WO2015136823A1 - 目標抽出システム、目標抽出方法、情報処理装置およびその制御方法と制御プログラム - Google Patents
目標抽出システム、目標抽出方法、情報処理装置およびその制御方法と制御プログラム Download PDFInfo
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- WO2015136823A1 WO2015136823A1 PCT/JP2014/084613 JP2014084613W WO2015136823A1 WO 2015136823 A1 WO2015136823 A1 WO 2015136823A1 JP 2014084613 W JP2014084613 W JP 2014084613W WO 2015136823 A1 WO2015136823 A1 WO 2015136823A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S15/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
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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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Definitions
- the present invention relates to a target extraction system, a target extraction method, an information processing apparatus, and a control method and control program for extracting a target based on a reflected wave of a transmitted chirp wave.
- Patent Documents 1 and 2 disclose a technique for obtaining a distance to a target from a frequency difference between a transmitted chirp wave and a chirp wave reflected from the target.
- Patent Document 3 Non-Patent Document 1, and Non-Patent Document 2, a dial soup signal that sweeps a frequency band doubled in two cycles of the transmitted chirp wave is used as a heterodyne signal. Then, by multiplying the received signal of the chirp wave reflected from the target, a beat which is a frequency difference between the heterodyne signal and the received signal in one heterodyne process regardless of the delay of the received signal of the chirp wave.
- a technique for generating a frequency is disclosed.
- An object of the present invention is to provide a technique for solving the above-described problems.
- an information processing apparatus provides: Receiving means for receiving the reflected chirp wave reflected from the target and outputting a received signal; Dual sweep signal generation means for generating a dual sweep signal of the chirp wave, having a frequency that does not overlap with the frequency band of the chirp wave; Heterodyne processing means for generating a beat frequency by multiplying the received signal by the dual sweep signal as a heterodyne signal; Is provided.
- a method for controlling an information processing apparatus includes: Receiving a reflected wave of the chirp wave reflected from the target, and outputting a received signal; A heterodyne processing step of generating a beat frequency by multiplying the received signal with a frequency of the chirp wave that does not overlap with the dual sweep signal of the chirp wave as a heterodyne signal, including.
- a control program for an information processing apparatus provides: Receiving a reflected wave of the chirp wave reflected from the target, and outputting a received signal; A heterodyne processing step of generating a beat frequency by multiplying the received signal with a frequency of the chirp wave that does not overlap with the dual sweep signal of the chirp wave as a heterodyne signal, Is executed on the computer.
- a target extraction system includes: A transmission device for transmitting chirp waves; Receiving a reflected wave of the chirp wave reflected from the target, and extracting the target; With The wave receiving device is: Receiving means for receiving the reflected wave and outputting a received signal; Heterodyne processing means for generating a beat frequency by multiplying the received signal with a frequency of the chirp wave that does not overlap with the dual sweep signal of the chirp wave as a heterodyne signal; Have
- a target extraction method includes: A transmission step for transmitting a chirp wave; Multiply the chirped wave dual sweep signal as a heterodyne signal to the received signal reflected from the target and receive the reflected wave of the chirped wave. Generating a target based on the frequency spectrum of the beat frequency, and extracting a target; including.
- target extraction accuracy can be improved.
- the “chirp wave” used in this specification is a wave whose frequency changes linearly.
- a wave whose frequency rises linearly is called an “UP chirp wave”
- a wave whose frequency falls linearly is called a “DOWN chirp wave”.
- a wave that repeats an UP chirp wave and a DOWN chirp wave is referred to as a “saw-shaped chirp wave”, as distinguished from a wave that repeats only an UP chirp wave or a DOWN chirp wave.
- the “dial sweep signal” is a signal that linearly changes in a frequency band that is twice the frequency change of the chirp wave with a period of twice.
- a signal whose frequency rises linearly is called an “UP dual sweep signal”, and a wave whose frequency falls linearly is called a “DOWN dual sweep signal”.
- the “beat frequency” This is a frequency of a composite wave whose amplitude slowly and periodically changes due to interference between two waves having slightly different frequencies.
- heterodyne processing is performed to integrate the received signal corresponding to the received chirp wave and the heterodyne signal corresponding to the transmitted chirp wave, and the “beat frequency” corresponding to the frequency difference of the calculation result is calculated.
- the “heterodyne signal” includes a “dial soup signal”.
- the information processing apparatus 100 is an apparatus for extracting a target based on a reflected wave of a transmitted chirp wave.
- the information processing apparatus 100 includes a wave receiving unit 110, a dual sweep signal generating unit 120, and a heterodyne processing unit 130.
- the wave receiving unit 110 receives the reflected wave 112 of the chirp wave 111 reflected from the target 150 and outputs a received wave signal.
- the dual sweep signal generation unit 120 generates a dual sweep signal of the chirp wave 111 whose frequency does not overlap with the chirp wave 111.
- the heterodyne processing unit 130 multiplies the received signal by a dual sweep signal as a heterodyne signal to generate a beat frequency.
- the target extraction accuracy is improved by preventing the beat frequency necessary for target extraction, target speed estimation, and Doppler influence detection from overlapping with unnecessary frequencies. Can do.
- a dual sweep signal in a frequency band that does not overlap with the chirp wave transmitted by the transmission unit is used as a heterodyne signal, and beat frequency generation and display, target extraction, and movement Target speed, Doppler effect correction, etc. are executed.
- FIG. 2A is a diagram illustrating characteristics of the target extraction method by the information processing apparatus according to the present embodiment. Note that FIG. 2A illustrates a change in frequency of a transmission wave and a heterodyne signal in order to clarify the difference. Also in the figures showing the following signals, the signals are shown as frequency changes. In this embodiment, the case where the center frequency is 40 kHz and the sampling frequency is 160 kHz will be described, but the present invention is not limited to this.
- the basic heterodyne signal 210 is the same as the chirp wave frequency change, and is a heterodyne signal used in Patent Document 1 and Patent Document 2.
- the dual sweep signal 220 which is a dual sweep type heterodyne signal, This is a frequency change in a frequency band that is doubled with a double period in which two chirp waves are connected, and is a signal in which the frequency band overlaps with the chirp wave used in Patent Document 3, Non-Patent Document 1, and Non-Patent Document 2.
- the dual sweep signal 230 of the new heterodyne signal in FIG. 2A is a dual sweep signal used in this embodiment, but is a signal in which the chirp wave and the frequency band do not overlap. That is, in this embodiment, the dual sweep signal 231b for heterodyne is generated so as to satisfy the minimum condition that the chirp wave 231a to be transmitted is different in frequency band and does not overlap.
- FIG. 2B is a diagram illustrating frequency changes of the transmission signal 240 and the reception signal 250 in the target extraction system including the information processing apparatus according to the present embodiment.
- FIG. 2B shows a transmission signal 240 that is the basis of the chirp wave and a reception signal 250 corresponding to the received chirp wave.
- the solid line is the received signal of the stationary object, and the delay time from the transmitted signal 240 is constant.
- the received signal 250 the broken line is the received signal of the moving object, and the delay time with respect to the transmitted signal 240 changes.
- FIG. 2B shows a case where the distance to the moving object is open.
- the solid line is the static object and the broken line is the moving object.
- FIG. 2C is a diagram showing a heterodyne processing result 270 between the received signal 250 and the dual sweep signal 220 in the base technology.
- the received signal 250 is in the same frequency band as in FIG. 2B.
- a dual sweep signal 220 is generated as a dual sweep signal 220 using the same signal 220a as the transmission signal 240 and a signal 220b in a frequency band continuous to the signal 220a, and the received signal 250 is multiplied by the heterodyne. Processing is executed.
- the beat frequency 271 indicating the static object and the moving object overlaps with the unnecessary frequency 272 in the time zone 273. For this reason, identification is difficult when visually observed, and separation becomes impossible when separated by a filter. Therefore, when this time zone 273, that is, when the distance to the target is within a predetermined range, target extraction, distance estimation, and Doppler correction become difficult.
- FIG. 2D is a diagram showing a frequency change between the received signal 250 and the dual sweep signal 230 according to the present embodiment.
- the received signal 250 has the same frequency band as in FIGS. 2B and 2C.
- a dual sweep signal is generated by a signal 230 b in a frequency band that is continuous with the signal 230 a and the signal 230 a that does not overlap with the transmission signal 240 and multiplied by the received signal 250. Heterodyne processing is performed.
- FIG. 2E is a diagram showing a beat frequency change of the heterodyne processing result in the information processing apparatus according to the present embodiment.
- the result of the heterodyne processing by the signal 230a is the target beat frequency 280a.
- the heterodyne processing result by the signal 230b is the target beat frequency 280b.
- the beat frequency 280a and the beat frequency 280b are connected, and a target heterodyne processing result 290 is obtained.
- the target heterodyne processing result 290 does not overlap with the unnecessary frequency 292
- the target heterodyne processing result 290 can be easily identified by visual observation, and can be easily separated when separated by a filter. Therefore, target extraction, distance estimation, and Doppler correction can be performed regardless of the distance to the target.
- FIG. 3 is a block diagram illustrating a functional configuration of a target extraction system including the information processing apparatus 300 according to the present embodiment.
- the transmission generator 350 generates and transmits a chirp wave having a predetermined frequency band and a predetermined period.
- the chirp wave transmitted from the transmission generation unit 350 propagates through the propagation path 360, is reflected from the target, and is detected by the reception unit 310 of the information processing apparatus 300.
- the propagation path 360 is It is underwater such as in the sea or body, but is not limited to this.
- the propagation path 360 is modeled by delay, Doppler effect, noise generation, etc., but this is an example and is not limited.
- the information processing apparatus 300 includes a wave receiving unit 310, a dual sweep signal generating unit 320, a heterodyne processing unit 330, and a spectrogram unit 340.
- the wave receiving unit 310 receives a sound wave including a chirp wave from the transmission generation unit 350 that has propagated through the propagation path 360 and reached the wave receiving unit 310.
