WO2016132742A1 - 信号処理装置、処理方法と記録媒体、ならびに、目標検出装置、検出方法 - Google Patents
信号処理装置、処理方法と記録媒体、ならびに、目標検出装置、検出方法 Download PDFInfo
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- WO2016132742A1 WO2016132742A1 PCT/JP2016/000878 JP2016000878W WO2016132742A1 WO 2016132742 A1 WO2016132742 A1 WO 2016132742A1 JP 2016000878 W JP2016000878 W JP 2016000878W WO 2016132742 A1 WO2016132742 A1 WO 2016132742A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—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
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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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
- G01S7/52004—Means for monitoring or calibrating
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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
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
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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
- G01S13/02—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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/34—Systems determining position data of a target 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
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Definitions
- the present invention relates to a technique for detecting a target using waves such as sound waves, radio waves, or light waves.
- a target detection device that detects a target using a wave such as a sound wave, a radio wave, or a light wave, such as a sonar system, a radar system, or a rider system is known.
- a wave such as a sound wave, a radio wave, or a light wave
- pulse transmission is used in which a wave is transmitted from a transmitter and the wave is transmitted again after a predetermined time has elapsed.
- the transmitter continuously transmits a wave.
- the transmitter modulates the wave and transmits it.
- the installation interval between the receiver and the transmitter is separated by a predetermined distance as described in Patent Document 1, or the transmitter or the It is necessary to change the beam shape or beam direction of the receiver.
- the influence of scattering cannot be sufficiently reduced. Further, there are cases where the influence of scattering cannot be sufficiently reduced even if the beam shape is changed. Further, when the direction of the beam is changed, the reflected wave from the target becomes small and the target cannot be detected.
- Patent Document 2 discloses that when the target is moving, the reflected wave from the target is reflected from the medium by utilizing the Doppler shift of the frequency of the reflected wave from the target. A method for separating from scattering is described. Patent Document 3 describes that the land cover status is known based on the difference between two scattered waves obtained by reflecting two radio waves having different polarization characteristics.
- Patent Document 4 describes a technique for irradiating microwaves on the ground and obtaining a correlation between a backscattering coefficient of a radar image and vegetation.
- Patent Document 5 describes a technique of changing the transmission power of a modulated pulse signal according to the distance to a target in order to avoid a reception signal failure due to the modulated pulse signal.
- Patent Document 6 describes a technique for searching for a target by separating a scattered wave from a mixed wave of a traveling wave traveling toward a target in a medium and a forward scattered wave scattered forward from the target.
- Patent Document 7 describes a technique for detecting a target by changing reception sensitivity in accordance with a reception delay time by a ground penetrating radar.
- Patent Documents 2 and 3 are a method that considers only pulse transmission. Further, the disclosures of Patent Documents 4 to 7 do not reduce the influence of scattering from the medium when a target is detected by continuously transmitting waves.
- An object of the present invention is to provide a technique for reducing the influence of scattering from a medium when a wave is continuously transmitted to detect a target.
- One form of the target detection apparatus of the present invention includes a transmitter that continuously transmits a wave propagating through a medium, a receiver that receives a reflected wave of the wave reflected in the medium, and the medium in a detection distance range. Estimating the lower limit distance of the detection distance range where the intensity level of the scattered wave from the receiver is below an allowable level, and the receiver receives the scattered wave signal from the medium in the masking region from the receiver to the lower limit distance.
- a signal processing device that removes the received reflected wave signal and outputs the signal; and a detector that detects a target in the medium based on the output from the signal processing device.
- a wave propagating through a medium is continuously transmitted, a reflected wave of the wave reflected in the medium is received, and the intensity of the scattered wave from the medium in a detection distance range Estimating a lower limit distance of the detection distance range where the level is below an allowable level, and removing a scattered wave signal from the medium in a masking region from a receiver to the lower limit distance from the received reflected wave signal. And the target in the medium is detected based on the output.
- One form of the recording medium storing the detection program of the present invention continuously transmits a wave propagating through the medium, receives a reflected wave of the wave reflected in the medium, and from the medium in a detection distance range.
