WO2019155625A1 - レーダ装置 - Google Patents
レーダ装置 Download PDFInfo
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- WO2019155625A1 WO2019155625A1 PCT/JP2018/004676 JP2018004676W WO2019155625A1 WO 2019155625 A1 WO2019155625 A1 WO 2019155625A1 JP 2018004676 W JP2018004676 W JP 2018004676W WO 2019155625 A1 WO2019155625 A1 WO 2019155625A1
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- WIPO (PCT)
- Prior art keywords
- window function
- correlation matrix
- signal
- transmission
- angle
- Prior art date
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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
- G01S7/2813—Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/0413—MIMO 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
- G01S13/02—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
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0686—Hybrid systems, i.e. switching and simultaneous transmission
- H04B7/0689—Hybrid systems, i.e. switching and simultaneous transmission using different transmission schemes, at least one of them being a diversity transmission scheme
Definitions
- the MIMO beam pattern obtained by forming the MIMO beam coincides with a transmission / reception product beam that is a product of the transmission beam pattern from the transmission antenna and the reception beam pattern from the reception antenna.
- the transmission angle of the reflected signal hereinafter referred to as the DOD angle
- the arrival angle of the reflected signal hereinafter referred to as the DOA angle
- Patent Document 1 in order to reduce unnecessary reflected signals (hereinafter referred to as direct propagation clutter) included in the received signal of the MIMO radar apparatus, the side of the MIMO beam pattern is used using a window function. A method for reducing lobes is described.
- the received signal of the actual MIMO radar apparatus includes an unnecessary reflected signal due to multipath propagation (hereinafter referred to as multipath clutter).
- multipath clutter an unnecessary reflected signal due to multipath propagation
- the radar apparatus described in Patent Document 1 has a problem that multipath clutter included in the received signal cannot be reduced because multipath clutter is not considered.
- the present invention solves the above-described problems, and an object thereof is to obtain a radar apparatus that can reduce direct propagation clutter and multipath clutter included in a received signal.
- a radar apparatus includes two or more N transmission signal generation units, N transmission antennas, two or more M reception antennas, M matched filter banks, a correlation matrix calculation unit, and diagonal load processing.
- the N transmission signal generation units generate different transmission signals.
- N transmission antennas are connected to each of the N transmission signal generation units, and transmit transmission signals.
- the M reception antennas receive the reflected waves from the object of the transmission signal transmitted from the N transmission antennas.
- the M matched filter banks are connected to each of the M reception antennas, and are output of the matched filter using the transmission signals generated by the N transmission signal generation units as replicas of the matched filter. Output the received signal vector.
- the window function is derived based on the principle of suppressing the reflected signal belonging to the subspace of the space spanned by the steering vectors of the direct propagation clutter and the multipath clutter to be reduced.
- the radar apparatus can reduce direct propagation clutter and multipath clutter included in the received signal.
- FIG. 6 is a diagram illustrating an example of a bidirectional beam pattern in the radar apparatus according to Embodiment 1.
- FIG. 3A is a block diagram showing a hardware configuration for realizing the functions of the radar apparatus according to Embodiment 1.
- FIG. 3B is a block diagram showing a hardware configuration for executing software that implements the functions of the radar apparatus according to Embodiment 1.
- 3 is a flowchart showing an operation of the radar apparatus according to the first embodiment. It is a figure which shows the example of the area
- FIG. 1 is a block diagram showing a configuration of a radar apparatus 1 according to Embodiment 1 of the present invention.
- the radar apparatus 1 is a MIMO radar apparatus and includes a transmission side system, a reception side system, and a signal processing unit.
- the transmission side system includes two or more N transmission antennas 2-1 to 2-N and N transmission signal generation units 3-1 to 3-N, and the reception side system includes two or more M antennas.
- the signal processing unit includes a correlation matrix calculation unit 6, a diagonal load processing unit 7, a window function calculation unit 8, a window function application unit 9, and a beam forming unit 10.