- the dual sweep signal generation unit 320 generates a dual sweep signal that does not overlap the frequency band of the chirp wave transmitted by the transmission generation unit 350 and is double the transmission signal as a heterodyne signal.
- FIG. 3 shows an example in which the dual sweep signal generation unit 320 acquires the frequency band and period of the chirp wave transmitted from the transmission generation unit 350.
- a dual sweep signal can be generated without acquiring the frequency band and period of the chirp wave.
- the heterodyne processing unit 330 multiplies the received signal output from the receiving unit 310 and the dual sweep signal whose frequency band does not overlap with the received signal, and is a frequency difference between the received signal and the dual sweep signal. Generate beat frequency.
- the spectrogram unit 340 generates a spectrogram (hereinafter referred to as a beat frequency spectrogram) from a frequency change in which the frequency on the vertical axis is replaced with the beat frequency, thereby generating a spectrogram from the target in the received signal.
- a beat frequency spectrogram a spectrogram
- the output from the spectrogram unit 340 is displayed as a spectrogram from the output unit 301, or the calculation unit 302 further calculates the distance to the target, estimates the target speed, corrects the Doppler effect, and the like.
- the output unit 301 and the calculation unit 302 may be included in the information processing apparatus 300.
- FIG. 4A is a block diagram illustrating a functional configuration of the transmission generation unit 350 according to the present embodiment.
- the functional configuration of the transmission generator 350 in FIG. 4A is an example, and is not limited to this as long as it outputs a chirp wave in the present embodiment.
- the transmission generator 350 includes a signal generator 410, a digital / analog converter (DAC in the figure) 420, a transmission processor 430, and a transmitter 440.
- the signal generator 410 includes a signal generation unit 411 that generates a signal for generating a chirp wave, a chirp wave table 412 that stores the frequency band and period of the chirp wave generated by the signal generation unit 411, and a signal generation unit 411. And an oscillator 413 that generates a chirp wave based on the signal from the.
- the digital / analog converter 420 converts the chirp wave generated by the signal generator 410 into an analog signal.
- the transmission processor 430 performs processing such as amplification on the analog signal of the chirp wave.
- the wave transmitter 440 transmits a chirp wave according to the signal from the wave transmission processor 430 to the propagation path 360.
- the chirp wave table 412 may be omitted when the chirp wave is fixed.
- FIG. 4B is a diagram showing a configuration of the chirp wave table 412 according to the present embodiment.
- the chirp wave table 412 is used to set the frequency band and period of the chirp wave generated by the signal generation unit 411.
- the chirp wave table 412 stores a wave type 422, a frequency band 423, and a period 424 corresponding to a use wave flag 421 indicating a chirp wave to be used.
- ⁇ is a used wave
- x is an unused wave.
- the wave types 422 include an UP chirp wave whose frequency increases linearly, a DOWN chirp wave whose frequency decreases linearly, and a saw-shaped chirp wave which alternately repeats an UP chirp wave and a DOWN chirp wave.
- a DOWN chirp wave as shown in FIGS. 2A to 2E is selected as a use wave.
- FIG. 5A is a block diagram illustrating a functional configuration of the dual sweep signal generation unit 320 according to the present embodiment.
- the functional configuration of the dual sweep signal generator 320 of FIG. 5A is an example, The present invention is not limited to this as long as it outputs a dual sweep signal in which the chirp wave and the frequency band in this embodiment do not overlap.
- the dual sweep signal generation unit 320 includes a transmitted chirp wave information acquisition unit 510, a dual sweep signal frequency generation unit 520, a low frequency side oscillator 530 of the dual sweep signal, and a high frequency side oscillator 540 of the dual sweep signal. , A signal synthesizer 550.
- the transmitted chirp wave information acquisition unit 510 acquires the information (UP or DOWN, frequency band, period) in order to generate a dual sweep signal. If the chirp wave to be transmitted is known and fixed, the transmitted chirp wave information acquisition unit 510 may be omitted.
- the dual sweep signal frequency generation unit 520 has a dual sweep signal table 521, and generates frequency data of a dual sweep signal in which the chirp wave and the frequency band do not overlap based on the transmitted chirp wave.
- the oscillator 530 and the oscillator 540 have the same degree of frequency change as the chirp wave and frequency change that do not overlap with the transmitted chirp wave, but the frequency change continues.
- the signal synthesizer 550 synthesizes the outputs of the oscillator 530 and the oscillator 540 and outputs a dual sweep signal in which the transmitted chirp wave and the frequency band do not overlap.
- a broken line from the transmitted chirp wave information acquisition unit 510 to the signal synthesizer 550 indicates a case where a signal corresponding to the transmitted chirp wave is acquired and used as it is.
- FIG. 5B is a diagram showing a configuration of the dual sweep signal table 521 according to the present embodiment.
- the dual sweep signal table 521 is used to generate a dual sweep signal corresponding to the chirp wave to be transmitted.
- the dual sweep signal table 521 stores a frequency band 503 and a period 504 set based on the signal type 501 and the transmitted chirp wave 502 to be transmitted.
- the signal type 501 has a low frequency side and a high frequency side for one dual sweep signal.
- the used chirp wave 502 stores information on the chirp wave acquired by the transmitted chirp wave information acquisition unit 510.
- a frequency band in which the chirp wave and the frequency band do not overlap and is close to the chirp wave is set based on the transmitted chirp wave information.
- the frequency band 503 of the low frequency side and the high frequency side is continuous.
- the cycle 504 the same cycle as the chirp wave is set.
- FIG. 6A is a block diagram illustrating a functional configuration of the heterodyne processing unit 330 according to the present embodiment.
- the functional configuration of the heterodyne processing unit 330 in FIG. 6A is an example, and is not limited to this as long as the received signal and the dual sweep signal in the present embodiment are multiplied.
- the heterodyne processing unit 330 includes a received signal acquisition unit 610, a dual sweep signal acquisition unit 620, a multiplication unit 630, and an unnecessary signal removal filter 640 as an option.
- the reception signal acquisition unit 610 acquires the reception signal from the reception unit 310.
- the dual sweep signal acquisition unit 620 acquires a dual sweep signal from the dual sweep signal generation unit 320.
- Multiplier 630 multiplies the received signal and the dual sweep signal to generate a beat frequency that is a difference frequency.
- the unnecessary signal removal filter 640 removes frequency components that are not required for target extraction included in the output of the multiplier 630 based on the filter parameter table 641 predicted based on the chirp wave and the dual sweep signal. When the chirp wave and the dual sweep signal are known and fixed, the filter parameter table 641 may not be provided.
- FIG. 6B is a diagram showing a configuration of the filter parameter table 641 according to the present embodiment.
- the filter parameter table 641 stores filter parameters predicted based on the chirp wave and the dual sweep signal.
- the filter parameter table 641 stores a filter frequency band 604 estimated based on the used chirp wave 602 and the used dual sweep signal 603 of each filter type 601.
- the filter frequency band 604 may be a plurality of frequency bands including unnecessary frequencies.
- FIG. 7 is a block diagram showing a functional configuration of the spectrogram unit 340 according to the present embodiment.
- the functional configuration of the spectrogram unit 340 in FIG. 7 is an example, and is not limited to this as long as it generates a spectrogram of the beat frequency after heterodyne processing in the present embodiment.
- the spectrogram section 340 includes a fast Fourier transform section (FFT: Fast Fourier Transform in the figure) 710 and a spectrogram generation section 720.
- the fast Fourier transform unit 710 generates a frequency characteristic of the beat frequency after heterodyne processing.
- the spectrogram generation unit 720 generates, for example, a frequency versus level spectrogram diagram from the frequency characteristic of the beat frequency (not shown).
- FIG. 8 is a block diagram showing a hardware configuration of the information processing apparatus 300 according to the present embodiment.
- a CPU 810 is a processor for arithmetic control, and the CPU 810 executes programs and modules stored in the storage 850 while using the RAM 840, whereby each functional configuration of the information processing apparatus 300 shown in FIG. The function of the part is realized.
- the ROM 820 stores fixed data and programs such as initial data and programs. Note that the number of CPUs 810 is not limited to one, and may be a plurality of CPUs or may include a GPU for image processing.
- the RAM 840 is a random access memory that the CPU 810 uses as a work area for temporary storage.
- the RAM 840 has an area for storing data necessary for realizing the present embodiment.
- the transmitted chirp wave data 841 is data on the frequency band and period of the UP or DOWN of the chirp wave transmitted by the transmission generator 350.
- the received signal data 842 is data of a signal received by the receiving unit 310.
- the heterodyne signal data 843 is dual sweep signal data used for heterodyne processing generated based on the transmitted chirp wave.
- the heterodyne processing data (beat frequency) 844 is data representing the beat frequency of the heterodyne processing result.
- the spectrogram data 845 is data of a beat frequency spectrogram processing result.
- the target distance data 846 is distance data to the target calculated based on the spectrogram data 845.
- the target speed data 847 is data on the target moving speed calculated based on the spectrogram data 845.
- the storage 850 stores a database, various parameters, or the following data or programs necessary for realizing the present embodiment.
- the dual sweep signal table 521 stores frequency change data of the dual sweep signal shown in FIG. 5B.
- the filter parameter table 641 stores parameters of the unnecessary signal removal filter shown in FIG. 6B.
- the calculation parameter / algorithm 851 stores parameters and algorithms used for calculation such as target distance and target speed as options.
- the storage 850 stores the following programs.
- the information processing device control program 852 is a control program that controls the entire information processing device 300.
- the heterodyne signal generation module 853 is a module that generates a dual sweep signal in which frequency bands corresponding to transmitted chirp waves do not overlap.
- the heterodyne processing module 854 This module performs heterodyne processing using a received signal and a dual sweep signal.
- the spectrogram module 855 is a module that generates a spectrogram of the beat frequency of the heterodyne processing result.