- a lower limit distance of the detection distance range in which the intensity level of the scattered wave is equal to or lower than an allowable level is estimated, and a scattered wave signal from the medium in a masking region from a receiver to the lower limit distance is obtained from the received reflected wave.
- the computer executes to remove the signal from the signal and output, and to detect the target in the medium based on the output.
- One form of the signal processing device of the present invention is the reflected wave signal in which the wave propagating through the medium is continuously transmitted from the transmitter, and the reflected wave of the wave reflected in the medium is received by the receiver.
- a scattering reduction unit that removes and outputs the scattered wave signal from the medium in the masking region from the receiver to the lower limit distance from the reflected wave signal received by the receiver.
- One form of the signal processing method of the present invention is a signal of the reflected wave in which a wave propagating through the medium is continuously transmitted from a transmitter, and a reflected wave of the wave reflected in the medium is received by a receiver.
- a signal processing method for processing a signal wherein a lower limit distance of the detection distance range in which an intensity level of a scattered wave from a medium in the detection distance range is an allowable level or less is estimated, and a masking region from the receiver to the lower limit distance is estimated The scattered wave signal from the medium is removed from the reflected wave signal received by the receiver.
- the wave propagating through the medium is continuously transmitted from the transmitter, and the reflected wave of the wave reflected in the medium is received by the receiver.
- a signal processing method for processing a signal of the reflected wave wherein a lower limit distance of the detection distance range in which an intensity level of a scattered wave from a medium in the detection distance range is an allowable level or less is estimated, and the lower limit is received from the receiver.
- the computer is caused to remove the scattered wave signal from the medium in the masking region up to a distance from the reflected wave signal received by the receiver.
- the present invention can reduce the influence of scattering from the medium when a target is detected by continuously transmitting waves.
- 1st Embodiment is an example of the signal processing apparatus used for the target detection apparatus which detects the target which exists in water with a sound wave, and the said target detection apparatus.
- FIG. 1 is a block diagram showing the configuration of the signal processing device 3 and the target detection device 10 according to the first embodiment.
- the target detection device 10 includes a transmitter 1, a receiver 2, a signal processing device 3, and a detector 4.
- the transmitter 1 has a function of continuously transmitting sound waves toward an underwater target.
- Water can be rephrased as a medium.
- a sound wave can be rephrased as a wave.
- the receiver 2 has a function of receiving a reflected wave reflected by a sound wave propagating in water in the medium.
- the reflected wave reflected in the medium includes a scattered wave from the medium in addition to the reflected wave from the target in the medium.
- the signal processing device 3 reduces the influence of scattering from the medium in the masking region on the output from the receiver 2 that has received the reflected wave reflected in the medium (the reflected wave from the target and the scattered wave from the medium). It has a function to make it.
- the masking region refers to a distance range from the receiver 2 where the influence of the scattered wave is large to a short distance in the range in which the receiver 2 receives the scattered wave from the medium.
- An example of the distance range from the receiver 2 that defines the masking region will be described later together with the description of the configuration of the signal processing device 3.
- the detector 4 has a function of detecting an underwater target based on the output from the signal processing device 3.
- the above-described configurations of the transmitter 1, the receiver 2, and the detector 4 are well known as the basic configuration of an active sonar device that detects an underwater target with sound waves.
- the signal processing device 3 of the first embodiment includes an estimation unit 5 and a scattering reduction unit 6.
- the estimation unit 5 of the signal processing device 3 has a function of estimating the lower limit distance by setting the distance to the medium when the intensity level of the scattered wave from the medium in the detection distance range is equal to or lower than the allowable level as the lower limit distance of the detection distance range.
- Have The scattering reduction unit 6 has a function of removing the scattered wave signal from the medium in the masking region from the receiver 2 to the lower limit distance from the reflected wave signal received by the receiver 2.
- FIG. 3 is a diagram illustrating a range in which volume reverberation is considered for target detection by pulse transmission.
- FIG. 4 is a diagram illustrating a range in which volume reverberation is considered for target detection by continuous transmission. 3 and 4, the transmitter and the receiver are described as one transmitting / receiving device.
- the range in which volume reverberation is taken into account for target detection is the same distance range as the distance to the position where the target exists in the medium (for example, the distance is the radius. Range around the arc to be performed).
