in the present embodiment, the pixel data Y k [i, j] indicating the detection result of the communication range CA1 and process for generating, pixel data indicating the communication range CA1 outside of the detection results Y k [i, j] This is different from the process for generating. Thereby, the pixel data G k [i, j] indicating the target detection result can be generated by the image data generation unit 152 even in the area where the radar detection pulse W11 is not transmitted in the communication range CA1. It becomes possible. As described above, the detection result using the radar detection pulse W11 can be displayed on the PPI screen 161 for the communication range CA1 in which data communication is performed.
　また、レーダ送受信機１０によると、判断部１５４は、通信範囲ＣＡ１におけるレーダ探知パルスＷ１１の送信間隔を、通信範囲ＣＡ１外におけるレーダ探知パルスＷ１１の送信間隔よりも大きくする。また、判断部１５４は、通信範囲ＣＡ１において、レーダ探知パルスＷ１１が送信されていないときにレーダ通信パルスＷ１２を送信させる。これにより、レーダ送受信機１０は、通信範囲ＣＡ１において、レーダ通信情報Ｄ１０を送信しつつ、物標を探知できる。 Also, according to the radar transceiver 10, the determination unit 154 makes the transmission interval of the radar detection pulse W11 in the communication range CA1 larger than the transmission interval of the radar detection pulse W11 outside the communication range CA1. In addition, the determination unit 154 causes the radar communication pulse W12 to be transmitted when the radar detection pulse W11 is not transmitted in the communication range CA1. Thereby, the radar transceiver 10 can detect the target while transmitting the radar communication information D10 in the communication range CA1.
　また、レーダ送受信機１０によると、画像データ生成部１５２は、探知用受信信号Ｒ（ｋ）に加えて、過去の探知用受信信号Ｒ（ｋ－１）を用いて、通信範囲ＣＡ１の探知結果を示す画素データＧｋ［ｉ，ｊ］を生成する。これにより、レーダ送受信機１０は、レーダ探知パルスＷ１１を送信していない領域についても、過去の探知結果を用いることで、画素データＧｋ［ｉ，ｊ］を生成することができる。 In addition, according to the radar transceiver 10, the image data generation unit 152 uses the past detection reception signal R (k-1) in addition to the detection reception signal R (k) to detect the communication range CA1. To generate pixel data G k [i, j]. Thereby, the radar transceiver 10 can generate the pixel data G k [i, j] by using the past detection result even in the region where the radar detection pulse W11 is not transmitted.
　より具体的には、画像データ生成部１５２は、スイープメモリ１５１に記憶されている、過去の探知用受信信号Ｒ（ｋ－１）を、過去の探知結果として用いる。即ち、画像データ生成部１５２は、過去の探知結果として、レーダ探知パルスＷ１１を送信したことにより得られる生データ（raw data）としての探知用受信信号Ｒ（ｋ－１）を、用いることができる。これにより、画像データ生成部１５２は、より精度の高い画素データＹｋ［ｉ，ｊ］を生成できる。その結果、画像データ生成部１５２は、通信範囲ＣＡ１における物標の探知結果を、より正確にＰＰＩ画面１６１に表示できる画素データＹｋ［ｉ，ｊ］を、生成できる。 More specifically, the image data generation unit 152 uses the past detection reception signal R (k−1) stored in the sweep memory 151 as the past detection result. That is, the image data generation unit 152 can use the detection reception signal R (k−1) as raw data obtained by transmitting the radar detection pulse W11 as a past detection result. . Thereby, the image data generation unit 152 can generate more accurate pixel data Y k [i, j]. As a result, the image data generation unit 152 can generate pixel data Y k [i, j] that can more accurately display the target detection result in the communication range CA1 on the PPI screen 161.
　また、レーダ送受信機１０によると、画像データ生成部１５２は、通信範囲ＣＡ１を特定する表示が行われるような画素データＧｋ［ｉ，ｊ］を生成する。これにより、ＰＰＩ画面１６１を見たオペレータは、通信範囲ＣＡ１を認識できる。その結果、通信範囲ＣＡ１の探知結果と通信範囲ＣＡ１外の探知結果とが、異なる画像処理を経てＰＰＩ画面１６１に表示されていることを、レーダ送受信機１０のオペレータに知らせることができる。 Further, according to the radar transceiver 10, the image data generation unit 152 generates pixel data G k [i, j] that can be displayed to specify the communication range CA1. Thereby, the operator who has seen the PPI screen 161 can recognize the communication range CA1. As a result, it is possible to notify the operator of the radar transceiver 10 that the detection result of the communication range CA1 and the detection result outside the communication range CA1 are displayed on the PPI screen 161 through different image processing.
　また、レーダ送受信機１０によると、画像データ生成部１５２は、レーコン２０の位置を特定する表示が行われるように画素データＹｋ［ｉ，ｊ］を生成する。このような構成によると、ＰＰＩ画面１６１の表示を見たオペレータは、レーコン２０の位置を知ることができる。即ち、レーダ通信パルスＷ１２が送信される通信範囲ＣＡ１内の物標としてのレーコン２０のエコー像Ｐ２０を、ＰＰＩ画面１６１に表示できる。 Further, according to the radar transceiver 10, the image data generation unit 152 generates the pixel data Y k [i, j] so that display for specifying the position of the racon 20 is performed. According to such a configuration, the operator who sees the display on the PPI screen 161 can know the position of the racon 20. That is, the echo image P20 of the racon 20 as a target within the communication range CA1 to which the radar communication pulse W12 is transmitted can be displayed on the PPI screen 161.
［第２実施形態］
　以下では、主に第１実施形態と異なる点を、主に説明する。図５を参照して、本発明の第２実施形態が、第１実施形態と異なっている点は、スイープメモリ１５１における処理、選択部１５４における処理、及び画像メモリ１５２ｂにおける処理である。以下、具体的に説明する。 [Second Embodiment]
In the following, differences from the first embodiment will be mainly described. Referring to FIG. 5, the second embodiment of the present invention is different from the first embodiment in the processing in the sweep memory 151, the processing in the selection unit 154, and the processing in the image memory 152b. This will be specifically described below.