- the target distance calculation module 856 is a module that calculates the distance from the spectrogram of the beat frequency to the target.
- the target speed calculation module 857 is a module for calculating the target moving speed from the spectrogram of the beat frequency.
- the input / output interface 860 interfaces input / output data with input / output devices.
- the input / output interface 860 is connected to a receiving unit 310, a display unit 861, an operation unit 862 such as a keyboard, a touch panel, and a pointing device, a GPS position inversion unit 863, and the like.
- RAM 840 and the storage 850 in FIG. 8 do not show programs and data related to general-purpose functions and other realizable functions of the information processing apparatus 300. Also, The calculation of the target distance and target speed in FIG. 8 is optional.
- FIG. 9 is a flowchart illustrating a processing procedure of the information processing apparatus 300 according to the present embodiment. This flowchart is executed by the CPU 810 of FIG. 8 using the RAM 840. The functional configuration unit of FIG. 3 is realized.
- step S901 the information processing apparatus 300 acquires the transmitted chirp wave or its parameters. If the chirp wave to be transmitted is known and fixed, step S901 can be omitted. In step S903, the information processing apparatus 300 generates a dual sweep signal in which the frequency band does not overlap with the chirp wave. In step S905, the information processing apparatus 300 receives the chirp wave transmitted and reflected by the target. Next, in step S907, the information processing apparatus 300 performs heterodyne processing using the received chirp wave and the dual sweep signal. In step S909, the information processing apparatus 300 generates and outputs a spectrogram of the beat frequency as a result of the heterodyne processing. Note that the information processing apparatus 300 optionally has, in step S911, The target distance and target speed are calculated based on the spectrogram of the beat frequency.
- FIG. 10A is a flowchart illustrating a procedure of dual sweep signal generation processing (S903) according to the present embodiment.
- step S1011 the information processing apparatus 300 generates a first copy signal in which the transmitted chirp wave and the frequency band do not overlap.
- the copy signal indicates that the degree of frequency change is the same as shown in FIGS. 2A to 2E and does not mean the same frequency.
- the frequency band of the first copy signal is close to the frequency band of the chirp wave.
- step S1013 the information processing apparatus 300 generates a second copy signal in which the transmitted chirp wave and the frequency band do not overlap and the first copy signal and the frequency band are continuous.
- step S1015 the information processing apparatus 300 adds the first copy signal and the second copy signal to generate a dual sweep signal in which the transmitted chirp wave and the frequency band do not overlap.
- step S1017 the information processing apparatus 300 outputs the generated dual sweep signal to the heterodyne processing unit 330.
- FIG. 10B is a flowchart showing procedures of the heterodyne process (S907) and the spectrogram process (S909) according to the present embodiment.
- step S1021 the information processing apparatus 300 acquires a received signal.
- the information processing apparatus 300 acquires a dual sweep signal in step S1023.
- step S1025 the information processing apparatus 300 multiplies the received signal and the dual sweep signal to generate a beat frequency.
- the information processing apparatus 300 removes unnecessary frequencies with a filter in step S1027.
- step S1029 the information processing apparatus 300 performs a fast Fourier transform process on the beat frequency to generate a frequency spectrum.
- the information processing apparatus 300 generates a spectrogram based on the frequency spectrum.
- the information processing apparatus 300 outputs the generated spectrogram.
- target extraction can be performed effectively.
- the information processing apparatus according to the present embodiment is different from the second embodiment in that there are a plurality of chirp waves to be transmitted. Since other configurations and operations are the same as those of the second embodiment, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.
- FIG. 11A is a diagram illustrating frequency changes of the transmission signal 1110 and the reception signal 1120 in the target extraction system including the information processing apparatus according to the present embodiment.
- FIG. 11A shows a transmission signal 1110 composed of a plurality of chirp waves whose frequency changes in a “C” shape and its reception signal 1120.
- the solid line is the received signal of the still object
- the broken line is the received signal of the moving object.
- FIG. 11A shows a case where the distance to the moving object is open over time.
- a transmission signal 1110 composed of a plurality of chirp waves whose frequency changes in a “C” shape will be described as an example.
- a combination with a saw-shaped chirp wave may be used.
- the dual sweep signal for heterodyne separates the signal necessary for target extraction and the unnecessary signal from the heterodyne result by preventing the frequency bands from overlapping the multiple chirp waves to be transmitted. can do.
- FIG. 11B is a diagram showing frequency changes of the received signal 1120 and the UP heterodyne signal 1130 according to the present embodiment.
- the UP heterodyne signal 1130 is set to a high frequency band in which the frequency band does not overlap the received signal 1120, but may be set to a low frequency band. Such a frequency band is selected so that the frequency use band is not as wide as possible.
- FIG. 11C is a diagram showing a beat frequency change of the UP heterodyne processing result 1140 according to this embodiment.
- two sets of beat frequencies 1141 and 1142 of a still object / animal body corresponding to two received signals are generated separately from unnecessary frequencies 1143.
- the shift in beat frequency between the stationary object and the moving object at the two sets of beat frequencies 1141 and 1142 varies depending on the influence of the Doppler effect. Therefore, the exact position and velocity of the moving target corrected for the influence of Doppler from this output data. Can be calculated.
- FIG. 11D is a diagram showing a frequency change of the received signal 1120 and the DOWN heterodyne signal 1150 according to the present embodiment.
- the DOWN heterodyne signal 1150 is set to a low and high frequency band that does not overlap with the received signal 1120, but may be set to a high frequency band. Such a frequency band is selected so that the frequency use band is not as wide as possible.
- FIG. 11E is a diagram showing a beat frequency change of the DOWN heterodyne processing result 1160 according to the present embodiment.
- two sets of beat frequencies 1161 and 1162 corresponding to two received signals are generated separately from unnecessary frequencies 1163.
- the shift in beat frequency between the stationary object and the moving object at the two sets of beat frequencies 1161 and 1162 varies depending on the influence of the Doppler effect. Therefore, the exact position and velocity of the moving target obtained by correcting the influence of Doppler from this output data. Can be calculated.
- heterodyne processing results shown in FIGS. 11C and 11E show that it is preferable to set the dual sweep signal for heterodyne to the lowest possible frequency band because the frequency band becomes narrower.
- FIG. 12 is a block diagram illustrating a functional configuration of a target extraction system including the information processing apparatus 1200 according to the present embodiment.
- the same functional components as those in FIG. 3 are denoted by the same reference numerals, and description thereof is omitted.
- the wave generation unit 1250 generates and transmits a plurality of chirp waves having a predetermined frequency band and a predetermined period.
- a predetermined frequency band and a predetermined period For example, an example of transmitting two chirp waves whose frequency changes to a “C” shape will be described, but the present invention is not limited to this.
- the information processing apparatus 1200 includes a wave receiving unit 310, a dual sweep signal generating unit 1220, A heterodyne processing unit 1230 and a spectrogram unit 340 are provided.
- the dual sweep signal generation unit 1220 generates a dual sweep signal that does not overlap the frequency band of the plurality of chirp waves transmitted by the transmission generation unit 1250, and is a double sweep signal of each transmission signal as a heterodyne signal.
- 12 shows an example in which the dual sweep signal generation unit 1220 acquires the frequency band and period of the chirp wave transmitted from the transmission generation unit 1250.
- the frequency bands and periods of a plurality of chirp waves transmitted from the transmission generator 1250 are known, a dual sweep signal can be generated without acquiring the frequency bands and periods of the chirp waves.
- the heterodyne processing unit 1230 multiplies a plurality of received signals output from the receiving unit 310 and a dual sweep signal whose frequency bands do not overlap with each other, and generates a beat frequency that is a frequency difference between them. To do.
- FIG. 13A is a block diagram illustrating a functional configuration of the transmission generation unit 1250 according to the present embodiment.
- the same functional components as those in FIG. 4A are denoted by the same reference numerals, and description thereof is omitted.
- the functional configuration of the transmission generator 1250 in FIG. 13A is an example, and is not limited to this as long as it outputs a plurality of chirp waves in the present embodiment.
- the transmission generator 1250 includes a signal generator 1310, a digital / analog converter (DAC in the figure) 420, a transmission processor 430, and a transmitter 440.
- the signal generator 1310 includes a signal generation unit 1311 that generates a signal for generating a chirp wave, and a chirp wave table 1312 that stores the frequency band and period of the chirp wave generated by the signal generation unit 1311.
- the signal generator 1310 includes oscillators 1313 and 1314 that generate a plurality of chirp waves based on a signal from the signal generation unit 1311 and a synthesis unit 1315 that combines the plurality of chirp waves.
- FIG. 13A shows a configuration in which the frequency band and period of the chirp wave to be transmitted can be freely set
- the chirp wave table 1312 may not be provided when a plurality of chirp waves are fixed. .
- FIG. 13B is a diagram showing a configuration of the chirp wave table 1312 according to the present embodiment.
- the chirp wave table 1312 is used for setting frequency bands and periods of a plurality of chirp waves generated by the signal generation unit 1311.
- the chirp wave table 1312 stores a wave type 1322, a frequency band 1323, and a period 1324 corresponding to a use wave flag 1321 indicating a chirp wave to be used.
- ⁇ is a used wave
- x is an unused wave.
- the wave type 1322 includes an UP chirp wave whose frequency rises linearly, a DOWN chirp wave whose frequency falls linearly, a saw-shaped chirp wave which alternately repeats an UP chirp wave and a DOWN chirp wave, Is included.
- a plurality of chirp waves used corresponding to each of the used wave flags 1321 are stored.
- FIG. 13B an UP chirp wave and a DOWN chirp wave having a “C” shape as shown in FIG. 11A are selected as the used waves.
- FIG. 14A is a block diagram illustrating a functional configuration of the dual sweep signal generation unit 1220 according to the present embodiment.
- the functional configuration of the dual sweep signal generation unit 1220 in FIG. 14A is an example, and the present invention is not limited to this as long as it outputs a dual sweep signal in which a plurality of chirp waves and frequency bands in this embodiment do not overlap.
