WO2016163027A1 - レーダ装置 - Google Patents
レーダ装置 Download PDFInfo
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- WO2016163027A1 WO2016163027A1 PCT/JP2015/061257 JP2015061257W WO2016163027A1 WO 2016163027 A1 WO2016163027 A1 WO 2016163027A1 JP 2015061257 W JP2015061257 W JP 2015061257W WO 2016163027 A1 WO2016163027 A1 WO 2016163027A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
-
- 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
- G01S7/42—Diversity systems specially adapted for radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/12—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the pulse-recurrence frequency is varied to provide a desired time relationship between the transmission of a pulse and the receipt of the echo of a preceding pulse
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
-
- 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
-
- 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
Definitions
- the present invention relates to a radar apparatus that searches for a target to be observed.
- a radar apparatus using a DBF (Digital Beam Forming) that performs signal processing by forming a plurality of antenna patterns by digital signal processing is known (see, for example, Non-Patent Document 1).
- an A / D converter is installed for each antenna element.
- the reception signal received by each antenna element can be input to the digital signal processor, and a plurality of antenna patterns can be formed by the digital signal processor. Therefore, it is possible to perform signal processing when a plurality of directions are directed, and it is possible to detect a target of the directions.
- an A / D converter is installed for each antenna element. Therefore, there is a problem that the H / W scale increases. Further, when searching for a plurality of directions, there is a problem that the amount of calculation when forming an antenna pattern of a plurality of directions by digital signal processing becomes enormous.
- the present invention has been made in order to solve the above-described problems, and provides a radar apparatus that can reduce the H / W scale and can search for a plurality of directions with a low calculation amount compared to the conventional configuration. It is intended to provide.
- a radar apparatus includes a pulse signal generator that generates a pulse signal, a transmitter that generates a transmission signal from the pulse signal generated by the pulse signal generator, and the transmission signal generated by the transmitter in the air.
- a target candidate detection unit for detecting a target candidate from the converted signal power of the received video signal, and a target candidate direction calculation unit for calculating the target candidate direction from the detection result of the target candidate detection unit It is.
- the H / W scale can be reduced compared to the conventional configuration, and a plurality of directions can be searched with a low amount of computation.
- FIG. 1 It is a figure which shows an example of the space
- FIG. 1 is a diagram showing a configuration example of a radar apparatus according to Embodiment 1 of the present invention.
- the radar apparatus includes a transmitter 1, a receiver 2, a signal processor 3, and a display 4.
- the transmission unit 1 includes a transmitter 101 and an antenna element (transmission antenna element) 102.
- the transmitter 101 generates a transmission signal using a pulse signal from a pulse modulator 203 (described later) of the reception unit 2.
- a transmission signal generated by the transmitter 101 is output to the antenna element 102.
- the antenna element 102 radiates a transmission signal (radio wave) from the transmitter 101 into the air.
- the receiving unit 2 includes a local oscillator 201, a parameter calculator 202, a pulse modulator (pulse signal generator) 203, a plurality of antenna elements (receiving antenna elements) 204 (204-1 to 204-M), and a plurality of phase shifters.
- (Frequency conversion unit) 205 (205-1 to 205-M), an adder 206, a mixer 207, and a single A / D converter 208 are provided.
- the local oscillator 201 generates a local oscillation signal.
- the local oscillation signal generated by the local oscillator 201 is output to the pulse modulator 203 and the mixer 207.
- the parameter calculator 202 calculates a pulse repetition period (PRI) and a pulse width, which are parameters of the pulse signal generated by the pulse modulator 203.
- the parameter calculator 202 calculates an angular frequency used by the phase shifter 205 from the calculated pulse width.
- Information indicating the pulse repetition period and pulse width calculated by the parameter calculator 202 is output to the pulse modulator 203, and information indicating the calculated angular frequency is output to each phase shifter 205.
- Information indicating the pulse repetition period is also output to a frequency domain converter 301 (to be described later) of the signal processor 3.
- the pulse modulator 203 performs pulse modulation on the local oscillation signal from the local oscillator 201 according to the information indicating the pulse repetition period and the pulse width from the parameter calculator 202 to generate a pulse signal.
- the pulse signal generated by the pulse modulator 203 is output to the transmitter 101 of the transmitter 1.
- the antenna element 204 receives a signal radiated from the transmitter 101 of the transmission unit 1 and reflected by a target to be observed as a reception signal.
- the received signal received by the antenna element 204 is output to the corresponding phase shifter 205.