　スイープメモリ１５１は、レーダ送受信機１０から送信されたレーダ波Ｗ１が、レーダ探知パルスＷ１１であるか否かに拘わらず、最新のスイープ動作における探知用受信信号Ｒ（ｋ）のみを保持する。 The sweep memory 151 holds only the reception signal R (k) for detection in the latest sweep operation regardless of whether or not the radar wave W1 transmitted from the radar transceiver 10 is the radar detection pulse W11.
　図９は、本発明の第２実施形態における判断部１５４での処理の流れの一例を説明するためのフローチャートである。判断部１５４は、１スイープ動作毎に、図９に示す処理を行う。図５及び図９に示すように、判断部１５４は、まず、受信機１４で受信されたアンテナ受信波Ｗ１に、レーコン通信パルスＷ２２が含まれているかどうかを判断する（ステップ３０１）。判断部１５４は、例えば、レーコン通信パルスＷ２２を示すプリアンブルが含まれているか否かにより、レーコン通信パルスＷ２２の有無を判断する。 FIG. 9 is a flowchart for explaining an example of a processing flow in the determination unit 154 according to the second embodiment of the present invention. The determination unit 154 performs the process shown in FIG. 9 for each sweep operation. As shown in FIGS. 5 and 9, the determination unit 154 first determines whether or not the antenna received wave W1 received by the receiver 14 includes the racon communication pulse W22 (step 301). The determination unit 154 determines the presence or absence of the racon communication pulse W22 based on, for example, whether or not a preamble indicating the racon communication pulse W22 is included.
　アンテナ受信波Ｗ１にレーコン通信パルスＷ２２が含まれていない場合（ステップＳ３０１でＮＯ）、判断部１５４は、指令信号ＣＭとして、次スキャン時の同じ方位にレーダ探知パルスＷ１１を送信する旨の信号を、送信波形切替部１５８に送信する（ステップＳ３０２）。 If the antenna reception wave W1 does not include the racon communication pulse W22 (NO in step S301), the determination unit 154 transmits a signal indicating that the radar detection pulse W11 is transmitted in the same direction at the next scan as the command signal CM. The waveform is transmitted to the transmission waveform switching unit 158 (step S302).
　一方、判断部１５４は、アンテナ受信波Ｗ１にレーコン通信パルスＷ２２が含まれていると判断した場合（ステップＳ３０１でＹＥＳ）、当該レーコン通信パルスＷ２２が受信された方位において、レーコン通信パルスＷ２２が連続して送信された回数を判断する（ステップＳ３０３）。 On the other hand, if determining unit 154 determines that racon communication pulse W22 is included in antenna reception wave W1 (YES in step S301), racon communication pulse W22 continues in the direction in which racon communication pulse W22 is received. The number of times of transmission is determined (step S303).
　具体的には、レーコン通信パルスＷ２２が連続してｘ２スキャン回送信されていた場合（ステップＳ３０３でＹＥＳ）、判断部１５４は、指令信号ＣＭとして、次スキャン時の同じ方位に、レーダ探知パルスＷ１１を送信する信号を、送信波形切替部１５８へ出力する（ステップＳ３０２）。これにより、レーダ送受信機１０が通信モードにある最中でも、レーダ送受信機１０を探知モードに切り替えることができる。 Specifically, if the racon communication pulse W22 has been continuously transmitted x 2 scan times (YES in step S303), the determination unit 154 as a command signal CM, the same orientation of the next scan, radar detecting pulse A signal for transmitting W11 is output to transmission waveform switching section 158 (step S302). Thereby, the radar transceiver 10 can be switched to the detection mode even while the radar transceiver 10 is in the communication mode.
　一方、ステップＳ３０１でレーコン通信パルスＷ２２が検出された方位において、レーコン通信パルスＷ２２の連続送信回数が、ｘ２回未満である場合（ステップＳ３０３でＮＯ）、判断部１５４は、指令信号ＣＭとして、次スキャン時の同じ方位にレーダ通信パルスＷ１２を送信する信号を、送信波形切替部１５８へ出力する（ステップＳ３０４）。 On the other hand, in orientation racon communication pulse W22 it is detected in step S301, the continuous transmission number of racons communication pulse W22 is is less than 2 times x (NO in step S303), determination unit 154, as a command signal CM, A signal for transmitting the radar communication pulse W12 in the same direction at the next scan is output to the transmission waveform switching unit 158 (step S304).
　尚、上記の定数ｘ２は、自然数であり、本実施形態では、ｘ２＝２に設定されている。ｘ２の設定値は、レーコン通信パルスＷ２２が検出された各方位に関する、ＰＰＩ画面１６１での表示の信頼性の低下度合いと、レーダ通信パルスＷ１２によるデータ送信レートと、の関係に基づいて決定される。上記の信頼性の低下度合いと、データ通信レートとは、トレードオフの関係にある。以上が、本発明の第２実施形態における判断部１５４での処理の流れの一例である。次に、判断部１５４での判断によって実現される状態を説明する。 The constant x 2 is a natural number and is set to x 2 = 2 in this embodiment. set value of x 2 is directed to the orientation racon communication pulse W22 is detected, the degree of decrease indication of reliability in PPI screen 161, a data transmission rate by radar communication pulses W12, is determined based on the relationship The The degree of reliability reduction and the data communication rate are in a trade-off relationship. The above is an example of the flow of processing in the determination unit 154 according to the second embodiment of the present invention. Next, a state realized by the determination by the determination unit 154 will be described.
　図１０は、本発明の第２実施形態における、レーダ送受信機１０の動作の要点と、レーコン２０の動作の要点とを説明するための図である。図１０では、Ｎ－２スキャン時点、Ｎ－１スキャン時点、及びＮスキャン時点のそれぞれにおける、レーダ送受信機１０の動作と、レーコン２０の動作と、が示されている。 FIG. 10 is a diagram for explaining the main points of the operation of the radar transceiver 10 and the main points of the operation of the racon 20 in the second embodiment of the present invention. FIG. 10 shows the operation of the radar transceiver 10 and the operation of the racon 20 at each of the N-2 scan time, the N-1 scan time, and the N scan time.