- the configuration for generating both the UP dual sweep signal and the DOWN dual sweep signal has been shown, but as shown in FIG. 11B and FIG. There may be.
- the structure which selects one of two may be sufficient.
- the dual sweep signal generation unit 1220 includes a transmitted UP chirp wave information acquisition unit 1410, a dual sweep signal frequency generation unit 1420, a low frequency oscillator 1430 for the dual sweep signal, and a high frequency oscillator 1440 for the dual sweep signal. And a signal synthesizer 1450.
- the dual sweep signal generation unit 1220 includes a transmitted DOWN chirp wave information acquisition unit 1460, a low-frequency oscillator 1470 of the dual sweep signal, An oscillator 1480 on the high frequency side of the dual sweep signal and a signal synthesizer 1490 are included.
- the transmitted UP chirp wave information acquisition unit 1410 and the transmitted DOWN chirp wave information acquisition unit 1460 may be a single chirp wave information acquisition unit. If the chirp wave to be transmitted is known and fixed, the chirp wave information acquisition unit may be omitted.
- the dual sweep signal frequency generation unit 1420 has a dual sweep signal table 1421 and generates frequency data of a dual sweep signal in which a plurality of chirp waves and frequency bands do not overlap based on a plurality of transmitted chirp waves.
- the oscillator 1430 and the oscillator 1440 do not overlap with each of the plurality of chirp waves transmitted, but the frequency change continues.
- the signal synthesizer 1450 synthesizes the outputs of the oscillator 1430 and the oscillator 1440 and outputs an UP dual sweep signal that does not overlap the frequency band with the transmitted chirp waves.
- the oscillator 1470 and the oscillator 1480 do not overlap with each of the transmitted chirp waves, but the frequency change continues. Generate signals with similar degrees.
- the signal synthesizer 1490 synthesizes the outputs of the oscillator 1470 and the oscillator 1480, and outputs a DOWN dual sweep signal in which the frequency bands do not overlap with the transmitted chirp waves.
- the frequency band and period of a plurality of chirp waves to be transmitted are shown as a configuration that can be freely set, but when a plurality of chirp waves are known and fixed,
- the dual sweep signal table 1421 may be omitted.
- FIG. 14B is a diagram showing a configuration of the dual sweep signal table 1421 according to the present embodiment.
- the dual sweep signal table 1421 is used to generate a dual sweep signal corresponding to a plurality of chirp waves to be transmitted.
- the dual sweep signal table 1421 stores a signal type 1401, a used chirp wave 1402 to be transmitted, and a frequency band 1404 and a period 1405 set based on another chirp wave 1403.
- the number of other chirp waves 1403 is not limited to one.
- the signal type 1401 has a low frequency side and a high frequency side for one dual sweep signal.
- the used chirp wave 1402 and the other chirp wave 1403 store the chirp wave information acquired by the transmitted UP chirp wave information acquisition unit 1410 and the DOWN chirp wave information acquisition unit 1460.
- the frequency band 1404 based on the information of the used chirp wave 1402 transmitted, a frequency band that does not overlap with the plurality of chirp waves and is close to the plurality of chirp waves is set.
- the frequency band 1443 of the low frequency side and the high frequency side is continuous.
- the same period as the used chirp wave is set.
- FIG. 15A is a block diagram showing a functional configuration of the heterodyne processing unit 1230 according to the present embodiment.
- the functional configuration of the heterodyne processing unit 1230 in FIG. 15A is an example, and is not limited to this as long as the received signal and the dual sweep signal in the present embodiment are subjected to multiplication processing.
- the configuration for performing both the heterodyne processing by the UP dual sweep signal and the heterodyne processing by the DOWN dual sweep signal is shown, but as shown in FIG. 11B and FIG. 11D, Either one may be used.
- the structure which selects one of two may be sufficient.
- the heterodyne processing unit 1230 includes a received signal acquisition unit 1510, an UP dual sweep signal acquisition unit 1520, a multiplication unit 1530, and an unnecessary signal removal filter 1540 as an option.
- the heterodyne processing unit 1230 includes a DOWN dual sweep signal acquisition unit 1550, a multiplication unit 1560, and an unnecessary signal removal filter 1570 as an option.
- the received signal acquisition unit 1510 acquires a received signal including a plurality of chirp waves from the receiving unit 310.
- the UP dual sweep signal acquisition unit 1520 acquires the UP dual sweep signal from the dual sweep signal generation unit 1220.
- the DOWN dual sweep signal acquisition unit 1550 acquires a DOWN dual sweep signal from the dual sweep signal generation unit 1220.
- Multiplier 1530 multiplies the received signal and the UP dual sweep signal to generate a beat frequency that is a difference frequency.
- the multiplier 1560 multiplies the received signal and the DOWN dual sweep signal to generate a beat frequency that is a difference frequency.
- the unnecessary signal removal filter 1540 removes frequency components that are not required for target extraction included in the output of the multiplier 1530 based on the filter parameter table 1541 predicted based on the plurality of chirp waves and the UP dual sweep signal. .
- the unnecessary signal removal filter 1570 generates frequency components that are not required for target extraction included in the output of the multiplier 1560 based on a filter parameter table 1571 predicted based on a plurality of chirp waves and a DOWN dual sweep signal. Remove.
- the filter parameter tables 1541 and 1571 may be one table in which each parameter can be identified. If a plurality of chirp waves and dual sweep signals are known and fixed, the filter parameter tables 1541 and 1571 may be omitted.
- FIG. 15B is a diagram showing a configuration of the filter parameter tables 1541 and 1571 according to the present embodiment.
- the filter parameter tables 1541 and 1571 store filter parameters predicted based on a plurality of chirp waves and an UP dual sweep signal or a DOWN dual sweep signal.
- the filter parameter tables 1541 and 1571 store the filter frequency band 1504 estimated based on the used chirp wave 1502 and the used dual sweep signal 1503 of each filter type 1501. Note that the filter frequency band 1504 may be a plurality of frequency bands including unnecessary frequencies.
- FIG. 16A is a flowchart illustrating a processing procedure of the transmission generation unit 1250 according to the present embodiment.
- step S1601 the transmission generation unit 1250 acquires the first chirp wave parameters (UP or DOWN, frequency band, period) from the chirp wave table 1312.
- step S1603 the transmission generation unit 1250 generates a first chirp wave.
- step S1605 the transmission generation unit 1250 has a frequency band different from that of the first chirp wave from the chirp wave table 1312 and has a UP / DOWN parameter opposite to that of the second chirp wave (whether it is UP or DOWN). , Frequency band, period).
- step S1607 the transmission generation unit 1250 generates a second chirp wave.
- step S1609 the wave generation unit 1250 transmits the first chirp wave and the second chirp wave.
- the combination of the two chirp waves or the number of chirp waves is not limited to this example.
- FIG. 16B is a flowchart illustrating a procedure of a dual sweep signal generation process according to the present embodiment. This flowchart is executed by the CPU 810 of FIG. 8 using the RAM 840 to realize the dual sweep signal generation unit 1220 of FIG.
- step S1611 the information processing apparatus 1200 acquires the transmitted first chirp wave and second chirp wave, or parameters thereof.
- step S ⁇ b> 1613 the information processing apparatus 1200 generates a first copy signal of the first chirp wave and a second copy signal of the second chirp wave whose frequency bands do not overlap with the first chirp wave and the second chirp wave.
- the copy signal indicates that the degree of frequency change is the same as shown in FIGS. 11A, 11B, and 11D, and does not mean the same frequency.
- the frequency band of the first copy signal or the second copy signal is close to the frequency band of a plurality of chirp waves.
- the information processing apparatus 1200 includes a third copy signal in which the frequency band is not overlapped with the plurality of transmitted chirp waves and the frequency band is continuous with the first copy signal or the second copy signal. And a fourth copy signal.
- step S ⁇ b> 1617 the information processing apparatus 1200 adds the first copy signal and the third copy signal to generate a first dual sweep signal in which the transmitted chirp waves do not overlap with the frequency band.
- step S ⁇ b> 1618 the information processing apparatus 1200 adds the second copy signal and the fourth copy signal to generate a second dual sweep signal in which the transmitted chirp waves do not overlap with the frequency band.
- the information processing apparatus 1200 outputs the generated first and second dual sweep signals to the heterodyne processing unit 1230.
- FIG. 17 is a diagram illustrating conditions for generating a transmission according to the present embodiment.
- FIG. 17 shows a condition for reducing the waste of the frequency spectrum of the beat frequency when using a chirp wave whose frequency changes to a “c” shape in this example.
- this condition can also be applied when using a plurality of other chirp waves.
- the first condition is that a chirp wave does not enter the region where the frequency change of the heterodyne signal is moved in parallel (see frequency change 1710).
- the heterodyne signal does not enter the region where the frequency change of the chirp wave is moved in parallel.
- the second condition is that by combining two chirp waves with a half shift of the period, the wasted bandwidth is reduced to half compared to the “ha” shape with the same period (frequency changes 1720 and 1730 are reduced). reference).
- a plurality of chirp waves are separated by a bandpass filter at a predetermined frequency interval before transmission, a plurality of chirp waves with reduced waste of the frequency spectrum of the beat frequency can be generated with a simple configuration ( See frequency change 1740).
- FIG. 18 is a diagram for explaining speed estimation of a target object and correction of Doppler influence according to the present embodiment.
- a frequency change 1810 in FIG. 18 is a diagram for explaining target speed estimation when a “c” -shaped UP chirp wave and a DOWN chirp wave are used. This is a case where the frequency Fc is the center frequency of the UP chirp wave and the DOWN chirp wave.
- the frequency of the transmitted UP chirp wave is Fsu
- the frequency of the transmitted DOWN chirp wave is Fsd
- the frequency of the received UP chirp wave is Fru
- the frequency of the received DOWN chirp wave is Frd
- the Doppler shift ratio is D , And. All these pieces of information can be acquired from FIG. 11D or FIG. 11E, for example.
