WO2023013462A1

WO2023013462A1 - Position information deriving system

Info

Publication number: WO2023013462A1
Application number: PCT/JP2022/028691
Authority: WO
Inventors: 一正櫻井; 真吾中田; 尚生谷本; 輝岩川; 啓太藤井
Original assignee: 株式会社デンソー
Priority date: 2021-08-05
Filing date: 2022-07-26
Publication date: 2023-02-09
Also published as: JP2023023372A; JP7445628B2

Abstract

A position information deriving system (100) is provided with: an antenna device (1) which includes an azimuth angle antenna (11) and an elevation angle antenna (12), and which emits radio waves onto a detection target and receives reflected waves from the detection target; an azimuth angle information acquiring unit (16) for acquiring a distance to the detection target and an azimuth angle of the detection target on the basis of the reflected waves detected by the azimuth angle antenna; an elevation angle information acquiring unit (17) for acquiring a distance to the detection target and an angle of elevation of the detection target on the basis of the reflected waves detected by the elevation angle antenna; a determining unit (18) which performs a distance comparison between the distance obtained by the azimuth angle information acquiring unit and the distance obtained by the elevation angle information acquiring unit, and which determines that detection targets having identical values are an identical detected object; and a deriving unit (19) which derives position related information related to the position of the identical detected object from the azimuth angle, the angle of elevation, and the distance of the identical detected object.

Description

Location information derivation system

Cross-reference to related applications

This application is based on Japanese Application No. 2021-128838 filed on August 5, 2021, and the contents thereof are incorporated herein.

This disclosure relates to a location information derivation system.

Conventionally, various radar systems are known for detecting flying objects within a predetermined surveillance area and obtaining position information. For example, in the air traffic control radar system described in Patent Document 1, a transponder mounted on an aircraft returns position and altitude information in response to a signal transmitted from a radar station, thereby sensing the position of the aircraft. . The system is capable of measuring two-dimensional radar system coordinates of range and bearing of an aircraft in flight.

JP-A-9-5432

However, the above system cannot detect birds and drones that do not have transponders that respond to the signals received from radar stations. There is a demand for a technology that can obtain accurate position information even for objects that do not have such transponders, among those that exist in the airspace.

The present disclosure can be realized as the following forms.

According to one aspect of the present disclosure, a location information derivation system is provided. This position information deriving system has an azimuth angle antenna and an elevation angle antenna, an antenna device for irradiating a detection target with radio waves and receiving a reflected wave from the detection target, and detection by the azimuth antenna. an azimuth angle information acquisition unit for acquiring a distance from the antenna device to the detection object and an azimuth angle of the detection object based on the reflected wave detected by the antenna; an elevation angle information obtaining unit for obtaining a distance from the antenna device to the detection object and an elevation angle of the detection object; a distance obtained by the azimuth information obtaining unit; a determination unit for determining that the detection target having the same value is the same detection object by performing a distance comparison with the obtained distance, and determining the same detection object from the azimuth angle, elevation angle, and distance of the same detection object. a derivation unit for deriving location-related information associated with the location.