- the antenna element 102 that radiates a transmission signal and the antenna element 204 that receives a reception signal are separated, but may be integrated. That is, a common antenna element may be used to radiate a transmission signal when performing transmission and receive a reception signal when performing reception.
- the phase shifter 205 is provided for each antenna element 204, and converts the received signal from the corresponding antenna element 204 into different frequencies between the antenna elements 204 by shifting the phase. At this time, the phase shifter 205 calculates a phase shift amount (frequency change amount) from the information indicating the angular frequency from the parameter calculator 202, and performs phase shift of the received signal according to the phase shift amount. The received signal frequency-converted by the phase shifter 205 is output to the adder 206.
- a phase shift amount frequency change amount
- the adder 206 adds received signals from the respective phase shifters 205 to generate a received video signal. In addition, when reducing the side lobe of the antenna pattern, the adder 206 performs addition after adding a load corresponding to the corresponding antenna element 204 to the received signal from each phase shifter 205. .
- the received video signal generated by the adder 206 is output to the mixer 207.
- the mixer 207 uses the local oscillation signal from the local oscillator 201 to down-convert the received video signal from the adder 206.
- the received video signal down-converted by the mixer 207 is output to the A / D converter 208.
- the A / D converter 208 performs phase detection on the received video signal from the mixer 207 to perform A / D conversion.
- the received video signal subjected to A / D conversion by the A / D converter 208 is output to a frequency domain conversion unit 301 (to be described later) of the signal processor 3.
- the signal processor 3 includes a frequency domain conversion unit 301, a target candidate detection unit 302, a target candidate azimuth calculation unit 303, a target candidate relative speed calculation unit 304, and a target candidate relative distance calculation unit 305.
- the frequency domain converting unit 301 converts the received video signal from the A / D converter 208 of the receiving unit 2 into the frequency domain based on information indicating the pulse repetition period from the parameter calculator 202 of the receiving unit 2. is there.
- the received video signal converted into the frequency domain by the frequency domain converting unit 301 is output to the target candidate detecting unit 302.
- the received video signal is also output to the display 4 via the target candidate detection unit 302, the target candidate orientation calculation unit 303, the target candidate relative speed calculation unit 304, and the target candidate relative distance calculation unit 305.
- the target candidate detection unit 302 detects a target candidate based on the signal power of the received video signal from the frequency domain conversion unit 301.
- Information indicating the target candidates detected by the target candidate detection unit 302 is output to the target candidate orientation calculation unit 303, the target candidate relative speed calculation unit 304, and the target candidate relative distance calculation unit 305.
- the target candidate azimuth calculating unit 303 calculates the target candidate azimuth based on the information indicating the target candidates from the target candidate detecting unit 302. Information indicating the azimuth of the target candidate calculated by the target candidate azimuth calculation unit 303 is output to the display 4 via the target candidate relative speed calculation unit 304 and the target candidate relative distance calculation unit 305.
- the target candidate relative speed calculation unit 304 calculates the relative speed of the target candidate based on the information indicating the target candidate from the target candidate detection unit 302. Information indicating the relative speed of the target candidate calculated by the target candidate relative speed calculation unit 304 is output to the display 4 via the target candidate relative distance calculation unit 305.
- the target candidate relative distance calculation unit 305 calculates the relative distance of the target candidates based on the information indicating the target candidates from the target candidate detection unit 302. Information indicating the relative distance of the target candidate calculated by the target candidate relative distance calculation unit 305 is output to the display 4.
- the display 4 outputs information from the signal processor 3 on the screen as a processing result.
- the hardware configuration of the radar apparatus includes a transmitting apparatus 51, a receiving apparatus 52, a processor 53, a memory 54, and a display 55 as shown in FIG.
- the transmission unit 1 shown in FIG. Also, the receiving unit 2 shown in FIG. Further, the display 4 shown in FIG.
- the signal processor 3 shown in FIG. 1 is realized by a processor 53 that executes a program stored in the memory 54.
- a plurality of processors 53 and a plurality of memories 54 may cooperate to execute the above function.
- the local oscillator 201 generates a local oscillation signal L 0 (t) from the following equation (1) (step ST301).
- t is the time
- Tobs is the observation time of the radar device
- f 0 is the frequency of the local oscillation signal L 0 (t)
- a L is the amplitude of the local oscillation signal L 0 (t). is there.
- the local oscillation signal L 0 (t) generated by the local oscillator 201 is output to the pulse modulator 203 and the mixer 207.
- the parameter calculator 202 calculates a pulse repetition period T PRI and a pulse width T pls that are parameters of the pulse signal (step ST302).