- the target speed calculation (estimation) can be performed by one process by transmitting a plurality of chirp waves.
- a frequency change 1820 in FIG. 18 is a diagram illustrating correction of Doppler influence when a “C” shaped UP chirp wave and a DOWN chirp wave are used.
- a signal necessary for target extraction and an unnecessary signal can be separated from the heterodyne result, and different Doppler influence results can be obtained at a time. Guess and doppler effects can be corrected.
- the information processing apparatus is different from the third embodiment in that the received signals of a plurality of chirp waves are separated and subjected to heterodyne processing. That is, in the present embodiment, the received wave is divided by the band separation filter, and another heterodyne process is performed for each chirp. In addition, synthesis is performed using a bandpass filter or the like so that beat frequencies and the like generated by the heterodyne processing do not overlap. An image of beat frequency change is obtained for each heterodyne result, and the two beat frequency change images are synthesized.
- Other configurations and operations are the same as those in the second embodiment and the third embodiment. Therefore, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.
- FIG. 19A is a diagram illustrating characteristics of a target extraction method performed by the information processing apparatus according to the present embodiment.
- FIG. 19A is a frequency change of a received signal showing an example in which the received signal is separated by a band separation filter.
- a frequency change 1900 indicates that the received signal of the “C” chirp wave is separated into an UP received signal and a DOWN received signal by a band separation filter.
- the separated UP received signal and DOWN received signal are subjected to heterodyne processing with a dual sweep signal in which frequency bands do not overlap each other, and then synthesized.
- the frequency change 1910 is further separated into three received signals by a band separation filter in the case of three chirp waves, and each of them is subjected to heterodyne processing with a dual sweep signal in which frequency bands do not overlap each other. Synthesize.
- a dual sweep signal in which each received signal and the frequency band do not overlap can be generated, so that the frequency band can be effectively used.
- FIG. 19B is a diagram showing frequency changes of the separated UP received signal 1921 and UP heterodyne signal 1130, DOWN received signal 1922, and DOWN heterodyne signal 1150 according to the present embodiment.
- an UP received signal 1921 and a DOWN received signal 1922 are signals obtained by separating the signals received by the receiving unit 310 by the band separation filters in accordance with the chirp waves.
- the received signal 1120 shown in FIGS. 11A and 11B is separated into an UP received signal 1921 and a DOWN received signal 1922 and subjected to heterodyne processing. Therefore, even if the UP heterodyne signal 1130 is in the lower frequency band of the UP received signal 1921 and the DOWN heterodyne signal 1150 is in the upper frequency band of the DOWN received signal 1922, Received signal and heterodyne dual sweep signal do not overlap. Therefore, there is a margin in the selection of the frequency band of the dual sweep signal, and the frequency range to be used can be narrowed.
- FIG. 19C is a diagram showing a beat frequency change of the heterodyne processing result in the information processing apparatus according to the present embodiment.
- 19C shows a beat frequency 1940 generated by the heterodyne processing of the UP received signal 1921 and the UP heterodyne signal 1130, and a beat frequency 1960 generated by the heterodyne processing of the DOWN received signal 1922 and the DOWN heterodyne signal 1150. , Are synthesized and output.
- FIG. 20 is a block diagram illustrating a functional configuration of a target extraction system including the information processing apparatus 2000 according to the present embodiment.
- the same functional components as those in FIGS. 3 and 12 are denoted by the same reference numerals, and description thereof is omitted.
- FIG. 20 shows a configuration that follows a “c” -shaped chirp wave, but a plurality of chirp waves are not limited to a “c” -shape.
- the information processing apparatus 2000 includes a band separation filter 2070, a filter parameter table 2011 for the band separation filter 2070, an UP chart wave dual sweep signal generation unit 2021, and a DOWN chart wave dual sweep signal generation unit 2022. . Further, the information processing apparatus 2000 includes an UP multiplier 2031, a DOWN multiplier 2032, an UP chart band pass filter 2081, a DOWN chart band pass filter 2082, and a filter parameter table 2012 for a band pass filter. , A heterodyne processing result synthesis unit 2090.
- the band separation filter 2070 separates the received signal into a UA received signal and a DOWN received signal according to the filter parameter table 2011.
- the UP chart wave dual sweep signal generator 2021 generates an UP dual sweep signal whose frequency bands do not overlap with each other in response to the transmitted UP chart wave.
- the DOWN chart wave dual sweep signal generator 2022 generates a DOWN dual sweep signal whose frequency bands do not overlap with each other in response to the transmitted DOWN chart wave.
- the UP multiplier 2031 multiplies the UA received signal and the UP dual sweep signal to generate a beat frequency.
- the DOWN multiplier 2032 multiplies the DOWN reception signal and the DOWN dual sweep signal to generate a beat frequency.
- the UP chart band pass filter 2081 removes unnecessary frequencies from the output of the UP multiplier 2031 according to the filter parameter table 2012.
- the DOWN chart band pass filter 2082 removes unnecessary frequencies from the output of the DOWN multiplier 2032 in accordance with the filter parameter table 2012.
- the heterodyne processing result synthesis unit 2090 synthesizes beat frequencies from which unnecessary frequencies are removed (see FIG. 19C).
- the filter parameter tables 2011 and 2012 may be included in the band separation filter 2070 or the band pass filters 2081 and 2082, respectively. Alternatively, the filter parameter table may be combined into one. If a plurality of chirp waves and a plurality of dual sweep signals are all known and fixed, the filter parameter table may be omitted.
- FIG. 21A is a block diagram showing a functional configuration of the band separation filter 2070 according to the present embodiment.
- the functional configuration of the band separation filter 2070 is not limited to FIG. 21A. Any configuration that can extract received signals corresponding to a plurality of transmitted chirp waves from the received signal is acceptable.
- Band separation filter 2070 includes an UP chart wave band-pass filter 2171 and a DOWN chart wave band-pass filter 2172. Then, according to the filter parameter table 2011, the received signal is separated into received signals corresponding to a plurality of transmitted chirp waves.
- FIG. 21B is a diagram showing a configuration of a filter parameter table 2011 for the band separation filter according to the present embodiment.
- the filter parameter table 2011 is used to set the frequency band of the band separation filter 2070 corresponding to the chirp wave used.
- the filter parameter table 2011 stores the separation frequency band 2103 corresponding to the filter type 2101 and the used chirp wave 2102.
- FIG. 22 is a diagram showing a configuration of a filter parameter table 2012 for a bandpass filter according to the present embodiment.
- the filter parameter table 2012 is used to set the frequency band of the band pass filter after heterodyne processing.
- the filter parameter table 2012 stores an unnecessary signal frequency band 2204 corresponding to the unnecessary signal removal filter type 2201, the used chirp wave 2202 and the used dual sweep signal 2203. Note that a plurality of frequency bands 2204 may be set by the used chirp wave 2202 and the used dual sweep signal 2203.
- FIG. 23 is a flowchart illustrating a processing procedure of the information processing apparatus 2000 according to the present embodiment. This flowchart is executed by the CPU 810 of FIG. 8 using the RAM 840, and implements the functional configuration unit of FIG. In FIG. 23, steps similar to those in FIG. 9 are denoted by the same step numbers, and description thereof is omitted.
- step S2301 the information processing apparatus 2000 acquires an UP chirp wave and a DOWN chirp wave, or parameters thereof. In addition, when using three or more chirp waves, each data is acquired.
- step S2303 the information processing apparatus 2000 generates an UP dual sweep signal corresponding to the transmitted UP chirp wave.
- step S2304 the information processing apparatus 2000 generates a DOWN dual sweep signal corresponding to the transmitted DOWN chirp wave. Note that the processing in steps S2303 and S2304 is the same as the processing in FIG. 10A of the second embodiment, and detailed description thereof is omitted.
- step S2306 the information processing apparatus 2000 separates the received signal into an UP received signal and a DOWN received signal.
- step S2307 the information processing apparatus 2000 executes an UP heterodyne process of multiplying the UP reception signal and the UP dual sweep signal.
- step S2308 the information processing apparatus 2000 executes DOWN heterodyne processing for multiplying the DOWN received signal and the DOWN dual sweep signal. Note that the processes in steps S2307 and S2308 are the same as steps S1021 to S1027 in FIG. 10B of the second embodiment, and thus detailed description thereof is omitted. Then, the information processing apparatus 2000 configures the heterodyne result in step S2309.
- the chirp wave and the heterodyne signal can be set to a narrow frequency band, target extraction is effective, The target speed can be estimated and the Doppler effect can be corrected.
- the information processing apparatus is different from the second to fourth embodiments in that the chirp wave to be transmitted is a dual sweep. Since other configurations and operations are the same as those of the second to fourth embodiments, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.
- FIG. 24A is a diagram illustrating the frequencies of the transmission signal 2410 and the reception signal 2420 in the target extraction system including the information processing apparatus according to the present embodiment.
- the transmission signal 2410 and the reception signal 2420 are dual sweep signals.
- a plurality of pseudo chirp waves are generated with a simpler configuration, and a plurality of sets of beat signals can be generated at one time.
- FIG. 24B is a diagram showing a frequency change between the received signal 2420 and the dual sweep signal 2430 according to the present embodiment.
- the dual sweep signal 2430 is set on the low frequency side that does not overlap the received signal 2420, but may be set on the high frequency side.
- the setting of the dual sweep signal 2430 is preferably on the low frequency side in order to narrow the operating frequency range.
- FIG. 24C is a diagram showing a beat frequency change of the heterodyne processing result 2450 in the information processing apparatus according to the present embodiment.
- the heterodyne processing result 2450 is separated from other unnecessary frequency bands, and a plurality of sets are output in frequency bands close to each other.
- FIG. 25A is a block diagram illustrating a functional configuration of the transmission generation unit 2550 according to the present embodiment.