The position information derivation system of this form compares the distances obtained based on the reflected waves detected by the azimuth antenna and the elevation antenna, and detects objects having the same distance as the same object. I judge. Then, position-related information of the same detected object is derived from the azimuth angle, elevation angle, and distance of the same detected object. As a result, accurate position information can be obtained even for objects that do not have transponders, among objects that exist in the airspace.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. The drawing is
FIG. 1 is a schematic block diagram showing the functional configuration of a position information derivation system according to the first embodiment of the present disclosure; FIG. 2 is a perspective view schematically showing the appearance of the antenna device according to the first embodiment, FIG. 3 is a plan view schematically showing the antenna device according to the first embodiment, FIG. 4 is a front view schematically showing the antenna device according to the first embodiment, FIG. 5 is a side view schematically showing the antenna device according to the first embodiment; FIG. 6 is a flowchart showing a processing procedure of position-related information detection processing executed by the information processing unit; FIG. 7 is a perspective view schematically showing the appearance of the antenna device according to the second embodiment; FIG. 8 is a plan view schematically showing the antenna device according to the second embodiment, FIG. 9 is a front view schematically showing the antenna device according to the second embodiment, FIG. 10 is a side view schematically showing the antenna device according to the second embodiment; FIG. 11 is a perspective view schematically showing the appearance of the antenna device according to the third embodiment, FIG. 12 is a perspective view schematically showing the appearance of the antenna device according to the fourth embodiment, FIG. 13 is a plan view schematically showing the antenna device according to the fourth embodiment, FIG. 14 is a side view schematically showing the antenna device according to the fourth embodiment, FIG. 15 is a front view schematically showing the antenna device according to the fourth embodiment, showing a mode in which the posture of the dual-purpose antenna is different from that in FIG. FIG. 16 is a perspective view schematically showing the appearance of the antenna device according to the fifth embodiment; FIG. 17 is a plan view schematically showing the radiator movable control plate, FIG. 18 is a graph showing changes in vertical directivity with radiator position; FIG. 19 is a perspective view schematically showing the appearance of the antenna device according to the sixth embodiment, FIG. 20 is a perspective view schematically showing the appearance of the antenna device according to the seventh embodiment; FIG. 21 is a perspective view schematically showing the appearance of the antenna device according to the eighth embodiment; FIG. 22 is a perspective view schematically showing the appearance of the antenna device according to the ninth embodiment, FIG. 23 is a perspective view schematically showing the appearance of the antenna device according to the tenth embodiment; FIG. 24 is a flowchart showing a processing procedure for detection processing of position-related information executed by the information processing unit in the position information derivation system of the eleventh embodiment; FIG. 25 is a perspective view schematically showing the appearance of an antenna device according to another embodiment; FIG. 26 is a perspective view schematically showing the appearance of an antenna device according to another embodiment.

A plurality of embodiments of the present disclosure will be described below with reference to the drawings.
A. First embodiment:
A1. Configuration of location information derivation system:
The configuration of the first embodiment will be described with reference to FIGS. 1 to 6. FIG. The position information derivation system 100 of the first embodiment is, for example, a radar system for detecting flying objects in the sky. This position information deriving system 100 is a system for accurately obtaining position-related position-related information particularly for detection objects (hereinafter simply referred to as "targets") such as birds and drones that do not have transponders. is. In this embodiment, the "latitude", "longitude" and "altitude" of the target are derived as the "position-related information".

As shown in FIG. 1, the position information derivation system 100 includes an antenna device 1 and an information processing section 20. In addition, in FIG. 1, only the components necessary for describing the features of the present embodiment are represented by functional blocks, and the description of general components is partially omitted. In other words, each component illustrated in FIG. 1 is functionally conceptual and does not necessarily need to be physically configured as illustrated. For example, the specific forms of distribution and integration of each functional block are not limited to those illustrated, and all or part of them can be functionally or physically distributed and integrated in arbitrary units. .

The antenna device 1 is a device that radiates radio waves to a target and receives reflected waves from the target. The antenna device 1 includes an azimuth angle antenna 11 , an elevation angle antenna 12 , an azimuth angle rotation mechanism section 13 , an elevation angle rotation mechanism section 14 , and a signal generation section 15 . Detailed configurations of the

antennas

11 and 12 and the

rotation mechanisms

13 and 14 will be described later. The signal generator 15 converts the received waves obtained by the

antennas

11 and 12 into received signals to generate signals and outputs the signals to the information processor 20 .

The information processing section 20 includes an azimuth angle information acquisition section 16 , an elevation angle information acquisition section 17 , a determination section 18 , and a derivation section 19 . The information processing unit 20 is, for example, a microcomputer including a CPU, ROM, RAM, other input/output ports, etc., and controls the entire system 100 . The CPU of such a microcomputer functions as an azimuth angle information acquisition section 16, an elevation angle information acquisition section 17, a determination section 18, and a derivation section 19 by reading and executing programs stored in the ROM.