- the pulse repetition period T PRI is set to an integral multiple of the pulse width T pls from the following equation (2).
- N INT is a positive integer.
- Information indicating the pulse repetition period T PRI and the pulse width T pls calculated by the parameter calculator 202 is output to the pulse modulator 203.
- Information indicating the pulse repetition period T PRI is also output to the frequency domain conversion unit 301 of the signal processor 3.
- the parameter calculator 202 calculates the angular frequency ⁇ from the calculated pulse width T pls (step ST303). At this time, the angular frequency ⁇ at which the time T in which the phase is one cycle becomes the pulse width T pls is calculated from the following equation (3).
- ⁇ f is a frequency interval between received signals after frequency conversion by the phase shifter 205.
- Information indicating the angular frequency ⁇ calculated by the parameter calculator 202 is output to each phase shifter 205.
- each phase shifter 205 sets each received signal to a different frequency. Even if converted to, as shown in FIG. 5A, it becomes coherent at the pulse repetition period interval (interval between a 1 and a 2 in FIG. 5) and faces the same direction. Therefore, when the received signal is subjected to discrete Fourier transform at the pulse repetition period T PRI in the frequency domain transform unit 301, it is integrated coherently with the Doppler frequency (relative speed) of the target candidate.
- FIG. 5 is a diagram showing the relationship between the pulse signal and the received signal after frequency conversion. In FIG. 5, the alternate long and short dash line indicates a received signal converted to a frequency of 1 ⁇ , and the broken line indicates a received signal converted to a frequency of 2 ⁇ .
- the pulse modulator 203 calculates the local oscillation signal from the local oscillator 201 from the following equations (4) and (5). Pulse modulation is performed on L 0 (t) to generate a pulse signal L pls (t) (step ST304).
- h is a hit number and H is the number of hits.
- the pulse signal L pls (t) generated by the pulse modulator 203 is output to the transmitter 101 of the transmitter 1.
- transmitter 101 generates a transmission signal using pulse signal L pls (t) from pulse modulator 203 of reception unit 2 (step ST305).
- a transmission signal generated by the transmitter 101 is output to the antenna element 102.
- antenna element 102 radiates the transmission signal from transmitter 101 into the air (step ST306).
- each antenna element 204 receives the signal radiated from the transmitter 101 of the transmission unit 1 and reflected by the target as a reception signal (step ST601). .
- an equally spaced linear array is assumed as the plurality of antenna elements 204.
- the target is assumed that the azimuth is ⁇ , the relative distance is R 0 , and the relative speed is v.
- the received signal Rx m (t) received by the antenna element 204 is expressed by the following expression (6).
- Rx 0 (t) is the received signal of the antenna element 204 at the reference point
- M is the number of the antenna elements 204
- m is the number of the antenna elements 204
- d is the interval between the antenna elements 204.
- c is the speed of light.
- the received signal Rx 0 (t) of the antenna element 204 at the reference point is expressed by the following expression (7).
- a Rx is the amplitude of the received signal Rx 0 (t).
- FIG. 7 shows the phase relationship of the received signal received by each antenna element 204.
- the reception signal Rx m (t) received by each antenna element 204 is output to the corresponding phase shifter 205.
- each phase shifter 205 performs a phase shift on the received signal Rx m (t) from the corresponding antenna element 204 to convert the antenna elements 204 to different frequencies (step ST602).
- each phase shifter 205 calculates the phase shift amount C ⁇ , m (t) from the information indicating the angular frequency ⁇ from the parameter calculator 202 by the following equation (8), and receives the received signal Rx m (t ).
- a C is phase shift amount C phi
- the amplitude of m (t) is ⁇ is the angular frequency between the received signal shown in Equation (3) (Fig. 8).
- the frequency-converted received signal Rx ⁇ , m (t) is expressed by the following equation (9).
- * is a complex conjugate.
- the received signal Rx ⁇ , m (t) frequency-converted by the phase shifter 205 is output to the adder 206.
- adder 206 adds reception signals Rx ⁇ , m (t) from each phase shifter 205 to generate a reception video signal (step ST603).
- the received video signal Rx ⁇ , sum (t) added by the adder 206 is expressed by the following equation (10).
- the adder 206 applies the load w m corresponding to the corresponding antenna element 204 to the received signal Rx ⁇ , m (t) from each phase shifter 205. Addition is performed after adding. Note that the load w m sets a Hamming window or the like according to the side lobe level or the signal-to-noise ratio.
- the received video signal Rx ⁇ , sum (t) in this case is expressed by the following equation (11).