- the same functional components as those in FIGS. 4A and 13A are denoted by the same reference numerals, and description thereof is omitted.
- the functional configuration of the transmission generation unit 2550 in FIG. 25A is an example, and the present invention is not limited to this as long as it outputs a dual sweep chirp wave in the present embodiment.
- the wave generation unit 2550 includes a signal generator 2510, a digital / analog converter (DAC in the figure) 420, a wave transmission processor 430, and a wave transmitter 440.
- the signal generator 2510 includes a signal generator 2511 that generates a chirp waveform signal, and a chirp wave table 2512 that stores the frequency band and period of the chirp waveform generated by the signal generator 2511.
- the frequency band and period of the dual sweep chirp wave to be transmitted are shown as freely configurable, but when the dual sweep chirp wave is fixed, the chirp waveform table 2512 is There is no need.
- FIG. 25B is a diagram showing a configuration of the chirp wave table 2512 according to the present embodiment.
- the chirp wave table 2512 is used to set the frequency band and period of the dual sweep chirp wave generated by the signal generation unit 2511.
- the chirp wave table 2512 stores a wave type 2522, a frequency band 2523, and a period 2524 corresponding to a use wave flag 2521 indicating a chirp wave to be used.
- ⁇ is a used wave
- x is an unused wave.
- the wave types 2522 include a dual sweep UP chirp wave, a dual sweep DOWN chirp wave, and a saw-like chirp wave that alternately repeats a dual sweep UP chirp wave and a DOWN chirp wave.
- a plurality of chirp waves having consecutive frequency bands used corresponding to each of the used wave flags 2521 are stored.
- FIG. 26 is a diagram showing a configuration of the dual sweep signal table 2621 according to the present embodiment.
- the dual sweep signal table 2621 is used to generate a dual sweep signal for heterodyne processing corresponding to a dual sweep chirp wave.
- the dual sweep signal table 2621 may not be provided.
- the dual sweep signal table 2621 includes a dual sweep signal type 2601, Corresponding to the low frequency side 2602 and the high frequency side 2603 of the dual sweep chirp wave to be used, a frequency band 2604 that does not overlap with the dual sweep chirp wave and a period 2605 are stored.
- FIG. 27 is a flowchart illustrating a processing procedure of the transmission generation unit 2550 according to the present embodiment.
- steps similar to those in FIG. 16 are denoted by the same step numbers and description thereof is omitted.
- step S2705 the transmission generation unit 2550 generates parameters of the second chirp wave in which the first chirp wave and the frequency band generated in step S1603 are continuous and have the same UP / DOWN.
- step S1607 the transmission generation unit 2550 generates a second chirp wave.
- the information processing apparatus is different from the second to fifth embodiments in that the information processing apparatus includes a wave transmission unit. Since other configurations and operations are the same as those in the second embodiment to the fifth embodiment, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.
- FIG. 28 is a block diagram illustrating a functional configuration of the information processing apparatus 2800 according to the present embodiment.
- the same functional components as those in FIG. 28 are identical functional components as those in FIG. 28.
- a transmission generation unit 2850 is included in the information processing apparatus 2800.
- the functional configuration of the transmission generation unit 2850 is the same as that in FIG. 4A, FIG. 13A, or FIG. 25A. Further, the configuration can be simplified by integrating the transmission generation unit 2850 and the dual sweep signal generation unit 320 as the signal generation unit 2810. Further, all components of the output unit 301 and the calculation unit 302 can be included in the information processing apparatus 2800.
- the chirp wave to be transmitted and the dual sweep signal to be heterodyne processed can be accurately adjusted, more accurate target extraction, target speed estimation, and Doppler influence correction can be performed.
- the target extraction method using sound waves or ultrasonic waves described above can be used for a technique for passing robots without colliding with each other and a technique for avoiding a collision of a vehicle.
- the present invention is not limited to this, and can be used for monitoring intruders in offices, detecting human movements in gymnasiums, and monitoring obstacles in water. .
- ultrasonic waves are often attenuated and cannot be used in many cases.
- the target object detection method that uses sound waves called Active Sonar, the distance measurement method, The present invention can be applied to the principle of the speed measurement method.
- the carrier frequency center frequency
- waveform length waveform length
- the transmission waveform in the present invention can also be used for radar using radio waves.
- the present invention may be applied to a system composed of a plurality of devices, or may be applied to a single device. Furthermore, the present invention can also be applied to a case where an information processing program that implements the functions of the embodiments is supplied directly or remotely to a system or apparatus. Therefore, in order to realize the functions of the present invention on a computer, a program installed on the computer, a medium storing the program, and a WWW (World Wide Web) server that downloads the program are also included in the scope of the present invention. . In particular, at least a non-transitory computer readable medium storing a program for causing a computer to execute the processing steps included in the above-described embodiments is included in the scope of the present invention.