The azimuth angle information acquisition unit 16 acquires the distance from the antenna device 1 to the target and the azimuth angle of the target based on the reflected wave detected by the azimuth angle antenna 11 . The elevation angle information acquisition unit 17 acquires the distance from the antenna device 1 to the target and the elevation angle of the target based on the reflected wave detected by the elevation angle antenna 12 . The determination unit 18 compares the distance obtained by the azimuth angle information acquisition unit 16 and the distance obtained by the elevation angle information acquisition unit 17, and determines detection objects having the same value as the same detection object. do. The deriving unit 19 derives position-related information related to the position of the same detected object from the azimuth angle, elevation angle, and distance of the same detected object. In this embodiment, the "longitude, latitude, and altitude" of the target are derived as the position-related information.

Next, a specific mechanical configuration of the antenna device 1 will be described with reference to FIGS. 2 to 5. FIG. In this embodiment, the "elevation angle" (arrow A shown in FIG. 2) refers to the vertical direction with respect to the installation surface of the antenna device 1, and the "azimuth angle" (arrow B shown in FIG. 2) refers to the antenna It refers to the horizontal orientation with respect to the installation surface of the device 1 .

　As shown in FIGS. 2 to 5, the azimuth angle antenna 11 includes a radiator 31 (see FIGS. 4 and 5) and a reflector 32. As shown in FIGS. Similarly, the elevation angle antenna 12 is configured with a radiator 33 (see FIGS. 3, 4 and 5) and a reflector . The

reflectors

32, 34 have concave parabolic surfaces to impart directivity in the radial direction. When receiving radio waves,

reflectors

32 and 34 collect radio waves and reflect them toward radiators, and

radiators

31 and 33 send the collected radio waves to a converter (not shown). It should be noted that illustration of the radiator is omitted in FIG. 2 and in FIGS. 7 and 11 below.

The azimuth angle antenna 11 and the elevation angle antenna 12 are attached to the same rotation shaft 35, which is the center of rotation in the azimuth direction, via support arms, adjusters, fixtures, and the like (not shown). The azimuth angle antenna 11 is fixed to the rotating shaft with the parabolic curved surface of the reflector 32 directed approximately horizontally. The elevation antenna 12 is provided vertically above the azimuth antenna 11 on the rotation axis 35 . The elevation angle antenna 12 is connected to an elevation angle rotation mechanism 14 provided at the upper end of the rotary shaft 35 .

The elevation angle rotation mechanism 14 is a unit that controls the elevation angle of the elevation angle antenna 12 by driving a motor. By driving the elevation angle rotation mechanism 14, the elevation angle antenna 12 can change its posture between a horizontal state in which the reflecting surface faces approximately horizontally and a vertical state in which the reflecting surface faces approximately vertically upward. It has become. In other words, the elevation angle antenna 12 is capable of swinging within an elevation angle range of 0 to 90 degrees.

The azimuth rotation mechanism 13 is a unit that controls the rotation of the rotation shaft 35 in the azimuth direction (the azimuth angles of the antennas 11 and 12) by motor drive. The azimuth rotation mechanism unit 13 has a turntable (not shown) that can rotate 360 degrees, for example. The motor drive rotates the turntable and rotating shaft 35 in the azimuth direction.

The

rotation mechanism units

13 and 14 are connected to the information processing unit 20 (see FIG. 1) via control cables (not shown) made up of coaxial cables or the like. The information processing section 20 also supplies current to the

antennas

11 and 12 and transmits control signals to the

rotating mechanism sections

13 and 14 .

The azimuth angle antenna 11 and elevation angle antenna 12 are capable of adjusting the transmission/reception angles of the

reflectors

32 and 34 in the azimuth direction by driving the azimuth angle rotation mechanism 13 . By rotating 360 degrees in the azimuth direction, it is possible to mechanically scan electromagnetic waves and detect the entire circumference in the azimuth direction.

Further, the elevation angle antenna 12 is rotatable in the elevation direction within the range of 0° to 90° by the elevation angle rotation mechanism 14 as described above, and is rotated 360° in the azimuth direction by the azimuth angle rotation mechanism 13 as described above. ° Rotatable. As a result, the elevation angle antenna 12 can detect the whole sky by mechanically scanning electromagnetic waves.