- the received video signal Rx phi by performing the addition in terms of added load w m to m (t), as shown in FIG. 9 (b) There is an effect of reducing the side lobe of the antenna pattern.
- the received video signal Rx ⁇ , sum (t) generated by the adder 206 is output to the mixer 207.
- mixer 207 down-converts received video signal Rx ⁇ , sum (t) from adder 206 using local oscillation signal L 0 (t) from local oscillator 201 (step ST604).
- the received video signal V (t) down-converted by the mixer 207 is expressed by the following equation (12).
- AV is the amplitude of the received video signal V (t).
- the received video signal V (t) down-converted by the mixer 207 is output to the A / D converter 208.
- a / D converter 208 performs phase detection on received video signal V (t) from mixer 207 to perform A / D conversion (step ST605).
- the received video signal V (h, n) A / D converted by the A / D converter 208 is expressed by the following equation (13).
- N is the number of samplings within the pulse repetition period
- n is the sampling number within the pulse repetition period
- ⁇ T is the sampling interval within the pulse repetition period.
- the received video signal V (h, n) A / D converted by the A / D converter 208 is output to the frequency domain converter 301 of the signal processor 3.
- the frequency domain conversion unit 301 first determines the A / V of the reception unit 2 based on the information indicating the pulse repetition period T PRI from the parameter calculator 202.
- Received video signal V (h, n) from D converter 208 is converted into the frequency domain (step ST1001).
- the received video signal f d, V (k, n) converted into the frequency domain by the frequency domain converter 301 is expressed by the following equation (14).
- H FFT is the number of transform points in the frequency domain
- k is a sampling number in the frequency domain.
- the received video signal f d, V (k, n) converted into the frequency domain by the frequency domain transform unit 301 is output to the target candidate detection unit 302, and the target candidate detection unit 302, the target candidate azimuth calculation unit 303, The data is also output to the display 4 via the target candidate relative speed calculation unit 304 and the target candidate relative distance calculation unit 305.
- the frequency domain transform unit 301 performs discrete Fourier transform with the pulse repetition period T PRI to transform into the frequency domain. Therefore, there is an effect of coherent integration of the received signal, and an effect of improving a signal-to-noise ratio (SNR: Signal To Noise Ratio).
- SNR Signal To Noise Ratio
- the discrete Fourier transform is used as the frequency domain transform, but a fast Fourier transform may be used.
- Expression (14) when Expression (14) is expanded, it is expressed as Expression (15).
- the Doppler frequency (relative speed) can be accurately obtained even if the received signal from each antenna element 204 is converted to a different frequency. That is, as shown in FIG. 14, it is integrated into the relative speed of the target candidate and shows the maximum value.
- target candidate detecting section 302 detects a target candidate based on the signal power of received video signal f d, V (k, n) from frequency domain transform section 301 (step ST1002).
- the target candidate detection unit 302 detects a target candidate by, for example, CFAR (Constant False Alarm Rate) processing.
- Information indicating the target candidate detected by the target candidate detection unit 302 is the target.
- the information is output to the candidate orientation calculation unit 303, the target candidate relative speed calculation unit 304, and the target candidate relative distance calculation unit 305.
- the phase shifter 205 of the receiving unit 2 the received signal is frequency-converted to a different frequency for each angular frequency ⁇ .
- the phase between the received signals is controlled to change by an integral multiple of ⁇ T as shown in the equations (8) and (9). That is, by converting the received signal to a different frequency for each angular frequency ⁇ , the directivity of the antenna pattern can be changed in a time division manner as shown in FIGS. As a result, it is not necessary to form an antenna pattern for each azimuth as in the prior art, and multibeam data with a reduced amount of computation can be obtained.
- A is the in-phase wavefront at time t
- a ′ is the in-phase wavefront at time t + ⁇ t
- D 1 is the distance corresponding to phase ⁇ t
- D M ⁇ 1 is the phase (M ⁇ 1) is a distance corresponding to ⁇ t
- D ′ M ⁇ 1 is a distance corresponding to the phase (M ⁇ 1) ⁇ (t + ⁇ t).
- reference numeral 1201 denotes an antenna pattern.
- the term in the time direction within the pulse repetition period is as shown in Expression (19).
- Expression (20) the beam (antenna pattern) can be directed to the azimuth ⁇ .
- the target candidate azimuth calculation unit 303 calculates the target from the following equation (22) based on the information indicating the target candidate from the target candidate detection unit 302 (sampling number n ′ in the pulse repetition period of the target candidate). Is calculated (step ST1003).