- transmission signal generators 3-1 to 3-N are connected to each of the N transmission antennas 2-1 to 2-N.
- the transmission signal generators 3-1 to 3-N generate different transmission signals. Since these transmission signals are separated by each of the M matched filter banks 5-1 to 5-M, it is desirable that these transmission signals be orthogonal to each other.
- the transmission antennas 2-1 to 2-N transmit the transmission signals generated by the transmission signal generation units 3-1 to 3-N, respectively.
- Each of the transmission signal generation units 3-1 to 3-N is also connected to each of the M matched filter banks 5-1 to 5-M.
- N transmission signals generated by the N transmission signal generation units 3-1 to 3-N are output to the matched filter banks 5-1 to 5-M, respectively.
- matched filter banks 5-1 to 5-M are connected to the receiving antennas 4-1 to 4-M one by one.
- the reception antennas 4-1 to 4-M receive the reflected waves of the transmission signals transmitted from the N transmission antennas 2-1 to 2-N and output the reflected waves to the matched filter banks 5-1 to 5-M.
- the reflected wave of the transmission signal is a reflected wave that has propagated toward the radar apparatus 1 when the transmission signal transmitted from the transmission antennas 2-1 to 2-N is reflected by an object existing outside the radar apparatus 1. Is,
- Each of the matched filter banks 5-1 to 5-M uses the N transmission signals generated by the N transmission signal generation units 3-1 to 3-N as replicas of the matched filter as output of the matched filter. A certain received signal vector is output.
- reception signals received by the reception antennas 4-1 to 4-M reflected waves derived from N transmission signals are mixed.
- Each of the matched filter banks 5-1 to 5-M separates the received signal into N reflected wave received signals.
- a matched filter is used for this separation process.
- Each of the matched filter banks 5-1 to 5-M uses N transmission signals generated by the transmission signal generation units 3-1 to 3-N as replicas of the matched filter. Since reception signals received by one matched filter bank are separated from N reflected wave reception signals, M ⁇ N reception signals are obtained by the matched filter banks 5-1 to 5-M.
- the correlation matrix calculation unit 6 calculates an unnecessary signal correlation matrix Rc using the steering vector of the unnecessary signal defined based on the DOD angle of the unnecessary signal and the DOA angle of the unnecessary signal. For example, the correlation matrix calculation unit 6 determines a region where side lobe reduction is desired to be realized from a bidirectional beam pattern described later with reference to FIG. The correlation matrix calculation unit 6 obtains the steering vector of the unnecessary signal corresponding to the determined area, with the DOD angle belonging to the determined area as the DOD angle of the unnecessary signal and the DOA angle belonging to the determined area as the DOA angle of the unnecessary signal. To go. When the correlation matrix calculation unit 6 determines all the steering vectors of the unnecessary signals corresponding to the determined region, the correlation matrix calculation unit 6 calculates the unnecessary signal correlation matrix Rc using the calculated steering vectors.
- the diagonal load processing unit 7 performs a diagonal load process on the unnecessary signal correlation matrix Rc calculated by the correlation matrix calculation unit 6 using the diagonal load amount ⁇ , and an unnecessary signal correlation after the diagonal load processing.
- a matrix R is calculated.
- the diagonal load processing unit 7 calculates an unnecessary signal correlation matrix R obtained by adding the diagonal load amount ⁇ to the unnecessary signal correlation matrix Rc.
- the window function calculation unit 8 calculates a window function for obtaining a side lobe characteristic for reducing unnecessary signals based on the unnecessary signal correlation matrix R after the diagonal load processing input from the diagonal load processing unit 7. For example, the window function calculation unit 8 calculates a vector corresponding to the value of the window function from the unnecessary signal correlation matrix R, and calculates a diagonal matrix Tw having the value of the window function as a diagonal component.