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Abstract
Description
目標から反射した、チャープ波の反射波を受波して、受波信号を出力する受波手段と、
前記チャープ波の周波数帯域と重ならない周波数を備え、前記チャープ波のデュアルスイープ信号を生成するデュアルスイープ信号生成手段と、
前記受波信号に対して、前記デュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理手段と、
を備える。
目標から反射した、チャープ波の反射波を受波して、受波信号を出力する受波ステップと、
前記受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理ステップと、
を含む。
目標から反射した、チャープ波の反射波を受波して、受波信号を出力する受波ステップと、
前記受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理ステップと、
をコンピュータに実行させる。
チャープ波を送波する送波装置と、
目標から反射した、前記チャープ波の反射波を受波して、目標を抽出する受波装置と、
を備え、
前記受波装置は、
前記反射波を受波して、受波信号を出力する受波手段と、
前記受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理手段と、
を有する。
チャープ波を送波する送波ステップと、
目標から反射した、前記チャープ波の反射波を受波した受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成し、前記ビート周波数の周波数スペクトルに基づいて、目標を抽出する目標抽出ステップと、
を含む。
ここでは、線形に周波数が上昇する信号を「UPデュアルスイープ信号」、線形に周波数が下降する波を「DOWNデュアルスイープ信号」と称す。また、「ビート周波数」は、
周波数が僅かに異なる2つの波が干渉して、振幅がゆっくり周期的に変わる合成波の周波数である。本例では、受波したチャープ波に対応する受波信号と送波したチャープ波に対応するヘテロダイン用信号を積算するヘテロダイン処理をし、その演算結果の周波数差分に相当する「うなりの周波数」を意味する。ここで、「ヘテロダイン用信号」には、「ディアルスープ信号」が含まれる。
本発明の第1実施形態としての情報処理装置100について、図1を用いて説明する。
情報処理装置100は、送波したチャープ波の反射波に基づいて目標を抽出するための装置である。
次に、本発明の第2実施形態に係る情報処理装置について説明する。本実施形態に係る情報処理装置においては、送波部が送波するチャープ波と重ならない周波数帯のデュアルスイープ信号をヘテロダイン用信号として使用して、ビート周波数の生成および表示、目標の抽出、移動目標の速度、ドップラー影響の補正などを実行する。
(ヘテロダイン用信号)
図2Aは、本実施形態に係る情報処理装置による目標抽出方法の特徴を示す図である。
なお、図2Aは、相違点を明瞭とするために、送信波やヘテロダイン用信号の周波数変化を図示したものである。以下の各信号を示す図においても、信号は周波数変化として図示される。また、本実施形態では、中心周波数40kHz、サンプリング周波数160kHzの場合における場合を説明するが、これに限定されるものではない。
チャープ波を2つ繋いだ2倍周期で倍の周波数帯の周波数変化であり、特許文献3、非特許文献1および非特許文献2において使用するチャープ波と周波数帯が重なった信号である。
図2Bは、本実施形態に係る情報処理装置を含む目標抽出システムにおける送波信号240および受波信号250の周波数変化を示す図である。図2Bには、チャープ波の基となった送波信号240と受波したチャープ波に対応する受波信号250とが示されている。ここで、受波信号250において、実線が静物体の受波信号であり送波信号240との遅延時間が一定である。一方、受波信号250において、破線が動物体の受波信号であり送波信号240との遅延時間が変化している。図2Bでは、動物体までの距離が開いている場合を示している。
図2Cは、前提技術における受波信号250とデュアルスイープ信号220とのヘテロダイン処理結果270を示す図である。ここで、受波信号250は図2Bと同様の周波数帯である。
図2Dは、本実施形態に係る受波信号250とデュアルスイープ信号230との周波数変化を示す図である。ここで、受波信号250は図2Bおよび図2Cと同様の周波数帯である。
図2Eは、本発実施形態に係る情報処理装置におけるヘテロダイン処理結果のビート周波数変化を示す図である。
信号230aによるヘテロダイン処理結果が、目標のビート周波数280aである。また、信号230bによるヘテロダイン処理結果が、目標のビート周波数280bである。ビート周波数280aとビート周波数280bとが繋がり、目標のヘテロダイン処理結果290となる。
図3は、本実施形態に係る情報処理装置300を含む目標抽出システムの機能構成を示すブロック図である。
海中あるいは身体などの水中であるが、これに限定されない。なお、図3において、伝搬路360が遅延、ドップラー効果、ノイズ発生などでモデル化されているが、これは一例であって限定されるものではない。
図4Aは、本実施形態に係る送波発生部350の機能構成を示すブロック図である。図4Aの送波発生部350の機能構成は一例であって、本実施形態におけるチャープ波を出力するものであればこれに限定されない。
図5Aは、本実施形態に係るデュアルスイープ信号生成部320の機能構成を示すブロック図である。図5Aのデュアルスイープ信号生成部320の機能構成は一例であって、
本実施形態におけるチャープ波と周波数帯が重ならないデュアルスイープ信号を出力するものであればこれに限定されない。
使用チャープ波502には、送波したチャープ波情報取得部510が取得したチャープ波の情報を記憶する。
図6Aは、本実施形態に係るヘテロダイン処理部330の機能構成を示すブロック図である。図6Aのヘテロダイン処理部330の機能構成は一例であって、本実施形態における受波信号とデュアルスイープ信号とを乗算処理するものであればこれに限定されない。
受波信号取得部610は、受波部310から受波信号を取得する。デュアルスイープ信号取得部620は、デュアルスイープ信号生成部320からデュアルスイープ信号を取得する。乗算部630は、受波信号とデュアルスイープ信号とを乗算して差分周波数であるビート周波数を生成する。
図7は、本実施形態に係るスペクトログラム部340の機能構成を示すブロック図である。図7のスペクトログラム部340の機能構成は一例であって、本実施形態におけるヘテロダイン処理後のビート周波数のスペクトログラムを生成するものであればこれに限定されない。
図8は、本実施形態に係る情報処理装置300のハードウェア構成を示すブロック図である。
フィルタパラメータテーブル641は、図6Bに示した、不要信号除去フィルタのパラメータを格納する。演算用パラメータ/アルゴリズム851は、オプションである目標距離や目標速度などの演算に使用するパラメータ、アルゴリズムを記憶する。
受波信号とデュアルスイープ信号とによりヘテロダイン処理を行なうモジュールである。
スペクトログラムモジュール855は、ヘテロダイン処理結果のビート周波数のスペクトログラムを生成するモジュールである。目標距離演算モジュール856は、ビート周波数のスペクトログラムから目標までの距離を演算するモジュールである。目標速度演算モジュール857は、ビート周波数のスペクトログラムから目標の移動速度を演算するモジュールである。
入出力インタフェース860には、受波部310、表示部861、キーボード、タッチパネル、ポインティンデバイスなどの操作部862、GPS位置反転部863などが接続される。
図8の目標距離や目標速度の演算は、オプションである。
図9は、本実施形態に係る情報処理装置300の処理手順を示すフローチャートである。このフローチャートは、図8のCPU810がRAM840を使用しながら実行して、
図3の機能構成部を実現する。
ビート周波数のスペクトログラムに基づき目標距離や目標速度を演算する。
図10Aは、本実施形態に係るデュアルスイープ信号生成処理(S903)の手順を示すフローチャートである。
図10Bは、本実施形態に係るヘテロダイン処理(S907)およびスペクトログラム処理(S909)の手順を示すフローチャートである。
そして、情報処理装置300は、ステップS1025において、受波信号とデュアルスイープ信号とを乗算処理してビート周波数を生成する。なお、オプションとして、情報処理装置300は、ステップS1027において、不要周波数をフィルタで除去する。
そして、情報処理装置300は、ステップS1033において、生成したスペクトログラムを出力する。
次に、本発明の第3実施形態に係る情報処理装置につい説明する。本実施形態に係る情報処理装置は、上記第2実施形態と比べると、送波するチャープ波が複数である点で異なる。その他の構成および動作は、第2実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。
(送波信号および受波信号)
図11Aは、本実施形態に係る情報処理装置を含む目標抽出システムにおける送波信号1110および受波信号1120の周波数変化を示す図である。
"ハ"形に周波数変化をする複数のチャープ波からなる送波信号1110を例に説明するが、複数のチャープ波からなる送波信号であれば、UPチャープ波同士やDOWNチャープ波同士であっても、鋸状のチャープ波との組み合わせであってもよい。
図11Bは、本実施形態に係る受波信号1120およびUPヘテロダイン用信号1130の周波数変化を示す図である。なお、UPヘテロダイン用信号1130は、受波信号1120に周波数帯が重ならない、高周波数帯に設定されているが、低周波数帯に設定されてもよい。かかる周波数帯は、周波数の使用帯域ができるだけ広がらないように選択される。
図11Dは、本実施形態に係る受波信号1120およびDOWNヘテロダイン用信号1150の周波数変化を示す図である。なお、DOWNヘテロダイン用信号1150は、受波信号1120に周波数帯が重ならない低高周波数帯に設定されているが、高周波数帯に設定されてもよい。かかる周波数帯は、周波数の使用帯域ができるだけ広がらないように選択される。
図12は、本実施形態に係る情報処理装置1200を含む目標抽出システムの機能構成を示すブロック図である。なお、図12において、図3と同様の機能構成部には同じ参照番号を付して、説明を省略する。
ヘテロダイン処理部1230と、スペクトログラム部340とを備える。デュアルスイープ信号生成部1220は、送波発生部1250が送波する複数のチャープ波に周波数帯が重ならない、各送波信号の倍のデュアルスイープ信号をヘテロダイン用信号として生成する。なお、図12においては、デュアルスイープ信号生成部1220が送波発生部1250から送波したチャープ波の周波数帯や周期を取得する例を示している。しかし、送波発生部1250から送波する複数のチャープ波の周波数帯や周期が既知であれば、デュアルスイープ信号をチャープ波の周波数帯や周期を取得することなく生成できる。
図13Aは、本実施形態に係る送波発生部1250の機能構成を示すブロック図である。なお、図13Aにおいて、図4Aと同様の機能構成部には同じ参照番号を付して、説明は省略する。また、図13Aの送波発生部1250の機能構成は一例であって、本実施形態における複数のチャープ波を出力するものであればこれに限定されない。
使用波フラグ1321において、○が使用波であり、×は不使用波である。波の種類1322には、周波数が線形に上昇するUPチャープ波、周波数が線形に下降するDOWNチャープ波、UPチャープ波とDOWNチャープ波とを交互に繰り返す鋸状のチャープ波、
が含まれる。本例では、使用波フラグ1321の各々に対応して使用する複数のチャープ波を記憶している。
図14Aは、本実施形態に係るデュアルスイープ信号生成部1220の機能構成を示すブロック図である。なお、図14Aのデュアルスイープ信号生成部1220の機能構成は一例であって、本実施形態における複数のチャープ波と周波数帯が重ならないデュアルスイープ信号を出力するものであればこれに限定されない。また、図14Aのデュアルスイープ信号生成部1220においては、UPデュアルスイープ信号とDOWNデュアルスイープ信号との両方を生成する構成を示したが、図11Bや図11Dに示したように、いずれか一方であってもよい。また、2つの一方を選択する構成であってもよい。
デュアルスイープ信号の高周波側の発振器1480と、信号合成器1490と、を含む。
なお、送波したUPチャープ波情報取得部1410と、送波したDOWNチャープ波情報取得部1460とは、1つのチャープ波情報取得部であってもよい。また、送波するチャープ波が既知で固定であれば、チャープ波情報取得部は無くてよい。
デュアルスイープ信号テーブル1421は無くてもよい。
図15Aは、本実施形態に係るヘテロダイン処理部1230の機能構成を示すブロック図である。なお、図15Aのヘテロダイン処理部1230の機能構成は一例であって、本実施形態における受波信号とデュアルスイープ信号とを乗算処理するものであればこれに限定されない。また、図15Aのヘテロダイン処理部1230においては、UPデュアルスイープ信号によるヘテロダイン処理とDOWNデュアルスイープ信号によるヘテロダイン処理との両方を実行する構成を示したが、図11Bや図11Dに示したように、いずれか一方であってもよい。また、2つの一方を選択する構成であってもよい。