- Information indicating the target candidate azimuth ⁇ ′ calculated by the target candidate azimuth calculation unit 303 is output to the display 4 via the target candidate relative speed calculation unit 304 and the target candidate relative distance calculation unit 305.
- the target candidate relative speed calculation unit 304 also uses the following equations (23) and (24) based on the information indicating the target candidate from the target candidate detection unit 302 (sampling number k ′ in the frequency domain of the target candidate). ) To calculate the relative velocity v ′ of the target candidate (step ST1004).
- ⁇ v samp is a speed sampling interval.
- Information indicating the relative speed v ′ of the target candidate calculated by the target candidate relative speed calculation unit 304 is output to the display 4 via the target candidate relative distance calculation unit 305.
- the target candidate relative distance calculation unit 305 is based on the information indicating the target candidate from the target candidate detection unit 302 (sampling number n ′ in the pulse repetition period of the target candidate) from the following equation (25):
- the relative distance R 0 ′ of the target candidate is calculated (step ST1005).
- floor (Z) is the nearest integer less than or equal to variable Z.
- Information indicating the relative distance R 0 ′ of the target candidate calculated by the target candidate relative distance calculation unit 305 is output to the display 4.
- the parameter calculator 202 sets the time T during which the phase of the angular frequency ⁇ is one cycle as the pulse width T pls . Therefore, as shown in FIG. 13A, distance measurement and azimuth measurement are possible without distance ambiguity. Further, the target candidate number can be calculated without error. On the other hand, when the time T in which the phase of the angular frequency ⁇ is one cycle is not the pulse width T pls , the distance ambiguity is generated and the distance measurement performance is deteriorated. In the example of FIG. 13B, since the angular frequency ⁇ increases, the sampling frequency also increases and the amount of calculation increases.
- the display 4 displays information from the signal processor 3 (received video signal f d, V (k, n), target candidate azimuth ⁇ ′, target candidate relative speed v ′, and target candidate relative.
- the distance R 0 ′) is output on the screen as a processing result.
- the adder 206 is provided, and the A / D converter 208 is simply configured. Compared to the conventional configuration, the H / W scale can be reduced, and a plurality of directions can be searched with a low calculation amount.
- the pulse modulator 203 generates a pulse signal whose pulse repetition period is an integral multiple of the pulse width, and the phase shifter 205 uses the angular frequency whose time is the pulse width to shift the phase for one period.
- the frequency domain conversion unit 301 performs conversion to the frequency domain at the pulse repetition period, thereby enabling calculation of the relative speed of the target candidate.
- the received signals received by the antenna element 204 are converted into different frequencies by using a plurality of phase shifters 205.
- the frequency converter is not limited to this as long as it can convert the received signals received by the antenna elements 204 into different frequencies.
- a plurality of local oscillators that are provided for each antenna element 204 and generate local oscillation signals having different frequencies, and a local oscillation signal that is provided for each antenna element 204 and is generated by a corresponding local oscillator
- a plurality of mixers that perform frequency conversion by down-converting the received signal received by the corresponding antenna element 204.
- the target candidate relative speed calculation unit 304 and the target candidate relative distance calculation unit 305 are provided in the radar apparatus shown in FIG. 1, the case where the target candidate relative speed calculation unit 304 and the target candidate relative distance calculation unit 305 are provided is shown.
- the target candidate relative speed calculation unit 304 and the target candidate relative distance calculation unit 305 are not indispensable configurations, and are not provided when it is not necessary to calculate the target candidate relative speed and the target candidate relative distance. Also good.
- FIG. FIG. 15 is a diagram showing a configuration example of a radar apparatus according to Embodiment 2 of the present invention.
- the receiving unit 2 of the radar device according to the first embodiment shown in FIG. 1 is changed to the receiving unit 2b
- the signal processor 3 is changed to the signal processor 3b.
- the receiving unit 2b is obtained by changing the parameter calculator 202 of the receiving unit 2 in the first embodiment shown in FIG. 1 to a parameter calculator 202b.
- the signal processor 3b is obtained by changing the frequency domain conversion unit 301 of the signal processor 3 in the first embodiment shown in FIG. 1 to a frequency domain conversion unit 301b.
- Other configurations are the same, and the same reference numerals are given and description thereof is omitted.
- the parameter calculator 202b calculates the pulse signal parameters (pulse repetition period and pulse width) and the angular frequency in the same manner as the parameter calculator 202 in the first embodiment. At this time, the pulse repetition period does not need to be an integral multiple of the pulse width.