- the sound wave is continuously transmitted as in the target detection device 10 of the first embodiment (FIG.
- the range in which volume reverberation is considered for target detection is from other than the distance range near the target. It is also necessary to consider reverberation (scattering). Further, the influence of the scattered wave from the medium is greater at a short distance than at a long distance. For this reason, the detector 4 of the target detection device 10 cannot detect the target when the intensity level of the reflected wave from the target is buried in the intensity level of the scattered wave from the medium.
- FIG. 5 is a diagram illustrating a detection distance range in the target detection device according to the first embodiment.
- the transmitter and the receiver are shown as transmission / reception devices.
- a short distance from a receiver having a large influence of scattered waves is set as a lower limit distance r min, and a distance range from the receiver to the lower limit distance r min is set as a masking region, which is farther than the distance range.
- the region located at is the detection distance range.
- the estimation unit 5 of the signal processing device 3 shown in FIG. 1 has a lower limit when the intensity level of the scattered wave from the medium in the detection distance range shown in FIG. 5 is less than or equal to the allowable level at the detector 4 of the target detection device 10. Estimate the distance r min .
- the detection distance range is a range in which the distance from the receiver of the transmission / reception apparatus is the same as or longer than the lower limit distance r min shown in FIG.
- FIG. 6 is a diagram illustrating the directions of the transmission beam and the reception beam in the xyz coordinate system.
- the transmitter and the receiver are arranged at the origin (0, 0, 0) of the xyz coordinates, and the centers of the transmission beam and the reception beam are on the x axis.
- the transmission beam and the reception beam are Gaussian beams, and the beam diameters of the transmission beam and the reception beam are the same.
- FIG. 7 is a diagram illustrating the relationship between the orthogonal coordinate system and the polar coordinate system.
- Intensities B 1 (r, ⁇ , ⁇ ) and B 2 (r, ⁇ , ⁇ ) on the Gaussian distribution in the reception beam and the transmission beam are expressed as in the equations (1) and (2) in polar coordinates, respectively. .
- the sound intensity on the axis at a unit distance from the transmitter 1 is I 0 .
- the intensity I of sound incident on this minute volume is as shown in equation (3).
- the backscattering intensity is the ratio of the intensity of scattered sound waves in the incident direction per unit volume of the scattering layer to the incident sound wave intensity.
- the output power at the receiver 2 is as shown in Expression (5) (the response is 1).
- the scattering intensity level R of the entire region (0 ⁇ r ⁇ + ⁇ ) can be obtained by integrating the equation (5).
- the scattering intensity level R ′ in the detection distance range in which the distance r from the transmission / reception apparatus is equal to or longer than the lower limit distance r min (r min ⁇ r) is expressed by Expression (7).
- Equation (7) The integral of ⁇ in equation (7) is Taylor-expanded with respect to ⁇ of sin ⁇ . For example, when terms up to the third order with respect to ⁇ are viewed, they are obtained as in equation (10).
- the scattering intensity level R ′ in the detection distance range of Expression (7) can be expressed as Expression (11).
- the scattering intensity level R'the detection distance range to below the scattering intensity level R a acceptable by the detector target detection device, acceptable scattering intensity level R a, using the lower limit distance r min formula (12) Can be expressed as:
- r min that is the lower limit distance of the detection distance range can be obtained using ⁇ ⁇ , ⁇ ⁇ , I 0 , s v , and R a shown in Expression (13).
- the estimation unit 5 when determining the lower limit distance r min, it is possible to estimate the exact lower limit distance r min than taking into account the absorption loss of the medium.
- the scattering reduction unit 6 removes the scattering from the medium in the masking region where the distance r from the receiver 2 is 0 ⁇ r ⁇ r min among the scattering from the medium received by the receiver 2. Thereby, when the target is detected by the subsequent detector 4, the scattering intensity level R ′ from the medium in which the wave propagates in the detection distance range becomes equal to or less than the allowable scattering intensity level Ra.
- Scattering from the medium in the masking region (0 ⁇ r ⁇ r min ) is distinguished by changing the modulation state between the detection distance range of the lower limit distance r min and the masking region.
- LFM Linear Frequency Modulation
- FIG. 2 is a flowchart showing the operation of the target detection apparatus according to the first embodiment.