- the window function application unit 9 multiplies the reception signal vector input from the M matched filter banks 5-1 to 5-M by the window function calculated by the window function calculation unit 8, and applies the window function. Output the received signal vector. For example, the window function application unit 9 applies the window function to the received signal vector by obtaining T w x obtained by multiplying the received signal vector by the diagonal matrix T w .
- the beam forming unit 10 forms a MIMO beam based on the received signal vector and the beam directivity angle input from the window function applying unit 9. For example, the beam forming unit 10 obtains a MIMO beam output by performing MIMO beam forming on the received signal vector using the beam weight with respect to the beam directivity angle.
- the steering vector in the radar apparatus 1 is expressed by the following formula (1).
- the steering vector in the radar apparatus 1 is referred to as a MIMO steering vector a (u T , u R ).
- a T (u T ) is a transmission steering vector
- u T is a direction cosine corresponding to the DOD angle
- a R (u R ) is a reception steering vector
- u R is a direction cosine corresponding to the DOA angle.
- the MIMO beam weight w 0 can be obtained from the following equation (2).
- the MIMO beam weight w 0. Is given by the following equation (3).
- the bidirectional beam pattern B (u T , u R ) in the radar apparatus 1 is given by the following equation (8).
- the bidirectional beam pattern B (u T , u R ) includes a transmission beam pattern
- the bidirectional beam pattern B (u T , u R ) is represented by these products. Since u T and u R are independent variables, the bidirectional beam pattern B (u T , u R ) is evaluated in a two-dimensional map defined by u T and u R.
- FIG. 2 is a diagram illustrating an example of a bidirectional beam pattern in the radar apparatus 1.
- two-way beam pattern can be represented by a two-dimensional map defined by the direction cosine u R which corresponds to the DOA angle and direction cosine u T which corresponds to the DOD angle.
- the conventional MIMO beam pattern has a characteristic in which the DOD angle and the DOA angle are the same, and is a characteristic on a diagonal line from the lower left side to the upper right side in FIG.
- the bidirectional beam pattern in the radar apparatus 1 can capture the side lobe level under the condition that the DOD angle and the DOA angle are different from each other, which is not apparent only by the conventional MIMO beam pattern.
- the side lobe level is higher than the side lobe level in the conventional MIMO beam pattern around the main beam region shown in the center of FIG.
- the MIMO steering vector When the beam directivity angle in the radar apparatus 1 is u 0 , the direction cosine u T corresponding to the DOD angle can be expressed by the following equation (9), and the direction cosine u R corresponding to the DOA angle is expressed by the following equation (10). Can be represented.
- ⁇ u T is the offset angle of the DOD angle with respect to the beam directivity angle u 0
- ⁇ u R is the DOA angle with respect to the beam directivity angle u 0 . Offset angle.
- u T u 0 + ⁇ u T (9)
- u R u 0 + ⁇ u R (10)
- the transmission steering vector a T (u T ) can be expressed by the following formula (11), and the reception steering vector a R (u R ) can be expressed by the following formula (12).
- the MIMO steering vector a (u T , u R ) can be expressed by the following equation (13).
- a (u T , u R ) is a MIMO steering vector a based on a matrix D (u 0 ) determined from a steering vector based on the beam directing angle u 0 and offset angles ⁇ u T , ⁇ u R. It is given as a matrix product with ( ⁇ u T , ⁇ u R ).
- FIG. 3A is a block diagram showing a hardware configuration for realizing the functions of the radar apparatus 1.
- FIG. 3B is a block diagram illustrating a hardware configuration that executes software that implements the functions of the radar apparatus 1.
- transmission apparatus 100 is configured to include transmission antennas 2-1 to 2-N and transmission signal generation units 3-1 to 3-N shown in FIG.
- the receiving apparatus 101 includes the receiving antennas 4-1 to 4-M and the matched filter banks 5-1 to 5-M shown in FIG.
- the radar apparatus 1 includes a processing circuit for executing processes from step ST1 to step ST5 described later with reference to FIG.