　図５、図９及び図１０に示すように、Ｎ－２スキャン時点では、レーダ送受信機１０は、θ１スイープ目の動作において、レーダ探知パルスＷ１１を送信している。しかしながら、このθ１スイープ目では、レーダ波Ｗ１０は、レーコン２０に受信されず、レーコン応答波Ｗ２０は、レーダ送受信機１０に送信されない。 As shown in FIGS. 5, 9 and 10, the N-2 scan time, the radar transceiver 10, the operation of the theta 1 sweep th transmitting the radar detection pulse W11. However, in this θ 1 sweep, the radar wave W10 is not received by the racon 20, and the racon response wave W20 is not transmitted to the radar transceiver 10.
　その後、θ２スイープ目において、レーダ送受信機１０が再びレーダ探知パルスＷ１１を送信すると、レーダ探知パルスＷ１１は、レーコン２０で受信される。その結果、レーコン２０は、レーダ送受信機１０へ向けてレーコン通知パルスＷ２１を送信する。 Thereafter, when the radar transceiver 10 transmits the radar detection pulse W11 again at the θ 2 sweep, the radar detection pulse W11 is received by the racon 20. As a result, the racon 20 transmits a racon notification pulse W21 to the radar transceiver 10.
　この場合、本実施形態では、レーダ送受信機１０は、レーコン通信パルスＷ２２を受信していないので、次のＮ－１スキャン時点のθ２スイープ動作時に、レーダ探知パルスＷ１１を送信する（ステップＳ３０２）。その結果、各スキャン時点において、θ２スイープ動作時に、レーダ探知パルスＷ１１が送信される。 In this case, in the present embodiment, since the radar transceiver 10 has not received the racon communication pulse W22, the radar detection pulse W11 is transmitted during the θ 2 sweep operation at the next N−1 scan (step S302). . As a result, at each scan time, the radar detection pulse W11 is transmitted during the θ 2 sweep operation.
　次に、θ３スイープでの動作を説明する。Ｎ－２スキャン時点において、θ３スイープ動作の際、レーダ通信パルスＷ１２が送信されることにより、レーコン通信パルスＷ２２が送信される。この場合、Ｎ－２スキャン時、θ３スイープ動作時点でのレーコン通信パルスＷ２２の送信回数は、まだ１回である（ステップＳ３０３でＮＯ）。よって、レーダ送受信機１０は、次のＮ－１スキャン時点でのθ３スイープ動作時に、レーダ通信パルスＷ１２を送信する（ステップＳ３０４）。 Next, the operation in the theta 3 sweeps. In N-2 scan time, when the theta 3 sweep operation, by radar communication pulse W12 is transmitted, racon communication pulse W22 are transmitted. In this case, when N-2 scans, the number of transmissions racons communication pulse W22 in theta 3 sweep operation time is still once (NO at step S303). Therefore, the radar transceiver 10, when the theta 3 sweep operation in the next N-1 scan time, transmits radar communication pulse W12 (step S304).
　これにより、Ｎ－１スキャン時点でのθ３スイープ動作の際、レーコン２０からレーコン通信パルスＷ２２が送信される。この場合、レーダ送受信機１０は、θ３スイープ動作時点におけるレーコン通信パルスＷ２２の連続受信回数が、２回に達する（ステップＳ３０３でＹＥＳ）。よって、レーダ送受信機１０は、次のＮスキャン動作時に、レーダ探知パルスＷ１１を送信する（ステップＳ３０２）。 Thus, the racon communication pulse W22 is transmitted from the racon 20 during the θ 3 sweep operation at the N-1 scan time. In this case, the radar transceiver 10, the continuous reception times of racon communication pulse W22 in theta 3 sweep operation time reaches the second time (YES in step S303). Therefore, the radar transceiver 10 transmits the radar detection pulse W11 during the next N scan operation (step S302).
　θ４スイープ動作、θ５スイープ動作は、何れも、θ３スイープ動作における動作と同様である。 Both the θ 4 sweep operation and the θ 5 sweep operation are the same as the operations in the θ 3 sweep operation.
　その結果、Ｎ－２スキャン時点では、レーダ送受信機１０は、レーコン通知パルスＷ２１を受信した後、通信範囲ＣＡ１のθ３，θ４，θ５の各スイープ動作時に、レーダ通信パルスＷ１２の送信を繰り返す。同様に、Ｎ－１スキャン時点では、レーダ送受信機１０は、レーコン通知パルスＷ２１を受信した後、通信範囲ＣＡ１のθ３，θ４，θ５の各スイープ動作時に、レーダ通信パルスＷ１２の送信を繰り返す。一方、Ｎスキャン時点では、レーダ送受信機１０は、レーコン２０からレーコン通知パルスＷ２１を受信しているにも拘わらず、レーダ探知パルスＷ１１の送信を、繰り返す。 As a result, at the N-2 scan time, the radar transceiver 10 receives the racon notification pulse W21 and then transmits the radar communication pulse W12 during each sweep operation of θ 3 , θ 4 , θ 5 in the communication range CA1. repeat. Similarly, at the time of the N-1 scan, the radar transceiver 10 receives the racon notification pulse W21 and then transmits the radar communication pulse W12 during each sweep operation of θ 3 , θ 4 , θ 5 in the communication range CA1. repeat. On the other hand, at the N scan time point, the radar transceiver 10 repeats the transmission of the radar detection pulse W11 even though it receives the racon notification pulse W21 from the racon 20.
　そして、Ｎ－２スキャン時点での動作、Ｎ－１スキャン時点での動作、及びＮスキャン時点での動作が、繰り返し行われる。 Then, the operation at the N-2 scan time, the operation at the N-1 scan time, and the operation at the N scan time are repeatedly performed.