- the transmitter 1 of the target detection device 10 continuously transmits sound waves (waves) toward an underwater target (S101).
- the receiver 2 of the target detection apparatus 10 receives the reflected wave that is reflected by the sound wave propagating in the water in the medium (S102).
- the reflected wave reflected in the medium includes a scattered wave from the medium in addition to the reflected wave from the target in the medium.
- the signal processing device 3 of the target detection device 10 removes the output of the scattered wave from the medium in the masking region based on the output from the receiver 2 that has received the reflected wave reflected in the medium, Reduce the influence of scattering from the medium.
- the estimation unit 5 of the signal processing device 3 estimates the lower limit distance of the detection distance range where the intensity level of the scattered wave from the medium in the detection distance range is equal to or lower than the allowable level (S201). Further, the scattering reduction unit 6 of the signal processing device 3 removes the scattered wave signal from the medium in the masking region from the receiver 2 to the lower limit distance from the reflected wave signal received by the receiver 2 (S202). Output.
- the detector 4 of the target detection device 10 detects an underwater target based on the output from the signal processing device 3.
- the target detection apparatus in the first embodiment has been described with reference to an example in which a sound wave is used as a wave, but the present invention is not limited to this, and a wave such as a radio wave or a light wave can be used.
- FIG. 8 is a diagram illustrating a hardware configuration for realizing the signal processing apparatus according to the first embodiment by a computer apparatus.
- the signal processing device 3 is configured by hardware including a CPU (Central Processing Unit) 91, a communication I / F (communication interface) 92 for network connection, a memory 93, and a storage device 94 such as a hard disk for storing programs.
- the CPU 91 is connected to the input device 95 and the output device 96 via the system bus 97.
- the CPU 91 operates the operating system to execute predetermined processing in the estimation unit 5 and the scattering reduction unit 6 of the signal processing device 3 according to the first embodiment. Further, the CPU 91 reads out programs and data from the recording medium mounted on the drive device to the memory 93, for example. Further, the CPU 91 has a function of processing an information signal input from the receiver 2 or the like, for example, and executes processing of various functions based on a program.
- the storage device 94 is, for example, an optical disk, a flexible disk, a magnetic optical disk, an external hard disk, or a semiconductor memory.
- a part of the storage medium of the storage device 94 is a nonvolatile storage device, and stores a program therein.
- the program is connected to a communication network. It may be downloaded from an external computer (not shown).