- the processing circuit may be dedicated hardware or a CPU (Central Processing Unit) that executes a program stored in the memory.
- the processing circuit 102 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated), or the like. Circuit), FPGA (Field-Programmable Gate Array), or a combination thereof.
- the functions of the correlation matrix calculation unit 6, the diagonal load processing unit 7, the window function calculation unit 8, the window function application unit 9, and the beam forming unit 10 may be realized by separate processing circuits. You may implement
- each function of the correlation matrix calculation unit 6, the diagonal load processing unit 7, the window function calculation unit 8, the window function application unit 9, and the beam forming unit 10 is software. Realized by firmware or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 104.
- the processor 103 reads out and executes the program stored in the memory 104, whereby each of the correlation matrix calculation unit 6, the diagonal load processing unit 7, the window function calculation unit 8, the window function application unit 9, and the beam forming unit 10 is obtained.
- the radar apparatus 1 includes a memory 104 for storing a program in which the processing from step ST1 to step ST5 shown in FIG. These programs cause the computer to execute the procedures or methods of the correlation matrix calculation unit 6, the diagonal load processing unit 7, the window function calculation unit 8, the window function application unit 9, and the beam forming unit 10.
- the memory 104 is a computer-readable storage medium storing a program for causing a computer to function as the correlation matrix calculation unit 6, the diagonal load processing unit 7, the window function calculation unit 8, the window function application unit 9, and the beam forming unit 10. It may be.
- the memory 104 includes, for example, a nonvolatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or a volatile memory such as an EEPROM (Electrically-EPROM).
- a nonvolatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or a volatile memory such as an EEPROM (Electrically-EPROM).
- a nonvolatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or a volatile memory such as an EEPROM (Electrically-EPROM).
- EEPROM Electrically
- FIG. 4 is a flowchart showing the operation of the radar apparatus 1 and shows a series of processes until the signal processing unit of the radar apparatus 1 obtains a MIMO radar output.
- the correlation matrix calculation unit 6 calculates the unnecessary signal correlation matrix Rc using the steering vector of the unnecessary signal defined based on the DOD angle of the unnecessary signal and the DOA angle of the unnecessary signal (step ST1). For example, the correlation matrix calculation unit 6 determines a region where side lobe reduction is to be realized from the bidirectional beam pattern that does not consider the window function shown in FIG.
- FIG. 5 is a diagram showing an example of a region where reduction of side lobes is desired in the bidirectional beam pattern.
- FIG. 6 is a diagram showing another example of a region where reduction of side lobes is desired in the bidirectional beam pattern.
- a gray region around the main beam region a including the beam directing direction is a region where reduction of side lobes is desired.
- the region where the side lobe reduction is desired is a region having an arbitrary shape.
- the region where reduction of side lobes is to be realized is determined as the gray region in FIG.
- the region b is a main beam region including the beam directing direction.
- the gray area in FIG. 6 corresponds to propagation in which the DOD angle is in the main beam and the DOA angle is in the side lobe, or propagation in which the DOD angle is in the side lobe and the DOA angle is in the main beam.
- This region will be referred to as the MS / SM propagation sidelobe region.
- MS is an abbreviation for Mainbeam-to-Sidelobe
- SM is an abbreviation for Sidebebe-to-Mainbeam.
- b T, b R, U T and U R are parameters giving the range of DOA angles DOD angle and unwanted signal of unwanted signals MS / SM propagation sidelobe region.
- the unnecessary signal correlation matrix Rc can be expressed by the following equation (14). Note that the average power of unnecessary signals is assumed to be unit power without losing generality.
- the region where reduction of the side lobe is desired is a part of the angle range defined by the DOD angle and the DOA angle, so the unnecessary signal correlation matrix Rc clearly has a low rank structure. Will show. That is, the region where the side lobe reduction is desired constitutes a partial space in which the MIMO steering vector exists.