- the parameter calculator 202b also calculates an interval that is the least common multiple of the pulse repetition period and the pulse width. Information indicating the pulse repetition period and pulse width calculated by the parameter calculator 202b is output to the pulse modulator 203, information indicating the calculated angular frequency is output to each phase shifter 205, and the calculated interval is calculated. The information shown is output to the frequency domain converter 301b of the signal processor 3b.
- the frequency domain transform unit 301b Based on the information indicating the interval from the parameter calculator 202b, the frequency domain transform unit 301b performs Fourier transform (discrete Fourier transform or fast Fourier transform) on the received video signal from the A / D converter 208 of the receiver 2 at the above interval. ) To convert to the frequency domain.
- the received video signal converted into the frequency domain by the frequency domain conversion unit 301 b is output to the target candidate detection unit 302.
- the received video signal is also output to the display 4 via the target candidate detection unit 302, the target candidate orientation calculation unit 303, the target candidate relative speed calculation unit 304, and the target candidate relative distance calculation unit 305.
- the parameter calculator 202b calculates the pulse repetition period T PRI and the pulse width T pls that satisfy the equation (2) and the angular frequency ⁇ that satisfies the equation (3). Further, from the equation (26), Then, an interval T LCM that is the least common multiple of the pulse repetition period T PRI and the pulse width T pls is calculated.
- LCM (A, B) is the least common multiple of variables A and B.
- the frequency domain transform unit 301b converts the received video signal V (h, n) from the A / D converter 208 of the receiving unit 2 into the frequency domain from the equation (14), and receives the received video signal fd, V (k, n) is obtained.
- the Fourier transform at intervals T LCM as the least common multiple of the pulse repetition period T PRI and the pulse width T pls performed.
- the pulse repetition period T PRI is a non-integer multiple of the pulse width T pls .
- the pulse repetition period interval (interval between a1 and a2 in FIG. 16) is not coherent, even if Fourier transform is performed with the pulse repetition period T PRI , integration is performed only on the relative speed of the target candidate. Thus, the relative speed cannot be calculated correctly.
- the interval T LCM (interval between a1 and a3 in FIG. 16) that is the least common multiple of the pulse repetition period T PRI and the pulse width T pls is coherent. Therefore, in the second embodiment, by performing Fourier transform at this interval TLCM , it is integrated only with the relative speed of the target candidate, and the relative speed can be calculated correctly.
- the pulse repetition period is different from that of the first embodiment. Even if is a non-integer multiple of the pulse width, the relative speed of the target candidate can be calculated.
- the radar apparatus can reduce the H / W scale with respect to the conventional configuration, and can improve the target detection performance by searching each direction with a low calculation amount, and the like to search for a target. Suitable for use in.
- 1 transmitter, 2, 2b receiver, 3, 3b signal processor, 4 display, 51 transmitter, 52 receiver, 53 processor, 54 memory, 55 display, 101 transmitter, 102 antenna element (transmit antenna element) , 201 local oscillator, 202, 202b parameter calculator, 203 pulse modulator (pulse signal generator), 204 antenna element (receiving antenna element), 205 phase shifter (frequency converter), 206 adder, 207 mixer, 208 A / D converter, 301, 301b, frequency domain converter, 302 target candidate detector, 303 target candidate azimuth calculator, 304 target candidate relative speed calculator, 305 target candidate relative distance calculator.
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Abstract
Description
実施の形態1.