　図５を参照して、次に、本発明の第２実施形態における、画像メモリ１５２ｂでの処理を説明する。画像メモリ１５２ｂは、１スキャン前の時点の画素データＹｋ－１［ｉ，ｊ］を記憶している。画素データＹｋ－１［ｉ，ｊ］は、本発明の「過去の探知結果を示す過去画像データ」の一例である。画像メモリ１５２ｂは、画素毎に、画素データ生成部１５２ａで生成された画素データＧｋ［ｉ，ｊ］と、過去の対応する画素データＹｋ－１［ｉ，ｊ］とを用いて、スキャン相関処理を行う。具体的には、画像メモリ１５２ｂが出力する画素データのレベルＹｋ［ｉ，ｊ］は、下記の演算によって求められる。 Next, processing in the image memory 152b in the second embodiment of the present invention will be described with reference to FIG. The image memory 152b stores pixel data Y k−1 [i, j] at the time point before one scan. The pixel data Y k−1 [i, j] is an example of “past image data indicating a past detection result” in the present invention. The image memory 152b scans for each pixel using the pixel data G k [i, j] generated by the pixel data generation unit 152a and the past corresponding pixel data Y k−1 [i, j]. Perform correlation processing. Specifically, the level Y k [i, j] of the pixel data output from the image memory 152b is obtained by the following calculation.
　Ｙｋ［ｉ，ｊ］＝α×Ｙｋ－１［ｉ，ｊ］＋β×Ｇｋ［ｉ，ｊ］　ここで、α，βは、それぞれ、所定の重み付け係数である。重み付け係数α，βによって、過去の画素データＹｋ－１［ｉ，ｊ］と、最新の画素データＧｋ［ｉ，ｊ］と、の配合割合が決定される。重み付け係数α，βの和は、１に設定される。重み付け係数α，βを適宜設定することにより、レーダ送受信機は、時間的に変動するシークラッタ等の不要なエコーを抑圧できる。 Y k [i, j] = α × Y k−1 [i, j] + β × G k [i, j] Here, α and β are predetermined weighting coefficients, respectively. The blending ratio between the past pixel data Y k−1 [i, j] and the latest pixel data G k [i, j] is determined by the weighting coefficients α and β. The sum of the weighting coefficients α and β is set to 1. By appropriately setting the weighting coefficients α and β, the radar transceiver can suppress unnecessary echoes such as sea clutter that fluctuates over time.
　次に、画像メモリ１５２ｂが重み付け係数α，βを設定する処理の流れの一例を、説明する。本実施形態では、各画素データＹｋ［ｉ，ｊ］について、レーダ探知パルスＷ１１の送信に伴って生成された場合と、レーダ通信パルスＷ１２の送信に伴って生成された場合とで、重み付け係数設定α，βの設定値を異ならせている。 Next, an example of a processing flow in which the image memory 152b sets the weighting coefficients α and β will be described. In the present embodiment, each pixel data Y k [i, j] is weighted by a case where it is generated along with transmission of the radar detection pulse W11 and a case where it is generated along with transmission of the radar communication pulse W12. The setting values α and β are different.
　図１１は、画像メモリ１５２ｂによる、重み付け係数α，βを設定する処理の流れの一例を説明するためのフローチャートである。図５及び図１１を参照して、画像メモリ１５２ｂは、判断部１５４での判断結果を読み出す（ステップＳ４０１）。次いで、画像メモリ１５２ｂは、最新のスイープ時点でレーダ探知パルスＷ１１が送信されたか否かを、判断する（ステップＳ４０２）。 FIG. 11 is a flowchart for explaining an example of a processing flow for setting the weighting coefficients α and β by the image memory 152b. Referring to FIGS. 5 and 11, the image memory 152b reads the determination result in the determination unit 154 (step S401). Next, the image memory 152b determines whether or not the radar detection pulse W11 is transmitted at the latest sweep time (step S402).
　ステップＳ４０２でＹＥＳである場合、画像メモリ１５２ｂは、過去の画素データＹｋ－１［ｉ，ｊ］、及び最新の画素データＧｋ［ｉ，ｊ］の双方が反映されるように、各重み付け係数設定α，βを設定する（ステップＳ４０３）。本実施形態では、例えば、α＝０．８、β＝０．２に設定される。 If YES in step S402, the image memory 152b performs weighting so that both the past pixel data Y k-1 [i, j] and the latest pixel data G k [i, j] are reflected. Coefficient settings α and β are set (step S403). In the present embodiment, for example, α = 0.8 and β = 0.2 are set.
　一方、ステップＳ４０２でＮＯである場合、レーダ探知パルスＷ１１は、送信されていない。この場合、スイープメモリ１５１には、探知用受信信号Ｒ（ｋ）が入力されない。この場合、画像メモリ１５２ｂは、最新の画素データＧｋ［ｉ，ｊ］を考慮しないよう、各重み付け係数設定α，βを設定する（ステップＳ４０４）。即ち、画像メモリ１５２ｂは、α＝１．０、β＝０．０を設定する。 On the other hand, if NO in step S402, the radar detection pulse W11 is not transmitted. In this case, the detection reception signal R (k) is not input to the sweep memory 151. In this case, the image memory 152b sets the weighting coefficient settings α and β so as not to consider the latest pixel data G k [i, j] (step S404). That is, the image memory 152b sets α = 1.0 and β = 0.0.
　上述の処理の結果、レーダ通信パルスＷ１２が送信された箇所についても、過去の画素データＹｋ－１［ｉ，ｊ］を用いて、ＰＰＩ画面１６１に、レーコン２０のエコー像Ｐ２０等を表示できる。 As a result of the above processing, the echo image P20 of the racon 20 and the like can be displayed on the PPI screen 161 using the past pixel data Y k-1 [i, j] also for the location where the radar communication pulse W12 is transmitted. .