- the diagonal load processing unit 7 performs the diagonal load processing on the unnecessary signal correlation matrix Rc using the diagonal load amount ⁇ , and calculates the unnecessary signal correlation matrix R after the diagonal load processing (step ST2). .
- the diagonal load processing unit 7 calculates the unnecessary signal correlation matrix R after the diagonal load processing by adding the diagonal load amount ⁇ to the unnecessary signal correlation matrix Rc according to the following equation (15).
- the diagonal load amount ⁇ virtually simulates the receiver noise matrix, and the average power of unnecessary signals is assumed to be unit power. Therefore, the diagonal load amount ⁇ should be 0 ⁇ ⁇ 1.
- I is a unit matrix.
- R Rc + ⁇ I (15)
- the transmission antennas 2-1 to 2-N transmit the transmission signals generated by the transmission signal generation units 3-1 to 3-N, respectively.
- the transmission signal transmitted from the transmission antennas 2-1 to 2-N hits an object, and the reflected wave is received by M reception antennas 4-1 to 4-M.
- the reception signals received by the reception antennas 4-1 to 4-M reflected waves derived from N transmission signals are mixed.
- Each of the matched filter banks 5-1 to 5-M uses the N transmission signals generated by the transmission signal generation units 3-1 to 3-N as replicas and uses the matched filter to receive N reception signals. Is separated into the received signal of the reflected wave.
- the window function application unit 9 multiplies the reception signal vector x input from the matched filter banks 5-1 to 5-M by the window function calculated by the window function calculation unit 8, and applies the window function to the reception signal vector Is output (step ST4).
- the window function applying unit 9 multiplies the received signal vector x by a diagonal matrix T W having the value of the window function as a diagonal component to obtain a received signal vector T W x after application of the window function. .
- the correlation matrix calculation unit 6 is unnecessary using the steering vector of the unnecessary signal that is defined based on the DOD angle of the unnecessary signal and the DOA angle of the unnecessary signal.
- a signal correlation matrix Rc is calculated.
- the correlation matrix calculation unit 6 defines the unnecessary signal steering vector based on the DOD angle and DOA angle of the unnecessary signal in the MS / SM propagation sidelobe region, and calculates the unnecessary signal correlation matrix Rc.
- the diagonal load processing unit 7 performs diagonal load processing on the unnecessary signal correlation matrix Rc.
- the window function calculation unit 8 calculates a window function for obtaining a sidelobe characteristic for reducing unnecessary signals based on the unnecessary signal correlation matrix R after the diagonal load processing.
- the window function application unit 9 applies a window function to the received signal vectors input from the matched filter banks 5-1 to 5-M.
- the beam forming unit 10 forms a MIMO beam based on the received signal vector to which the window function is applied and the beam directivity angle.
- the window function is derived by the principle of suppressing the reflected signal (unnecessary signal) belonging to the subspace of the space where the steering vectors of the direct propagation clutter and the multipath clutter are stretched.
- the radar apparatus 1 can reduce direct propagation clutter and multipath clutter included in the received signal.
- the radar apparatus according to the present invention can reduce the direct propagation clutter and the multipath clutter included in the received signal, it can be used for various radar apparatuses.
- 1 Radar device 2-1 to 2-N transmit antenna, 3-1 to 3-N transmit signal generator, 4-1 to 4-M receive antenna, 5-1 to 5-M matched filter bank, 6 correlation matrix Calculation unit, 7 diagonal load processing unit, 8 window function calculation unit, 9 window function application unit, 10 beam forming unit, 100 transmission device, 101 reception device, 102 processing circuit, 103 processor, 104 memory.