The azimuth angle antenna 11 and the elevation angle antenna 12 are composed of parabolic antennas that are directional antennas. For example, the azimuth angle antenna 11 can detect an azimuth angle Amp of 30° to 60° at one time, and an elevation angle Ele of 90°, for example. The azimuth angle antenna 11 and the elevation angle antenna 12 are high-gain antennas with an absolute gain of 20 dBi or more, and emit pulse waves. The pulse wave has, for example, a pulse width of 1 μS and a repetition frequency of 360 Hz. Each of the

antennas

11 and 12 rotates once in the azimuth direction in about one second, and emits pulse waves 360 times every 1°. The azimuth angle antenna 11 and elevation angle antenna 12 convert a transmission signal from an oscillator (not shown) into a transmission wave, irradiate a target with radio waves, and receive a reflected wave from the target as a reception wave.

It should be noted that the azimuth angle antenna 11 detects received waves for obtaining the distance and azimuth angle from the system 100 to the target. The elevation angle antenna 12 detects the received waves to obtain the distance and elevation angle from the system 100 to the target. That is, in the system 100, the azimuth angle and the elevation angle are individually detected by

separate antennas

11 and 12. FIG.

A2. Regarding the detection of target position-related information:
Next, a processing procedure for detection processing of target position-related information executed by the information processing unit 20 of the position information deriving system 100 will be described with reference to FIG. As shown in FIG. 6 , first, in step 1 (hereinafter, step is abbreviated as “S”), the azimuth angle information acquisition unit 16 obtains the azimuth angle of the target from the received wave received by the azimuth angle antenna 11 . and the distance is obtained.

Next, in S<b>2 , the elevation angle and distance of the target are obtained from the received waves received by the elevation angle antenna 12 by the elevation angle information acquisition unit 17 . In addition, in the flowchart of FIG. 6, for the sake of convenience, the azimuth angle acquisition step S1 and the elevation angle acquisition step S2 are described separately. However, in practice, the rotation in the azimuth direction about the same rotation axis 35 and the swinging operation of the elevation angle antenna 12 by the elevation angle rotation mechanism 14 are performed synchronously. Both azimuth angle detection and elevation angle detection are performed substantially simultaneously during one full rotation.

The angle in the azimuth direction that can be detected by the elevation angle antenna 12 at one time is defined as the detection angle R°, and the value obtained by dividing the total azimuth angle of 360° by the detection angle R° is defined as the number of times T. As an example, in this embodiment, the detection angle R° is 90°, and the number of times T is four. The elevation angle antenna 12 scans electromagnetic waves in the elevation angle direction a number of times equal to or greater than the number of times T while the azimuth angle antenna 11 detects 360 degrees in the azimuth angle direction. As an example, the elevation angle of the elevation angle antenna 12 is first detected by swinging upward from 0° (horizontal state) to 90° (vertical state), and then from 90° to 0°. Detection of the elevation angle by swinging downward back to ° is the second electromagnetic wave scanning. Elevation angle is detected by swinging motion at least four times.

It should be noted that, as an example, in the present embodiment, the swinging motion in the elevation angle direction is performed three reciprocations with a margin during one rotation of the rotating shaft 35 . As a result, the elevation angle information acquisition unit 17 detects the whole sky while the rotary shaft 35 rotates once, that is, while the azimuth angle information acquisition unit 16 detects 360° in the azimuth direction.

After S2, in S3, the determination unit 18 compares the distance obtained based on the data of the azimuth angle information acquisition unit 16 and the distance obtained based on the data of the elevation information acquisition unit 17, and determines that they are the same. A target having a value of is determined to be the same target. That is, in this S3, targets at the same distance are searched from two or more pieces of target information. Next, in S4, the derivation unit 19 derives the longitude, latitude, and altitude of the same target from the azimuth, elevation, and distance of the same target. After that, the processing ends.

[effect]
(1) According to the position information derivation system 100 of the first embodiment described above, it is possible to derive position-related information about birds and drones that do not have transponders that respond to received signals from radar stations. That is, it is possible to obtain accurate latitude, longitude, and altitude even for a target that does not have a transponder as described above among objects existing in a predetermined airspace.