　以上説明したように、本発明の第２実施形態によると、画像メモリ１５２ｂは、過去の探知結果を示す画素データを、過去画素データＹｋ－１［ｉ，ｊ］として記憶する。また、画像データ生成部１５２は、過去画素データＹｋ－１［ｉ，ｊ］を、レーダ探知パルスＷ１１を用いた過去の探知結果として用いる。画素データＧｋ［ｉ，ｊ］のデータ量は、生データとしての探知用受信信号Ｒ（ｋ）のデータ量と比べて、少ない。よって、レーダ送受信機１０に必要なメモリ容量を、少なくできる。 As described above, according to the second embodiment of the present invention, the image memory 152b stores pixel data indicating past detection results as past pixel data Y k-1 [i, j]. Further, the image data generation unit 152 uses the past pixel data Y k−1 [i, j] as a past detection result using the radar detection pulse W11. The data amount of the pixel data G k [i, j] is small compared to the data amount of the detection reception signal R (k) as raw data. Therefore, the memory capacity required for the radar transceiver 10 can be reduced.
　以上説明した本発明の第１実施形態では、レーダ送受信機１０は、通信範囲ＣＡ１において、レーダ通信パルスＷ１２を送信する合間に、レーダ探知パルスＷ１１を送信した。このような構成では、レーダ通信パルスＷ１２の送信速度が低下してしまう。しかしながら、通信範囲ＣＡ１にレーダ探知パルスＷ１１が送信される結果、通信範囲ＣＡ１内に存在する物標を、探知することができる。一方、本発明の第２実施形態では、Ｎ－２スキャン時点、及びＮ－１スキャン時点では、通信範囲ＣＡ１において、レーダ通信パルスＷ１２を、より多く送信できる。よって、レーダ送受信機１０による情報の送信速度を、より高くできる。しかしながら、レーダ探知パルスＷ１１が送信されない箇所については、過去の画素データＹｋ－１［ｉ，ｊ］を利用して、ＰＰＩ画面１６１で表示が行われる。よって、レーダ探知パルスＷ１１が送信されていない箇所における物標の有無の検出の正確性に、改善の余地がある。 In the first embodiment of the present invention described above, the radar transceiver 10 transmits the radar detection pulse W11 in the communication range CA1 while transmitting the radar communication pulse W12. In such a configuration, the transmission speed of the radar communication pulse W12 decreases. However, as a result of the radar detection pulse W11 being transmitted to the communication range CA1, it is possible to detect a target existing within the communication range CA1. On the other hand, in the second embodiment of the present invention, more radar communication pulses W12 can be transmitted in the communication range CA1 at the N-2 scan time and the N-1 scan time. Therefore, the transmission speed of information by the radar transceiver 10 can be further increased. However, the portion where the radar detection pulse W11 is not transmitted is displayed on the PPI screen 161 using the past pixel data Y k-1 [i, j]. Therefore, there is room for improvement in the accuracy of detection of the presence / absence of a target at a location where the radar detection pulse W11 is not transmitted.
　そこで、本発明の第３実施形態では、本発明の第１実施形態における動作と、本発明の第２実施形態における動作とを、状況に応じて使い分けることのできる構成が、採用されている。 Therefore, in the third embodiment of the present invention, a configuration that can selectively use the operation in the first embodiment of the present invention and the operation in the second embodiment of the present invention depending on the situation is adopted.
［第３実施形態］
　図１２は、本発明の第３実施形態に係るレーダ送受信機１０Ａの構成を示すブロック図である。図１２を参照して、レーダ送受信機１０Ａは、アンテナ部１１と、サーキュレータ１２と、送信機１３と、受信機１４と、信号処理部１５Ａと、レーダ映像表示器１６と、通信情報表示器１７と、レーダ通信情報メモリ１８と、を有している。 [Third Embodiment]
FIG. 12 is a block diagram showing a configuration of a radar transceiver 10A according to the third embodiment of the present invention. Referring to FIG. 12, a radar transceiver 10A includes an antenna unit 11, a circulator 12, a transmitter 13, a receiver 14, a signal processing unit 15A, a radar video display 16, and a communication information display 17. And a radar communication information memory 18.
　信号処理部１５Ａは、スイープメモリ１５１と、画像データ生成部１５２と、復調処理部１５３と、判断部１５４と、レーダ通信情報設定部１５５と、レーダ通信パルス生成部１５６と、レーダ探知パルス生成部１５７と、送信波形切替部１５８と、制御部１５９と、を有している。 The signal processing unit 15A includes a sweep memory 151, an image data generation unit 152, a demodulation processing unit 153, a determination unit 154, a radar communication information setting unit 155, a radar communication pulse generation unit 156, and a radar detection pulse generation unit. 157, a transmission waveform switching unit 158, and a control unit 159.
　制御部１５９は、受信機１４、判断部１５４、及び画素データ生成部１５２ａに接続されている。 The control unit 159 is connected to the receiver 14, the determination unit 154, and the pixel data generation unit 152a.
　次に、制御部１５９における処理の一例を説明する。図１３は、制御部１５９における処理の流れの一例を説明するためのフローチャートである。図１２及び図１３を参照して、制御部１５９は、最新の時点のレーダ波Ｗ１０の種類を判断する（ステップＳ５０１）。制御部１５９は、判断部１５４から送信波形切替部１５８へ出力された指令信号ＣＭを参照することで、上記のレーダ波Ｗ１０の種類を判断する。 Next, an example of processing in the control unit 159 will be described. FIG. 13 is a flowchart for explaining an example of a process flow in the control unit 159. Referring to FIGS. 12 and 13, control unit 159 determines the type of radar wave W10 at the latest time point (step S501). The control unit 159 determines the type of the radar wave W10 by referring to the command signal CM output from the determination unit 154 to the transmission waveform switching unit 158.
　レーダ波Ｗ１０がレーダ探知パルスＷ１１である場合（ステップ５０１で、「レーダ探知パルス」）、制御部１５９は、スイープバッファ１５１に記憶されている、最新の探知用受信信号Ｒ（ｋ）を読み出す（ステップＳ５０２）。 When the radar wave W10 is the radar detection pulse W11 (“radar detection pulse” in step 501), the control unit 159 reads the latest detection reception signal R (k) stored in the sweep buffer 151 ( Step S502).