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Abstract
Description
しかしながら、特許文献1に記載されたレーダ装置では、マルチパスクラッタが考慮されていないため、受信信号に含まれているマルチパスクラッタを低減できないという課題があった。
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1の構成を示すブロック図である。レーダ装置1は、MIMOレーダ装置であり、送信側系統、受信側系統および信号処理部を備えて構成される。送信側系統は、2以上のN個の送信アンテナ2-1~2-NおよびN個の送信信号生成部3-1~3-Nを備えており、受信側系統は、2以上のM個の受信アンテナ4-1~4-MおよびM個のマッチドフィルタバンク5-1~5-Mを備える。信号処理部は、相関行列算出部6、対角荷重処理部7、窓関数算出部8、窓関数適用部9およびビーム形成部10を備える。
例えば、相関行列算出部6は、図2を用いて後述する双方向ビームパターンからサイドローブの低減を実現したい領域を決定する。相関行列算出部6は、決定した領域に属するDOD角を不要信号のDOD角とし、決定した領域に属するDOA角を不要信号のDOA角として、決定した領域に対応する不要信号のステアリングベクトルを求めていく。相関行列算出部6は、決定した領域に対応する、不要信号のステアリングベクトルを全て求めると、求めたステアリングベクトルを用いて不要信号相関行列Rcを算出する。
以下、レーダ装置1におけるステアリングベクトルを、MIMOステアリングベクトルa(uT,uR)と記載する。下記式(1)において、aT(uT)は、送信ステアリングベクトルであり、uTは、DOD角に対応する方向余弦である。aR(uR)は、受信ステアリングベクトルであり、uRは、DOA角に対応する方向余弦である。
yT(uT)=aT H(0)TT HaT(uT) ・・・(6)
yR(uR)=aR H(0)TR HaR(uR) ・・・(7)
uTおよびuRは、互いに独立変数であるので、双方向ビームパターンB(uT,uR)は、uTおよびuRで規定される2次元マップにおいて評価される。
B(uT,uR)=α2|yT(uT)・yR(uR)|2
=α2|yT(uT)|2|yR(uR)|2 ・・・(8)
レーダ装置1におけるビーム指向角をu0とすると、DOD角に対応する方向余弦uTは下記式(9)で表すことができ、DOA角に対応する方向余弦uRは下記式(10)で表すことができる。下記式(9)および下記式(10)において、ΔuTは、ビーム指向角u0を基準としたDOD角のオフセット角であり、ΔuRは、ビーム指向角u0を基準としたDOA角のオフセット角である。
uT=u0+ΔuT ・・・(9)
uR=u0+ΔuR ・・・(10)
aT(uT)=diag{aT(u0)}aT(ΔuT)
=DT(u0)aT(ΔuT) ・・・(11)
aR(uR)=diag{aR(u0)}aR(ΔuR)
=DR(u0)aR(ΔuR) ・・・(12)
すなわち、レーダ装置1は、図4を用いて後述するステップST1からステップST5までの処理を実行するための処理回路を備える。
処理回路は、専用のハードウェアであってもよいが、メモリに記憶されたプログラムを実行するCPU(Central Processing Unit)であってもよい。
これらのプログラムは、相関行列算出部6、対角荷重処理部7、窓関数算出部8、窓関数適用部9およびビーム形成部10の手順または方法をコンピュータに実行させるものである。メモリ104は、コンピュータを、相関行列算出部6、対角荷重処理部7、窓関数算出部8、窓関数適用部9およびビーム形成部10として機能させるためのプログラムが記憶されたコンピュータ可読記憶媒体であってもよい。
図4は、レーダ装置1の動作を示すフローチャートであり、レーダ装置1の信号処理部がMIMOレーダ出力を得るまでの一連の処理を示している。
相関行列算出部6は、不要信号のDOD角と不要信号のDOA角に基づいて規定された不要信号のステアリングベクトルを用いて、不要信号相関行列Rcを算出する(ステップST1)。例えば、相関行列算出部6は、図2に示した、窓関数を考慮していない双方向ビームパターンから、サイドローブの低減を実現したい領域を決定する。
R=Rc+εI ・・・(15)
TW=diag(R-1l) ・・・(16)