(2) In addition, the azimuth angle antenna 11 and the elevation angle antenna 12 are provided on the same rotation axis 35 that is the rotation center axis in the azimuth angle direction. Therefore, the antenna device 1 can be configured compactly and simply. As a result, the configuration of the entire system 100 can be made compact and simple.

(3) In the above-described first embodiment, the elevation angle antenna 12 detects the 360 degrees in the azimuth direction by the number of times equal to or greater than the number of times T obtained by dividing 360 degrees by the detection angle R°. Electromagnetic waves are scanned in the elevation direction. Therefore, while the rotating shaft 35 rotates once, that is, while the azimuth angle information acquisition unit 16 detects 360° in the azimuth angle direction, the elevation angle information acquisition unit 17 can also detect the whole sky. Therefore, azimuth angle detection and elevation angle detection can be performed simultaneously during one rotation of the rotating shaft 35, and the detection time can be shortened. Moreover, since a pulse wave is used as the radiated electromagnetic wave, the detection can be performed in a short time.

(4) In the first embodiment, parabolic antennas are used as the azimuth angle antenna 11 and the elevation angle antenna 12 . A parabolic antenna has a high gain among directional antennas and can detect targets more accurately. In addition, it is a simple configuration in which the parabolic antenna is mechanically moved to scan the electromagnetic wave, so that the device configuration can be simplified and the detection time can be shortened as compared with the case of electronic scanning.

B. Second embodiment:
Next, a location information derivation system according to a second embodiment of the present disclosure will be described with reference to FIGS. 7 to 10. FIG. In addition, in each embodiment described below including the second embodiment, the same reference numerals are given to substantially the same configurations as in the first embodiment, and the description thereof is omitted. Further, the second to tenth embodiments below are modified examples of the antenna device 1, and the configuration of the antenna device is different from that of the first embodiment.

As shown in FIG. 7, the antenna device 2 of the second embodiment has a plurality of (four in this embodiment) elevation angle antennas. The antenna device 2 has four elevation angle antennas, ie, a first antenna 41 , a second antenna 42 , a third antenna 43 and a fourth antenna 44 . The first antenna 41, the second antenna 42, the third antenna 43, and the fourth antenna 44 are arranged in this order in the circumferential direction with the parabolic surface facing outward, and at substantially the same height position of the rotation shaft 35. is provided in The first to

fourth antennas

41, 42, 43, 44 have the same configuration as the azimuth angle antenna 11 of the first embodiment, and have radiators 33 and reflectors 34, respectively.

Acquisition of the azimuth angle and distance of the target and derivation of position-related information are the same as in the first embodiment. When the elevation angle and the distance are detected, the elevation angle antennas may be swung so that the elevation angles of the

antennas

41, 42, 43, and 44 are the same, or the elevation angle of one of the adjacent antennas may be the same. may be alternately operated so that the elevation angle of the other antenna is between 90° and 0° when the other antenna operates so that the angle of elevation of the other antenna is between 0° and 90°. In addition, it can be implemented in various forms such as synchronizing two antennas facing each other (for example, the first antenna 41 and the third antenna 43, the second antenna 42 and the fourth antenna 44).

According to the second embodiment, the same effects as those of the first embodiment can be obtained. Furthermore, by providing a plurality of elevation angle antennas, a large azimuth direction angle that can be detected at one time can be ensured. can be less.

C. Third embodiment:
Next, a location information deriving system according to the third embodiment of the present disclosure will be described with reference to FIG. As shown in FIG. 11, the antenna device 3 of the third embodiment has a plurality (four in this embodiment) of elevation angle antennas. The antenna device 3 has four elevation angle antennas, ie, a first antenna 51, a second antenna 52, a third antenna 53, and a fourth antenna .