- the input device 95 is realized by a mouse, a keyboard, a built-in key button, a touch panel, or the like, and is used for an input operation.
- the output device 96 is realized by a display, for example, and is used for outputting and confirming information processed by the CPU 91.
- the signal processing device 3 of the first embodiment is realized by the hardware configuration shown in FIG.
- the signal processing device 3 may be realized by one physically coupled device, or may be realized by connecting two or more physically separated devices in a wired or wireless manner and by a plurality of these devices. .
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
図1に示す信号処理装置3の推定部5は、図5に示す検出距離範囲の媒質からの散乱波の強度レベルが、目標検出装置10の検出器4での許容レベル以下になる場合の下限距離rminを推定する。検出距離範囲は、送受信装置の受信器からの距離が図5に示す下限距離rminと同じかそれより長い距離の範囲である。
一方、送信器1から単位距離における軸上の音の強さをI0とする。
極座標(r,θ,φ)における微小体積は、dr・rdθ・rsinθdφ=r2sinθdrdθdφと表すことができる。この微小体積に入射する音の強さIは式(3)のようになる。
第1の実施形態の信号処理装置によれば、波動を連続的に送信して目標を検出する際に、媒質からの散乱の影響を低減することができる。また、第1の実施形態の目標検出装置によれば、媒質からの散乱の影響が低減されることで、媒質中の目標を検出が容易になる。
図8は、第1の実施形態の信号処理装置をコンピュータ装置で実現するためのハードウエア構成を示す図である。信号処理装置3は、CPU(Central Processing Unit)91、ネットワーク接続用の通信I/F(通信インターフェース)92、メモリ93、及び、プログラムを格納するハードディスク等の記憶装置94を含むハードウエアにより構成される。CPU91は、システムバス97を介して入力装置95及び、出力装置96に接続されている。
2 受信器
3 信号処理装置
4 検出器
5 推定部
6 散乱低減部
10 目標検出装置
91 CPU
92 通信I/F(通信インターフェース)
93 メモリ
94 記憶装置
95 入力装置
96 出力装置
97 システムバス
Claims (9)
- 媒質を伝搬する波動を連続して送信する送信手段と、
前記媒質中で反射した前記波動の反射波を受信する受信手段と、
検出距離範囲における前記媒質からの散乱波の強度レベルが許容レベル以下となる前記検出距離範囲の下限距離を推定し、前記受信手段から前記下限距離までのマスキング領域における前記媒質からの散乱波の信号を、前記受信手段が受信した前記反射波の信号から除去して出力する信号処理装置と、
前記信号処理装置からの出力に基づいて、前記媒質中の目標を検出する検出手段と、
を備える目標検出装置。 - 前記送信手段は、周波数変調、位相変調、又は、振幅変調して前記波動を送信し、
前記信号処理装置は、前記受信手段で受信した反射波の変調情報に基づいて、前記マスキング領域における前記媒質からの散乱波の信号を、前記受信手段が受信した前記反射波の信号から除去する、
請求項1に記載の目標検出装置。 - 前記送信手段は、線形周波数変調により波動を送信する、
請求項1又は2記載の目標検出装置。 - 前記送信手段が送信する波動は、音波、電波、又は、光波のいずれかである請求項1又は2記載の目標検出装置。
- 媒質を伝搬する波動を連続して送信し、
前記媒質中で反射した前記波動の反射波を受信し、
検出距離範囲における前記媒質からの散乱波の強度レベルが許容レベル以下となる前記検出距離範囲の下限距離を推定し、
受信手段から前記下限距離までのマスキング領域における前記媒質からの散乱波の信号を、前記受信した前記反射波の信号から除去して出力し、
前記出力に基づいて、前記媒質中の目標を検出する目標検出方法。 - 媒質を伝搬する波動を連続して送信し、
前記媒質中で反射した前記波動の反射波を受信し、
検出距離範囲における前記媒質からの散乱波の強度レベルが許容レベル以下となる前記検出距離範囲の下限距離を推定し、
受信手段から前記下限距離までのマスキング領域における前記媒質からの散乱波の信号を、前記受信した前記反射波の信号から除去して出力し、
前記出力に基づいて、前記媒質中の目標を検出する
ことを、コンピュータに実行させる検出プログラムを格納する記録媒体。 - 媒質を伝搬する波動が送信手段から連続して送信され、前記媒質中で反射した前記波動の反射波が受信手段で受信された、前記反射波の信号を処理する信号処理装置であって、
前記信号処理装置は、
検出距離範囲における前記媒質からの散乱波の強度レベルが許容レベル以下となる前記検出距離範囲の下限距離を推定する推定手段と、
前記受信手段から前記下限距離までのマスキング領域における前記媒質からの前記散乱波の信号を、前記受信手段が受信した前記反射波の信号から除去し、出力する散乱低減手段と、
を備える信号処理装置。 - 媒質を伝搬する波動が送信手段から連続して送信され、前記媒質中で反射した前記波動の反射波が受信手段で受信された、前記反射波の信号を処理する信号処理方法であって、
検出距離範囲における媒質からの散乱波の強度レベルが許容レベル以下となる前記検出距離範囲の下限距離を推定し、
前記受信手段から前記下限距離までのマスキング領域における前記媒質からの散乱波の信号を、前記受信手段が受信した前記反射波の信号から除去する、
信号処理方法。 - 媒質を伝搬する波動が送信手段から連続して送信され、前記媒質中で反射した前記波動の反射波が受信手段で受信された、前記反射波の信号を処理する信号処理プログラムであって、
検出距離範囲における媒質からの散乱波の強度レベルが許容レベル以下となる前記検出距離範囲の下限距離を推定し、
前記受信手段から前記下限距離までのマスキング領域における前記媒質からの散乱波の信号を、前記受信手段が受信した前記反射波の信号から除去する、
ことをコンピュータに実行させる信号処理プログラムを格納した記録媒体。
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