　一方、最新のレーダ波Ｗ１０がレーダ通信パルスＷ１２である場合（ステップＳ５０１で、「レーダ通信パルス」）、制御部１５９は、画像メモリ１５２ｂに記憶されている、過去の（１スイープ動作前の）画素データＹｋ－１［ｉ，ｊ］を、読み出す（ステップＳ５０３）。 On the other hand, when the latest radar wave W10 is the radar communication pulse W12 (“radar communication pulse” in step S501), the control unit 159 stores the past (before one sweep operation) stored in the image memory 152b. Pixel data Y k−1 [i, j] is read (step S503).
　次に、制御部１５９は、読み出した探知用受信信号Ｒ（ｋ）又は画素データＹｋ－１［ｉ，ｊ］を参照する。これにより、制御部１５９は、レーダ送受信機１０Ａとレーコン２０との間に物標（他船３等）が存在しているか否かを、判断する（ステップＳ５０４）。具体的には、制御部１５９は、レーダ送受信機１０Ａとレーコン２０との間の領域での信号レベルが、所定のしきい値を超えているが否かを判断する。 Next, the control unit 159 refers to the read detection reception signal R (k) or the pixel data Y k−1 [i, j]. Thus, the control unit 159 determines whether or not a target (another ship 3 or the like) exists between the radar transceiver 10A and the racon 20 (step S504). Specifically, the control unit 159 determines whether or not the signal level in the region between the radar transceiver 10A and the racon 20 exceeds a predetermined threshold value.
　上記信号レベルが、上記しきい値を超えている場合、制御部１５９は、レーダ送受信機１０Ａとレーコン２０との間に物標が存在していると判断する（ステップＳ５０４でＹＥＳ）。この場合、制御部１５９は、判断部１５４に対して、第１処理モードを設定させる（ステップＳ５０５）。第１処理モードは、本発明の第１実施形態における処理と同様の処理を行うモードである。第１処理モードが設定されている場合、図６及び図７に示すフローチャートの処理と同様の処理が行われる。よって、第１処理モードの詳細な説明は省略する。 When the signal level exceeds the threshold value, the control unit 159 determines that a target exists between the radar transceiver 10A and the racon 20 (YES in step S504). In this case, the control unit 159 causes the determination unit 154 to set the first processing mode (step S505). The first processing mode is a mode for performing processing similar to the processing in the first embodiment of the present invention. When the first processing mode is set, processing similar to the processing in the flowcharts shown in FIGS. 6 and 7 is performed. Therefore, detailed description of the first processing mode is omitted.
　一方、上記信号レベルが、上記しきい値以下である場合、制御部１５９は、レーダ送受信機１０Ａとレーコン２０との間に物標が存在していない、と判断する（ステップＳ５０４でＮＯ）。この場合、制御部１５９は、判断部１５４に対して、第２処理モードを設定させる（ステップＳ５０６）。第２処理モードは、本発明の第２実施形態における処理と同様の処理を行うモードである。第２処理モードが設定されている場合、図９及び図１１に示すフローチャートの処理と同様の処理が行われる。よって、第２処理モードの詳細な説明は省略する。 On the other hand, when the signal level is equal to or lower than the threshold value, the control unit 159 determines that there is no target between the radar transceiver 10A and the racon 20 (NO in step S504). In this case, the control unit 159 causes the determination unit 154 to set the second processing mode (step S506). The second processing mode is a mode for performing processing similar to the processing in the second embodiment of the present invention. When the second processing mode is set, processing similar to the processing in the flowcharts shown in FIGS. 9 and 11 is performed. Therefore, detailed description of the second processing mode is omitted.
　このように、本発明の第３実施形態のレーダ送受信機１０Ａによると、自船２の近傍に他船３等の物標が存在している場合は、第１処理モードによる処理が行われる。これにより、自船２の近傍に物標が存在している場合、スキャン動作が行われる毎に、レーダ探知パルスＷ１１は、通信範囲ＣＡ１に向けて送信される。これにより、レーダ送受信機１０Ａは、自船２の近傍の物標を、より正確に探知できる。 Thus, according to the radar transceiver 10A of the third embodiment of the present invention, when a target such as the other ship 3 exists in the vicinity of the own ship 2, the process in the first processing mode is performed. Thereby, when the target exists in the vicinity of the own ship 2, the radar detection pulse W11 is transmitted toward the communication range CA1 every time the scanning operation is performed. Thereby, the radar transceiver 10A can detect the target in the vicinity of the ship 2 more accurately.
　また、自船２の近傍に物標が存在していない場合、第２処理モードによる処理が行われる。この場合、過去の画素データＹｋ－１［ｉ，ｊ］を用いて、ＰＰＩ画面１６１に、通信範囲ＣＡ１に存在する物標のエコー像Ｐ３等を表示でき、且つ、レーコン２０へ送信できるレーダ通信パルスＷ１２を、より多くできる。これにより、１スキャン動作においてレーコン２０へ送信できる情報の総量を、より多くできる。 Moreover, when the target does not exist in the vicinity of the own ship 2, the processing in the second processing mode is performed. In this case, using the past pixel data Y k-1 [i, j], a radar that can display the echo image P3 of the target existing in the communication range CA1 on the PPI screen 161 and transmit it to the racon 20. More communication pulses W12 can be made. Thereby, the total amount of information that can be transmitted to the racon 20 in one scan operation can be increased.
　以上、本発明の実施形態について説明したけれども、本発明は上述の実施の形態に限られない。本発明は、特許請求の範囲に記載した限りにおいて様々な変更が可能である。例えば、次のように変更して実施してもよい。 As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment. The present invention can be variously modified as long as it is described in the claims. For example, the following modifications may be made.
　（１）上述の各実施形態では、レーダ送受信機１０，１０Ａの信号処理部１５，１５Ａの一例を説明したけれども、この通りでなくてもよい。信号処理部１５，１５Ａは、通信範囲ＣＡ１の探知結果を示す画素データＹｋ［ｉ，ｊ］の生成処理と、通信範囲ＣＡ１外の探知結果を示す画素データＹｋ［ｉ，ｊ］の生成処理と、が異なるように構成されていればよい。 (1) In the above-described embodiments, examples of the signal processing units 15 and 15A of the radar transceivers 10 and 10A have been described. However, this need not be the case. The signal processing unit 15,15A the generated pixel data Y k indicating the detection result of the communication range CA1 [i, j] and generation processing, the pixel data Y k indicating the detection results of the outside communication range CA1 [i, j] What is necessary is just to be comprised so that a process may differ.