The first antenna 51, the second antenna 52, the third antenna 53, and the fourth antenna 54 are connected in this order in the elevation direction with the parabolic curved surface of the reflector 34 facing outward. It is configured by combining them into one rectangular frame. The antenna body 50, in which the four

antennas

51, 52, 53, and 54 are integrated, can be rotated by 360° in the elevation direction around the second rotating shaft 37 provided extending in the horizontal direction. The second rotating shaft 37 is connected to the first rotating shaft 36 in a state orthogonal to the first rotating shaft 36 extending in the vertical direction, and is rotatable in the elevation direction independently of the first rotating shaft 36. is.

In this antenna device 3, when detecting the elevation angle and the distance, the elevation angle of the whole sky is detected by the rotation of the second rotation shaft 37 in the elevation direction along with the rotation of the first rotation shaft 36 in the azimuth direction. be. In this embodiment as well, by synchronizing the two

rotating shafts

36 and 37, the azimuth angle and the elevation angle can be detected by rotating the first rotating shaft 36 once in the azimuth direction. According to the third embodiment, the same effects as those of the first embodiment can be obtained.

D. Fourth embodiment:
Next, a location information deriving system according to a fourth embodiment of the present disclosure will be described with reference to FIGS. 12 to 15. FIG. As shown in FIGS. 12 to 15, the antenna device 4 of the position information deriving system of the fourth embodiment includes a single dual-purpose antenna 55 that functions both as an azimuth angle antenna and as an elevation angle antenna. have. In the fourth embodiment, the azimuth angle antenna 11 of the antenna device 1 in the first embodiment is not provided, and the elevation angle antenna 12 substantially similar to that in the first embodiment also functions as an azimuth angle antenna for detecting the azimuth angle. It is something to do. Other configurations are the same as those of the first embodiment.

The antenna device 4 includes one dual-purpose antenna 55, an azimuth angle rotation mechanism section 13, and an elevation angle rotation mechanism section 14. In this antenna device 4, first, as shown in FIGS. 13 and 14, the rotating shaft 35 is rotated once while the reflecting surface of the dual-purpose antenna 55 is oriented substantially horizontally. The azimuth angle is thereby detected. Next, as shown in FIG. 15, from a state in which the reflecting surface of the dual-purpose antenna 55 is oriented substantially vertically, the rotating shaft 35 is rotated once while being swung in the elevation direction. This allows the elevation angle to be detected.

That is, in this embodiment, there is one dual-purpose antenna 55 whose posture can be changed in the elevation direction so as to have different directivities. When rotating the dual-purpose antenna 55 in the azimuth direction around the rotation shaft 35, the attitude in the elevation direction is changed and electromagnetic waves are scanned to detect the elevation angle and the distance.

According to the fourth embodiment, effects similar to those of the first embodiment can be obtained. Furthermore, since there is no need to separately provide an azimuth angle antenna and an elevation angle antenna, and only one dual-purpose antenna 55 is required, the configuration of the device can be simplified.

E. Fifth embodiment:
Next, a location information derivation system according to a fifth embodiment of the present disclosure will be described with reference to FIGS. 16 to 18. FIG. The antenna device 5 of the position information deriving system of the fifth embodiment differs from each of the above embodiments in that the elevation angle antenna is not a parabolic antenna and has a radiator movable control plate 59 . The configuration of the azimuth angle antenna 11 is the same.

As shown in FIG. 16, the elevation angle antenna 56 included in the antenna device 5 of the fifth embodiment includes a movable radiator 57 and a non-rotatably fixed reflector 58. . The reflector 58 has a substantially inverted conical shape when viewed from the side, and the diameter of the reflector 58 gradually decreases from the peripheral edge of the circular upper surface toward the lower tip. More specifically, when viewed from the side, the reflector 58 does not have a linear side portion but a curved shape that is concave inward. A side portion of the curved reflector 58 functions as a reflecting surface. The center axis of the reflector 58 coincides with the vertical up-down direction and the axial direction of the rotating shaft 35 .