受信アンテナ4-1~4-Mのそれぞれで受信された受信信号には、N個の送信信号に由来する反射波が混在している。マッチドフィルタバンク5-1~5-Mのそれぞれは、送信信号生成部3-1~3-Nのそれぞれにより生成されたN個の送信信号をレプリカとして、マッチドフィルタを用いて受信信号をN個の反射波の受信信号に分離する。
このように、1つのマッチドフィルタバンクに受信された受信信号は、N個の反射波の受信信号が分離されるので、マッチドフィルタバンク5-1~5-MによってM×N個の受信信号が得られる。これらM×N個の受信信号がベクトル要素としたベクトルを、受信信号ベクトルxと記載する。
y=a(u0,u0)HTWx ・・・(17)
これによって、直接伝搬クラッタおよびマルチパスクラッタのステアリングベクトルが張る空間の部分空間に属する反射信号(不要信号)を抑圧する原理によって窓関数が導出される。この窓関数を用いることで、レーダ装置1は、受信信号に含まれている直接伝搬クラッタおよびマルチパスクラッタを低減することができる。
Claims (2)
- 互いに異なる送信信号を生成する2以上のN個の送信信号生成部と、
N個の前記送信信号生成部のそれぞれに1つずつ接続されて送信信号を送信するN個の送信アンテナと、
N個の前記送信アンテナから送信された送信信号の物体からの反射波を受信する2以上のM個の受信アンテナと、
M個の前記受信アンテナのそれぞれに1つずつ接続され、N個の前記送信信号生成部のそれぞれにより生成された送信信号をマッチドフィルタのレプリカとして、前記マッチドフィルタの出力である受信信号ベクトルを出力するM個のマッチドフィルタバンクと、
不要信号の送出角と不要信号の到来角とに基づいて規定された不要信号のステアリングベクトルを用いて、不要信号相関行列を算出する相関行列算出部と、
前記相関行列算出部により算出された不要信号相関行列に対して、対角荷重量を用いて対角荷重処理を行い、対角荷重処理後の不要信号相関行列を算出する対角荷重処理部と、
前記対角荷重処理部により算出された対角荷重処理後の不要信号相関行列に基づいて、不要信号を低減するサイドローブ特性を得る窓関数を算出する窓関数算出部と、
M個の前記マッチドフィルタバンクから出力された前記受信信号ベクトルに対して前記窓関数算出部により算出された前記窓関数を乗算し、前記窓関数を適用した前記受信信号ベクトルを出力する窓関数適用部と、
前記窓関数適用部から出力された前記受信信号ベクトルとビーム指向角とに基づいて、多重入力多重出力ビームを形成するビーム形成部とを備えたこと
を特徴とするレーダ装置。 - 前記相関行列算出部は、送出角がメインビーム内となり到来角がサイドローブ内となる伝搬または送出角がサイドローブ内となり到来角がメインビーム内となる伝搬に対応したサイドローブ領域における不要信号の送出角および到来角に基づいて不要信号のステアリングベクトルを規定して、不要信号相関行列を算出すること
を特徴とする請求項1記載のレーダ装置。
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RU2732505C1 (ru) * | 2020-01-27 | 2020-09-18 | Акционерное общество "Концерн "Созвездие" | Способ обнаружения и азимутального пеленгования наземных источников радиоизлучения с летно-подъемного средства |
WO2023021587A1 (ja) * | 2021-08-18 | 2023-02-23 | 三菱電機株式会社 | Mimoレーダ信号処理装置及びその受信信号処理装置、並びに着目受信信号ベクトルの伝搬モード判別方法 |
WO2023021586A1 (ja) * | 2021-08-18 | 2023-02-23 | 三菱電機株式会社 | Mimoレーダ信号処理装置及びその受信信号処理装置、並びに着目受信信号ベクトルの伝搬モード判別方法 |
DE112022004079T5 (de) | 2021-08-24 | 2024-05-29 | Denso Corporation | Radargerät und azimutschätzverfahren |
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