図16Aは、本実施形態に係る送波発生部1250の処理手順を示すフローチャートである。
次に、送波発生部1250は、ステップS1605において、本例では、チャープ波テーブル1312から第1チャープ波と周波数帯が異なり、UP/DOWNが逆の第2チャープ波のパラメータ(UPかDOWNか、周波数帯、周期)を取得する。そして、送波発生部1250は、ステップS1607において、第2チャープ波を生成する。
図16Bは、本実施形態に係るデュアルスイープ信号生成処理の手順を示すフローチャートである。このフローチャートは、図8のCPU810がRAM840を使用して実行し、図12のデュアルスイープ信号生成部1220を実現する。
図17は、本実施形態に係る送波発生の条件を説明する図である。図17には、本例の"ハ"形に周波数変化するチャープ波を使用する場合の、ビート周波数の周波数スペクトルの無駄を減らす条件を示す。しかしながら、この条件は他の複数のチャープ波を使用する場合にも敷衍することができる。
図18は、本実施形態に係る目標物体の速度推測およびドップラー影響の補正を説明する図である。
D=(Fru+Frd)/(Fsu+Fsd)=(Fru+Frd)/2Fcにより算出できるので、複数のチャープ波を送波することによって、1回の処理でドップラー効果の影響の補正ができることになる。
次に、本発明の第4実施形態に係る情報処理装置について説明する。本実施形態に係る情報処理装置は、上記第3実施形態と比べると、複数のチャープ波の受波信号を分離してヘテロダイン処理する点で異なる。すなわち、本実施形態においては、受信波を帯域分離フィルタで分け、それぞれのチャープごとに別のヘテロダイン処理を行う。ヘテロダイン処理で出てきたビート周波数などが重ならないようにさらに帯域フィルタなどを用いて合成する。それぞれのヘテロダイン結果に対してビート周波数変化の画像を得て、この2つのビート周波数変化の画像を合成する。その他の構成および動作は、第2実施形態および第3実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。
(受波信号の分離)
図19Aは、本実施形態に係る情報処理装置による目標抽出方法の特徴を示す図である。
分離されたUP受波信号とDOWN受波信号とをそれぞれ別個に周波数帯の重ならないデュアルスイープ信号でヘテロダイン処理をして、後で合成する。
図19Bは、本実施形態に係る分離されたUP受波信号1921およびUPヘテロダイン用信号1130とDOWN受波信号1922およびDOWNヘテロダイン用信号1150との周波数変化を示す図である。
受波信号とヘテロダイン用のデュアルスイープ信号とが重ならない。そのため、デュアルスイープ信号の周波数帯の選択に余裕ができ、使用する周波数域を狭くすることができる。
図19Cは、本実施形態に係る情報処理装置におけるヘテロダイン処理結果のビート周波数変化を示す図である。
図20は、本実施形態に係る情報処理装置2000を含む目標抽出システムの機能構成を示すブロック図である。なお、図20において、図3および図12と同様の機能構成部には同じ参照番号を付して、説明を省略する。また、図20では、"ハ"形のチャープ波に従う構成が示されているが、複数のチャープ波は"ハ"形に限定されない。
さらに、情報処理装置2000は、UP用乗算器2031と、DOWN用乗算器2032と、UPチャート用帯域通過フィルタ2081と、DOWNチャート用帯域通過フィルタ2082と、帯域通過フィルタ用のフィルタパラメータテーブル2012と、ヘテロダイン処理結果合成部2090と、を含む。
図21Aは、本実施形態に係る帯域分離フィルタ2070の機能構成を示すブロック図である。なお、帯域分離フィルタ2070の機能構成は、図21Aに限定されない。受波信号から、送波された複数のチャープ波に対応する受波信号を取り出せる構成であればよい。
図22は、本実施形態に係る帯域通過フィルタ用のフィルタパラメータテーブル2012の構成を示す図である。フィルタパラメータテーブル2012は、ヘテロダイン処理後の帯域通過フィルタの周波数帯を設定するために使用される。
図23は、本実施形態に係る情報処理装置2000の処理手順を示すフローチャートである。このフローチャートは、図8のCPU810がRAM840を使用して実行し、図20の機能構成部を実現する。なお、図23において、図9と同様のステップには同じステップ番号を付して、説明を省略する。
また、情報処理装置2000は、ステップS2304において、送波したDOWNチャープ波に対応するDOWNデュアルスイープ信号を生成する。なお、ステップS2303およびS2304の処理は、第2実施形態の図10Aの処理と同様であるので、詳細な説明を省略する。
チャープ波やヘテロダイン用信号を狭い周波数帯に設定できるので、効果的に目標抽出、
目標速度の推測、ドップラー影響の補正ができる。
次に、本発明の第5実施形態に係る情報処理装置について説明する。本実施形態に係る情報処理装置は、上記第2実施形態乃至第4実施形態と比べると、送波するチャープ波をデュアルスイープとする点で異なる。その他の構成および動作は、第2実施形態乃至第4実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。
(送波信号および受波信号)
図24Aは、本実施形態に係る情報処理装置を含む目標抽出システムにおける送波信号2410および受波信号2420の周波数を示す図である。
図24Bは、本実施形態に係る受波信号2420とデュアルスイープ信号2430との周波数変化を示す図である。なお、図24Bにおいては、デュアルスイープ信号2430を受波信号2420に重ならない低周波数側に設定したが、高周波数側に設定してもよい。デュアルスイープ信号2430の設定は、使用周波数域を狭くするため低周波数側が望ましい。
図24Cは、本実施形態に係る情報処理装置におけるヘテロダイン処理結果2450のビート周波数変化を示す図である。
図25Aは、本実施形態に係る送波発生部2550の機能構成を示すブロック図である。なお、図25Aにおいて、図4Aおよび図13Aと同様の機能構成部には同じ参照番号を付して、説明は省略する。また、図25Aの送波発生部2550の機能構成は一例であって、本実施形態におけるデュアルスイープのチャープ波を出力するものであればこれに限定されない。
図中、使用波フラグ2521において、○が使用波であり、×は不使用波である。波の種類2522には、デュアルスイープのUPチャープ波、デュアルスイープのDOWNチャープ波、デュアルスイープのUPチャープ波とDOWNチャープ波とを交互に繰り返す鋸状のチャープ波、が含まれる。本例では、使用波フラグ2521の各々に対応して使用する周波数帯が連続する複数のチャープ波を記憶している。
図26は、本実施形態に係るデュアルスイープ信号テーブル2621の構成を示す図である。デュアルスイープ信号テーブル2621は、デュアルスイープのチャープ波に対応するヘテロダイン処理用のデュアルスイープ信号を生成するために使用される。なお、デュアルスイープのチャープ波が既知で固定である場合は、デュアルスイープ信号テーブル2621が無くてもよい。
使用するデュアルスイープのチャープ波の低周波数側2602および高周波数側2603とに対応して、デュアルスイープのチャープ波に重ならない周波数帯2604と、周期2605とを記憶する。
図27は、本実施形態に係る送波発生部2550の処理手順を示すフローチャートである。なお、図27において、図16と同様のステップには同じステップ番号を付して、説明を省略する。
次に、本発明の第6実施形態に係る情報処理装置について説明する。本実施形態に係る情報処理装置は、上記第2実施形態乃至第5実施形態と比べると、情報処理装置が送波部を含む点で異なる。その他の構成および動作は、第2実施形態乃)至第5実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。
図28は、本実施形態に係る情報処理装置2800の機能構成を示すブロック図である。なお、図28において、図3と同じ機能構成部には同じ参照番号を付して、説明を省略する。
さらに、送波発生部2850とデュアルスイープ信号生成部320とを信号発生部2810として一体とすることで、構成を簡単にすることができる。また、出力部301や演算部302の全構成要素を情報処理装置2800に含むこともできる。
なお、以上に説明した音波または超音波による目標抽出方法は、ロボット同士がぶつからずにすれ違うための技術や、車両の衝突回避技術に利用することができる。しかし、本発明はこれに限定されるものではなく、オフィスなどでの侵入者の監視や、体育館での人の動きの検出や、水中での障害物の監視などにも用いることが可能である。港湾など水中の監視では、超音波はすぐに減衰してしまうため使用できない場合が多いが、アクティブソーナー(Active Sonar)と呼ばれる音波を利用した対象物体検出方法、距離測定方式、
速度測定方式の原理に本発明を適用できる。したがって水中に適したキャリア周波数(中心周波数)、波形長、変調波周波数などを適切に設定すれば、本発明の効果は同様に得られる。さらに、本発明における送信波形は、電波によるレーダーにも用いることができる。
Claims (17)
- 目標から反射した、チャープ波の反射波を受波して、受波信号を出力する受波手段と、
前記チャープ波の周波数帯域と重ならない周波数を備え、前記チャープ波のデュアルスイープ信号を生成するデュアルスイープ信号生成手段と、
前記受波信号に対して、前記デュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理手段と、
を備える情報処理装置。 - 前記デュアルスイープ信号は、前記チャープ波と周波数帯が重ならない、かつ、互いに周波数帯が連続する、前記チャープ波と周波数変化が等しい2つの信号により生成される請求項1に記載の情報処理装置。
- 前記チャープ波が、周波数が線形に上昇するUPチャープ波の場合、前記デュアルスイープ信号の周波数は、前記UPチャープ波の周波数帯に重ならない高い周波数帯に設定され、前記チャープ波が、周波数が線形の下降するDOWNチャープ波の場合、前記デュアルスイープ信号の周波数は、前記DOWNチャープ波の周波数帯に重ならない低い周波数帯に設定される請求項1または2に記載の情報処理装置。
- 前記チャープ波は、周波数が線形に上昇するUPチャープ波と周波数が線形に下降するDOWNチャープ波とを繰り返す鋸状のチャープ波、または、送波された複数のチャープ波を含む請求項1乃至3のいずれか1項に記載の情報処理装置。
- 前記チャープ波は、周波数帯が連続する複数のUPチャープ波からなるデュアルスイープのUPチャープ波、または、周波数帯が連続する複数のDOWNチャープ波からなるデュアルスイープのDOWNチャープ波である請求項4に記載の情報処理装置。
- 前記ビート周波数の周波数スペクトルを生成するスペクトログラム生成手段を、さらに備える請求項1乃至5のいずれか1項に記載の情報処理装置。
- 前記周波数スペクトルを表示するスペクトログラム表示手段を、さらに備える請求項6に記載の情報処理装置。
- 前記周波数スペクトルに基づいて、目標までの距離を演算する目標距離演算手段を、さらに備える請求項6または7に記載の情報処理装置。
- 前記周波数スペクトルに基づいて、目標の移動速度を演算する目標速度演算手段を、さらに備える請求項6乃至8のいずれか1項に記載の情報処理装置。
- チャープ波を送波する送波手段を、さらに備える請求項1乃至9のいずれか1項に記載の情報処理装置。
- 前記送波手段は、周波数が線形に上昇するUPチャープ波、周波数が線形の下降するDOWNチャープ波、または、前記UPチャープ波と前記DOWNチャープ波とを繰り返すチャープ波、を送波する請求項10に記載の情報処理装置。
- 前記送波手段は、異なる周波数帯の複数のチャープ波を送波する請求項10に記載の情報処理装置。
- 前記チャープ波は、周波数帯が連続する複数のUPチャープ波からなるデュアルスイープのUPチャープ波、または、周波数帯が連続する複数のDOWNチャープ波からなるデュアルスイープのDOWNチャープ波である請求項11または12に記載の情報処理装置。
- 目標から反射した、チャープ波の反射波を受波して、受波信号を出力する受波ステップと、
前記受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理ステップと、
を含む情報処理装置の制御方法。 - 目標から反射した、チャープ波の反射波を受波して、受波信号を出力する受波ステップと、
前記受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理ステップと、
をコンピュータに実行させる情報処理装置の制御プログラム。 - チャープ波を送波する送波装置と、
目標から反射した、前記チャープ波の反射波を受波して、目標を抽出する受波装置と、
を備え、
前記受波装置は、
前記反射波を受波して、受波信号を出力する受波手段と、
前記受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成するヘテロダイン処理手段と、
を有する目標抽出システム。 - チャープ波を送波する送波ステップと、
目標から反射した、前記チャープ波の反射波を受波した受波信号に対して、前記チャープ波と周波数が重ならない、前記チャープ波のデュアルスイープ信号をヘテロダイン用信号として乗算して、ビート周波数を生成し、前記ビート周波数の周波数スペクトルに基づいて、目標を抽出する目標抽出ステップと、
を含む目標抽出方法。
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