The radiator movable control plate 59 is a disk-shaped member and is horizontally fixed with its center point C aligned with the lower end of the reflector 58 . As shown in FIG. 17, the radiator movable control plate 59 is formed with a groove 61 that serves as a movable route for the radiator 57 . In the present embodiment, the groove 61 is formed annularly around the center point C in plan view and substantially point-symmetrical. The groove 61 has four vertices in a plan view shape, and once enters radially inward from any one vertex to the adjacent vertex, and then goes radially outward again. In other words, the area between the vertices is recessed toward the center point C side.

The radiator 57 is movable in the groove 61 by a drive mechanism (not shown) in synchronization with rotation in the azimuth direction caused by the rotation of the rotary shaft 35 . That is, radiator 57 is movable relative to reflector 58 . When the azimuth antenna 11 rotates once, the radiator 57 makes one turn around the groove 61 . In FIG. 18, the solid line indicates the directivity gain when the radiator 57 is at an arbitrary position P1 in the groove 61 (the position of the radiator 57 indicated by the solid line in FIG. 16), and the radiator 57 is different from the position P1. The dashed line indicates the directional gain at the position P2 (the position of the radiator 57 indicated by the dashed line in FIG. 16).

As shown in FIG. 18, for example, the position at which the directional gain is high differs between when the radiator 57 is at position P1 and at position P2. That is, in place of the configuration in which the elevation angle antenna 12 itself used in each of the above-described embodiments is swung in the elevation direction, the position of the radiator 57 is changed with respect to the reflector 58, thereby varying the radiation angle of radio waves. It can scan radio waves.

According to the fifth embodiment, the same effects as those of the first embodiment can be obtained. Furthermore, since the elevation angle antenna 56 does not need to be swiveled, the radio wave scanning time can be shortened, for example, to about half compared to a configuration in which radio waves are scanned in the elevation direction by the swiveling motion. Save time. Further, if the radiator 57 is driven in the same manner as the azimuth angle rotation mechanism 13 (see FIG. 4 of the first embodiment), the elevation angle rotation mechanism 14 is not required, and one drive unit can be eliminated. , the durability of the system as a whole can be improved.

F. Sixth embodiment:
Next, a location information derivation system according to the sixth embodiment of the present disclosure will be described with reference to FIG. As shown in FIG. 19, the antenna device 6 of the position information deriving system of the sixth embodiment has a plurality of azimuth angle antennas 11 (two in the present embodiment), unlike the antenna device 5 of the fifth embodiment. ) and has a plurality (two in this embodiment) of movable radiators 57 constituting the elevation angle antenna 62 .

According to the sixth embodiment, effects similar to those of the fifth embodiment can be obtained. Furthermore, the radio wave scanning time can be shortened more favorably.

G. Seventh embodiment:
Next, a location information deriving system according to the seventh embodiment of the present disclosure will be described with reference to FIG. As shown in FIG. 20, the antenna device 7 of the position information deriving system of the seventh embodiment has a parabolic antenna applied as the reflector 34 of the elevation angle antenna 63 to the antenna device 5 of the fifth embodiment. points are different. The reflector 34 of the elevation antenna 63 rotates in the azimuth direction in synchronization with the azimuth antenna 11 . The movement of the radiator 57 is synchronized with the azimuth rotation of the reflector 34 of the elevation antenna 63 .

According to the seventh embodiment, even when the reflector 34 is configured with a parabolic antenna, the same effects as in the fifth embodiment can be obtained.

H. Eighth embodiment:
Next, a location information deriving system according to the eighth embodiment of the present disclosure will be described with reference to FIG. As shown in FIG. 21, the antenna device 8 of the position information deriving system of the eighth embodiment has a plurality of azimuth angle antennas 11 and elevation angle antennas 63 (this embodiment is different from the antenna device 7 of the seventh embodiment). It is different in that it has two (2) forms. The reflector 34 of the elevation antenna 63 rotates in the azimuth direction in synchronization with the azimuth antenna 11 . When a plurality of reflectors 34 of the elevation angle antenna 63 are arranged so as to cover 360° in the azimuth direction, the reflectors 34 do not need to be rotated.

According to the eighth embodiment, the same effects as those of the seventh embodiment can be obtained. Furthermore, even when the reflector 34 is configured by a parabolic antenna, by providing a plurality of azimuth angle antennas 11 and elevation angle antennas 63, the radio wave scanning time can be further shortened.