図1はこの発明の実施の形態1に係るレーダ装置の構成例を示す図である。
レーダ装置は、図1に示すように、送信部1、受信部2、信号処理器3及び表示器4を備えている。
なおここでは、送信信号を放射するアンテナ素子102と受信信号を受信するアンテナ素子204とを別体としているが、一体としてもよい。すなわち、共通のアンテナ素子を用いて、送信を行う際に送信信号を放射し、受信を行う際には受信信号を受信するようにしてもよい。
レーダ装置のハードウェア構成は、例えば図2に示すように、送信装置51、受信装置52、プロセッサ53、メモリ54及びディスプレイ55から構成されている。
まず、送信信号の送信動作について、図3を参照しながら説明する。
送信信号の送信動作では、図3に示すように、まず、局部発振器201は、下式(1)より、局部発振信号L0(t)を生成する(ステップST301)。
ここで、tは時刻であり、Tobsはレーダ装置の観測時間であり、f0は局部発振信号L0(t)の周波数であり、ALは局部発振信号L0(t)の振幅である。この局部発振器201により生成された局部発振信号L0(t)はパルス変調器203及びミキサ207に出力される。
ここで、NINTは正の整数である。このパラメータ算出器202により算出されたパルス繰り返し周期TPRI及びパルス幅Tplsを示す情報はパルス変調器203に出力される。また、パルス繰り返し周期TPRIを示す情報は信号処理器3の周波数領域変換部301にも出力される。
ここで、Δfは移相器205による周波数変換後の受信信号間の周波数間隔である。このパラメータ算出器202により算出された角周波数ωを示す情報は各移相器205に出力される。
ここで、hはヒット番号であり、Hはヒット数である。このパルス変調器203により生成されたパルス信号Lpls(t)は送信部1の送信機101に出力される。
次いで、アンテナ素子102は、送信機101からの送信信号を空中に放射する(ステップST306)。
受信信号の受信動作では、図6に示すように、まず、各アンテナ素子204は、送信部1の送信機101により放射されて目標で反射された信号を、受信信号として受信する(ステップST601)。ここで、複数のアンテナ素子204として、等間隔リニアアレーを想定する。また、目標は、方位がθであり、相対距離がR0であり、相対速度がvであるとする。また、アンテナ素子204により受信された受信信号Rxm(t)は下式(6)で表される。
ここで、Rx0(t)は基準点にあるアンテナ素子204の受信信号であり、Mはアンテナ素子204の数であり、mはアンテナ素子204の番号であり、dは各アンテナ素子204の間隔であり、cは光速である。
ここで、ARxは受信信号Rx0(t)の振幅である。各アンテナ素子204により受信された受信信号の位相の関係を図7に示す。
この各アンテナ素子204により受信された受信信号Rxm(t)は対応する移相器205に出力される。
ここで、ACは移相量Cφ,m(t)の振幅であり、ωは式(3)に示す受信信号間の角周波数(図8)である。
図9(a)に示す荷重wmを付加しない場合に対し、受信信号Rxφ,m(t)に荷重wmを付加した上で加算を行うことで、図9(b)に示すように、アンテナパターンのサイドローブを低減する効果がある。
この加算器206により生成された受信ビデオ信号Rxφ,sum(t)はミキサ207に出力される。
ここで、AVは受信ビデオ信号V(t)の振幅である。このミキサ207によりダウンコンバートされた受信ビデオ信号V(t)はA/D変換器208に出力される。
ここで、Nはパルス繰り返し周期内のサンプリング数であり、nはパルス繰り返し周期内のサンプリング番号であり、ΔTはパルス繰り返し周期内のサンプリング間隔である。このA/D変換器208によりA/D変換された受信ビデオ信号V(h,n)は信号処理器3の周波数領域変換部301に出力される。
信号処理器3による信号処理動作では、図10に示すように、まず、周波数領域変換部301は、パラメータ算出器202からのパルス繰り返し周期TPRIを示す情報に基づいて、受信部2のA/D変換器208からの受信ビデオ信号V(h,n)を周波数領域に変換する(ステップST1001)。この周波数領域変換部301により周波数領域に変換された受信ビデオ信号fd,V(k,n)は下式(14)で表される。
ここで、HFFTは周波数領域の変換点数であり、kは周波数領域のサンプリング番号である。この周波数領域変換部301により周波数領域に変換された受信ビデオ信号fd,V(k,n)は目標候補検出部302に出力され、また、目標候補検出部302、目標候補方位算出部303、目標候補相対速度算出部304及び目標候補相対距離算出部305を介して表示器4にも出力される。
受信部2の移相器205では、受信信号を角周波数ωずつ異なる周波数に周波数変換している。これは、式(8),(9)に示すように、受信信号間の位相をωTの整数倍ずつ変化するように制御していることを表している。つまり、受信信号を角周波数ωずつ異なる周波数に変換することで、図11,12に示すようにアンテナパターンの指向方位を時分割に変化させることを可能としている。これにより、従来のように方位毎にアンテナパターンを形成する必要はなく、演算量を低減したマルチビームデータを得ることができる。なお図11において、Aは時刻tでの同位相波面であり、A’は時刻t+Δtでの同位相波面であり、D1は位相ωtに相当する距離であり、DM-1は位相(M-1)ωtに相当する距離であり、D’M-1は位相(M-1)ω(t+Δt)に相当する距離である。また図12において、符号1201はアンテナパターンである。