　（２）上述の各実施形態では、画像データ生成部１５２が、過去の探知結果（探知用受信信号Ｒ（ｋ－１）又は過去画素データＹｋ－１［ｉ，ｊ］）を用いて、通信範囲ＣＡ１の探知結果を示す画素データＹｋ［ｉ，ｊ］を生成する形態を例に説明した。しかしながら、この通りでなくてもよい。例えば、画像データ生成部１５２は、上記過去の探知結果を用いることなく、画素データＹｋ［ｉ，ｊ］を生成してもよい。 (2) In each of the embodiments described above, the image data generation unit 152 uses the past detection result (the detection reception signal R (k−1) or the past pixel data Y k−1 [i, j]), An example in which pixel data Y k [i, j] indicating the detection result of the communication range CA1 is generated has been described. However, this need not be the case. For example, the image data generation unit 152 may generate the pixel data Y k [i, j] without using the past detection result.
　（３）上述の第２実施形態では、信号処理部１５は、過去の探知用受信信号Ｒ（ｋ－１）を用いない形態を例に説明した。しかしながら、この通りでなくてもよい。例えば、第２実施形態において、過去の探知用受信信号Ｒ（ｋ－１）が、スイープメモリ１５１から画像データ生成部１５２へ出力されてもよい。 (3) In the second embodiment described above, the signal processing unit 15 has been described as an example in which the past detection reception signal R (k−1) is not used. However, this need not be the case. For example, in the second embodiment, the past detection reception signal R (k−1) may be output from the sweep memory 151 to the image data generation unit 152.
　（４）上述の各実施形態では、画像データ生成部１５２が、通信範囲ＣＡ１を特定するための画素データＹｋ－１［ｉ，ｊ］を生成する形態を例に説明した。しかしながら、この通りでなくてもよい。例えば、画像データ生成部１５２は、通信範囲ＣＡ１を特定する表示（図３の破線の表示）の無い画像の画像データを生成してもよい。 (4) In each of the embodiments described above, an example in which the image data generation unit 152 generates the pixel data Y k-1 [i, j] for specifying the communication range CA1 has been described. However, this need not be the case. For example, the image data generation unit 152 may generate image data of an image without a display that identifies the communication range CA1 (displayed with a broken line in FIG. 3).
　（５）また、上述の各実施形態では、レーダ送受信機１０，１０Ａが、レーコン２０と通信する形態を例に説明した。しかしながら、この通りでなくてもよい。例えば、レーダ送受信機１０，１０Ａは、レーコン２０以外の通信対象と通信してもよい。 (5) Further, in each of the above-described embodiments, an example in which the radar transceivers 10 and 10A communicate with the racon 20 has been described. However, this need not be the case. For example, the radar transceivers 10 and 10 </ b> A may communicate with a communication target other than the racon 20.
　（６）また、上述の実施形態では、レーダ送受信機１０，１０Ａが、１つのレーダ通信情報Ｄ１０を繰り返し送信する形態を例に説明した。しかしながら、この通りでなくてもよい。例えば、レーダ送受信１０，１０Ａは、異なる種類のレーダ通信情報を送信してもよい。この場合、異なる種類のレーダ通信情報は、一括して送信されてもよいし、複数のレーダ通信パルスＷ１２によって個別に送信されてもよい。 (6) Further, in the above-described embodiment, the radar transmitter / receiver 10, 10A has been described as an example in which one radar communication information D10 is repeatedly transmitted. However, this need not be the case. For example, the radar transceivers 10 and 10A may transmit different types of radar communication information. In this case, different types of radar communication information may be transmitted in a lump or may be individually transmitted by a plurality of radar communication pulses W12.
３　　　　　　　　　　　他船（物標）
１０，１０Ａ　　　　　　レーダ送受信機（レーダ装置）
１５，１５Ａ　　　　　　信号処理部（信号処理装置）
２０　　　　　　　　　　レーコン（通信対象、物標）
１５１　　　　　　　　　スイープメモリ
１５２　　　　　　　　　画像データ生成部
１５２ｂ　　　　　　　　画像メモリ
１５４　　　　　　　　　判断部（通信範囲検出部）
１５６　　　　　　　　　レーダ通信パルス生成部（通信信号生成部）
１５７　　　　　　　　　レーダ探知パルス生成部（探知信号生成部）
Ｃ１　　　　　　　　　　方位方向
ＣＡ１　　　　　　　　　通信範囲
Ｒ（Ｋ）　　　　　　　　探知用受信信号
Ｒ（ｋ－１）　　　　　　探知用受信信号（過去の探知結果）
Ｗ１１　　　　　　　　　レーダ探知パルス（探知信号）
Ｗ１２　　　　　　　　　レーダ通信パルス（通信信号）
Ｙｋ［ｉ，ｊ］　　　　　画素データ（探知信号を用いた探知結果を示す画像データ）
Ｙｋ－１［ｉ，ｊ］　　　　画素データ（過去画像データ） 3 Other ships (targets)
10,10A Radar transceiver (radar device)
15, 15A Signal processing unit (signal processing device)
20 Rakon (communication object, target)
151 Sweep Memory 152 Image Data Generation Unit 152b Image Memory 154 Determination Unit (Communication Range Detection Unit)
156 Radar communication pulse generator (communication signal generator)
157 Radar detection pulse generator (detection signal generator)
C1 Azimuth direction CA1 Communication range R (K) Detection reception signal R (k-1) Detection reception signal (past detection result)
W11 Radar detection pulse (detection signal)
W12 Radar communication pulse (communication signal)
Y k [i, j] pixel data (image data indicating a detection result using a detection signal)
Y k-1 [i, j] Pixel data (past image data)

Claims (8)

  1. 　レーダ装置に備えられる信号処理装置であって、
    　前記レーダ装置の周囲の物標を探知するための探知信号を生成する、探知信号生成部と、
    　所定の通信対象と通信するための通信信号を生成する、通信信号生成部と、
    　前記レーダ装置の周囲の方位方向において、前記通信対象と通信する通信範囲を検出する、通信範囲検出部と、
    　前記探知信号を用いた探知結果を示す画像データを生成する、画像データ生成部と、を備え、
    　前記通信範囲の探知結果を示す前記画像データを生成するための処理と、前記通信範囲外の探知結果を示す前記画像データを生成するための処理と、が異なっていることを特徴とする、信号処理装置。     A signal processing device provided in a radar device,
    A detection signal generator for generating a detection signal for detecting a target around the radar device;
    A communication signal generation unit that generates a communication signal for communicating with a predetermined communication target;
    A communication range detection unit that detects a communication range that communicates with the communication target in an azimuth direction around the radar device;
    An image data generation unit for generating image data indicating a detection result using the detection signal,
    A process for generating the image data indicating the detection result of the communication range is different from a process for generating the image data indicating the detection result outside the communication range. Processing equipment.