この目標候補方位算出部303により算出された目標の候補の方位θ’を示す情報は目標候補相対速度算出部304及び目標候補相対距離算出部305を介して表示器4に出力される。
ここで、Δvsampは速度サンプリング間隔である。この目標候補相対速度算出部304により算出された目標の候補の相対速度v’を示す情報は目標候補相対距離算出部305を介して表示器4に出力される。
ここで、floor(Z)は変数Z以下の最も近い整数である。この目標候補相対距離算出部305により算出された目標の候補の相対距離R0’を示す情報は表示器4に出力される。
図15はこの発明の実施の形態2に係るレーダ装置の構成例を示す図である。この図15に示す実施の形態2に係るレーダ装置は、図1に示す実施の形態1に係るレーダ装置の受信部2を受信部2bに変更し、信号処理器3を信号処理器3bに変更したものである。この受信部2bは、図1に示す実施の形態1における受信部2のパラメータ算出器202をパラメータ算出器202bに変更したものである。また、信号処理器3bは、図1に示す実施の形態1における信号処理器3の周波数領域変換部301を周波数領域変換部301bに変更したものである。その他の構成は同様であり、同一の符号を付してその説明を省略する。
ここで、LCM(A,B)は変数Aと変数Bの最小公倍数である。
一方、パルス繰り返し周期TPRIとパルス幅Tplsとの最小公倍数となる間隔TLCM(図16のa1,a3の間隔)ではコヒーレントとなる。そこで、実施の形態2では、この間隔TLCMでフーリエ変換することで、目標候補の相対速度のみに積分され、正しく相対速度を算出することができる。
Claims (9)
- パルス信号を生成するパルス信号生成器と、
前記パルス信号生成器により生成されたパルス信号から送信信号を生成する送信機と、
前記送信機により生成された送信信号を空中に放射する送信アンテナ素子と、
前記送信アンテナ素子により放射されて目標で反射された信号を受信信号として受信する複数の受信アンテナ素子と、
各々の前記受信アンテナ素子により受信された受信信号を互いに異なる周波数に変換する周波数変換部と、
前記周波数変換部により変換された各受信信号を加算して受信ビデオ信号を生成する加算器と、
前記加算器により加算された受信ビデオ信号をA/D変換するA/D変換器と、
前記A/D変換器によりA/D変換された受信ビデオ信号を周波数領域に変換する周波数領域変換部と、
前記周波数領域変換部により変換された受信ビデオ信号の信号電力から、前記目標の候補を検出する目標候補検出部と、
前記目標候補検出部による検出結果から、前記目標の候補の方位を算出する目標候補方位算出部と
を備えたレーダ装置。 - 前記パルス信号生成器は、パルス繰り返し周期がパルス幅の整数倍である前記パルス信号を生成し、
前記周波数変換部は、位相が一周期する時間が前記パルス幅である角周波数を用いて前記周波数の変換を行い、
前記周波数領域変換部は、前記パルス繰り返し周期でフーリエ変換を行うことで、前記周波数領域への変換を行う
ことを特徴とする請求項1記載のレーダ装置。 - 前記周波数変換部は、位相が一周期する時間が前記パルス信号のパルス幅である角周波数を用いて前記周波数の変換を行い、
前記周波数領域変換部は、前記パルス信号のパルス繰り返し周期とパルス幅との最小公倍数となる間隔でフーリエ変換を行うことで、前記周波数領域への変換を行う
ことを特徴とする請求項1記載のレーダ装置。 - 前記周波数変換部は、各々の前記受信信号を、前記角周波数の整数倍ずつ異なる周波数にそれぞれ変換する
ことを特徴とする請求項2記載のレーダ装置。 - 前記周波数変換部は、各々の前記受信信号を、前記角周波数の整数倍ずつ異なる周波数にそれぞれ変換する
ことを特徴とする請求項3記載のレーダ装置。 - 前記周波数変換部は、
前記受信アンテナ素子毎に設けられ、対応する前記受信アンテナ素子により受信された受信信号の移相を行うことで前記周波数の変換を行う複数の移相器を有する
ことを特徴とする請求項1記載のレーダ装置。 - 前記周波数変換部は、
前記受信アンテナ素子毎に設けられ、互いに異なる周波数の局部発振信号を生成する複数の局部発振器と、
前記受信アンテナ素子毎に設けられ、対応する前記局部発振器により生成された局部発振信号を用いて、対応する前記受信アンテナ素子により受信された受信信号をダウンコンバートすることで前記周波数の変換を行う複数のミキサとを有する
ことを特徴とする請求項1記載のレーダ装置。 - 前記目標候補検出部による検出結果から、前記目標の候補の相対速度を算出する目標候補相対速度算出部を備えた
ことを特徴とする請求項1記載のレーダ装置。 - 前記目標候補検出部による検出結果から、前記目標の候補の相対距離を算出する目標候補相対速度算出部を備えた
ことを特徴とする請求項1記載のレーダ装置。
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