  2. 　請求項１に記載の信号処理装置であって、
    　前記探知信号及び前記通信信号の何れを送信するかを判断する、判断部を更に備え、
    　前記判断部は、
    　前記通信範囲における前記探知信号の送信間隔を、前記通信範囲外における前記探知信号の送信間隔よりも大きくさせ、且つ、
    　前記通信範囲において、前記探知信号が送信されていないときに前記通信信号を送信させることを特徴とする、信号処理装置。     The signal processing device according to claim 1,
    A judgment unit for judging which of the detection signal and the communication signal is transmitted;
    The determination unit
    The transmission interval of the detection signal in the communication range is larger than the transmission interval of the detection signal outside the communication range; and
    In the communication range, the signal is transmitted when the detection signal is not transmitted.
  3. 　請求項１又は請求項２に記載の信号処理装置であって、
    　前記画像データ生成部は、過去の探知結果を用いて、前記通信範囲の探知結果を示す前記画像データを生成することを特徴とする、信号処理装置。     The signal processing device according to claim 1 or 2,
    The signal processing device is characterized in that the image data generation unit generates the image data indicating the detection result of the communication range using a past detection result.
  4. 　請求項３に記載の信号処理装置であって、
    　スイープメモリを更に備え、
    　前記スイープメモリは、前記探知信号の送信後に受信された探知用受信信号を記憶し、
    　前記画像データ生成部は、前記スイープメモリに記憶されている前記探知用受信信号を、前記過去の探知結果として用いることが可能であることを特徴とする、信号処理装置。     The signal processing device according to claim 3,
    A sweep memory,
    The sweep memory stores a detection reception signal received after transmission of the detection signal,
    The signal processing apparatus, wherein the image data generation unit can use the detection reception signal stored in the sweep memory as the past detection result.
  5. 　請求項３に記載の信号処理装置であって、
    　画像メモリを更に備え、
    　前記画像メモリは、過去の探知結果を示す画像データを過去画像データとして記憶し、
    　前記画像データ生成部は、前記過去画像データを、前記過去の探知結果として用いることを特徴とする、信号処理装置。     The signal processing device according to claim 3,
    An image memory,
    The image memory stores image data indicating past detection results as past image data,
    The signal processing apparatus, wherein the image data generation unit uses the past image data as the past detection result.
  6. 　請求項１乃至請求項５の何れか１項に記載の信号処理装置であって、
    　前記画像データ生成部は、前記通信範囲を特定する表示が行われるように前記画像データを生成することを特徴とする、信号処理装置。     A signal processing device according to any one of claims 1 to 5,
    The signal processing device is characterized in that the image data generation unit generates the image data so that display specifying the communication range is performed.
  7. 　請求項１乃至請求項６の何れか１項に記載の信号処理装置であって、
    　前記画像データ生成部は、前記通信対象の位置を特定する表示が行われるように前記画像データを生成することを特徴とする、信号処理装置。     The signal processing apparatus according to any one of claims 1 to 6,
    The signal processing apparatus, wherein the image data generation unit generates the image data so that display for specifying a position of the communication target is performed.
  8. 　レーダ装置における信号処理方法であって、
    　前記レーダ装置の周囲の物標を探知するための探知信号を生成する、探知信号生成ステップと、
    　所定の通信対象と通信するための通信信号を生成する、通信信号生成ステップと、
    　前記レーダ装置の周囲の方位方向において、前記通信対象と通信する通信範囲を検出する、通信範囲検出ステップと、
    　前記探知信号を用いた探知結果を示す画像データを生成する、画像データ生成ステップと、を含み、
    　前記通信範囲の探知結果を示す前記画像データを生成するための処理と、前記通信範囲外の探知結果を示す前記画像データを生成するための処理と、が異なっていることを特徴とする、信号処理方法。     A signal processing method in a radar apparatus,
    A detection signal generating step for generating a detection signal for detecting a target around the radar device;
    Generating a communication signal for communicating with a predetermined communication target; and a communication signal generating step;
    A communication range detecting step of detecting a communication range communicating with the communication target in an azimuth direction around the radar device;
    Generating image data indicating a detection result using the detection signal, and an image data generation step,
    A process for generating the image data indicating the detection result of the communication range is different from a process for generating the image data indicating the detection result outside the communication range. Processing method.
PCT/JP2014/052500 2013-02-12 2014-02-04 Signal processing device and signal processing method WO2014125960A1 (en)

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WO2015198753A1 (en) * 2014-06-26 2015-12-30 古野電気株式会社 Signal processing device, transponder device, radar device, and signal processing method

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JP2002062349A (en) * 2000-08-24 2002-02-28 Japan Radio Co Ltd Radar
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WO2015198753A1 (en) * 2014-06-26 2015-12-30 古野電気株式会社 Signal processing device, transponder device, radar device, and signal processing method
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