I. Ninth embodiment:
Next, a location information derivation system according to the ninth embodiment of the present disclosure will be described with reference to FIG. As shown in FIG. 22, the antenna device 9 of the position information deriving system of the ninth embodiment has two

elevation angle antennas

63 and 64, which are parabolic antennas, in contrast to the antenna device 8 of the eighth embodiment. The difference is that they are arranged asymmetrically with respect to the rotation axis 35 . For example, the radiator 57 that constitutes one of the elevation angle antennas 63 is controlled in movement by a radiator movement control plate 59, and the radiator 65 that constitutes the other elevation angle antenna 64 is appropriately movable by a drive means (not shown). Control.

According to the ninth embodiment, the same effects as those of the eighth embodiment can be obtained. Furthermore, by changing the movable routes of the plurality of

movable radiators

57 and 65, the directivity of radio waves can be set as desired. In other words, the angle that can be detected with high resolution can be changed, and the resolution of the system can be improved.

J. Tenth embodiment:
Next, a location information derivation system according to the tenth embodiment of the present disclosure will be described with reference to FIG. As shown in FIG. 23, the antenna device 10 of the position information deriving system of the tenth embodiment differs from the antenna device 6 of the sixth embodiment in the configuration of the elevation angle antenna.

As shown in FIG. 23, the elevation angle antenna 70 of the tenth embodiment includes a hemispherical dome-shaped dielectric lens 71 and a radiator 72 . The radiator 72 is accommodated at a substantially central position within the dome of the dielectric lens 71 and is provided so that its tip faces the lens 71 at an angle of about 60° with respect to the rotation axis 35 . The elevation angle antenna 70 rotates the radiator 72 in accordance with the rotation of the rotating shaft 35 in the azimuth angle direction, and further swings in the elevation angle direction to detect the elevation angle. The radio waves emitted toward the dielectric lens 71 pass through the lens 71 and are converged. According to the tenth embodiment, the effects (1) to (3) of the first embodiment can be obtained.

k. Eleventh embodiment:
Next, a location information derivation system according to the eleventh embodiment of the present disclosure will be described with reference to FIG. The eleventh embodiment is a modification of detection processing of target position-related information executed in the systems described in the first to tenth embodiments.

The azimuth angle information acquisition unit 16 of the eleventh embodiment calculates the velocity of the target based on the reflected wave detected by the azimuth angle antenna 11 . The elevation angle information acquisition unit 17 also calculates the speed of the target based on the reflected wave detected by the elevation angle antenna 12 . Note that when the relative velocity between the target and the position information deriving system 100 is not zero, a Doppler component is generated in the received signal of the reflected wave from the target, and a phase change appears according to the Doppler frequency. Velocity can be calculated from this Doppler frequency variation.

As shown in FIG. 24, in S11, the azimuth angle, distance, and speed of the target are acquired from the received wave received by the azimuth angle antenna 11 by the azimuth angle information acquisition unit 16 . Next, in S22, the elevation angle, distance, and velocity of the target are obtained from the reception wave received by the elevation angle antenna 12 by the elevation angle information acquisition unit 17 .

Next, in S33, the determination unit 18 compares the distance and speed obtained based on the data of the azimuth information acquisition unit 16 and the distance and speed obtained based on the data of the elevation information acquisition unit 17. Targets that are executed and take the same value are determined to be the same target. The processing of S4 is the same as in the first embodiment.

In this embodiment, in addition to the distance parameter as described above, the speed of the target calculated based on the reflected wave detected by the azimuth antenna 11 and the reflected wave detected by the elevation antenna 12 are compared with the velocity of the target calculated by , and the targets having the same value are determined to be the same target. That is, in the present embodiment, when determining the same target, not only the "distance" but also the "speed" are taken into account as parameters, and the target that takes the same value both in the distance comparison and the speed comparison. are determined to be the same target. As a result, for example, when a plurality of targets at the same distance are detected, the same target can be accurately determined by adding the condition of "same speed" in addition to the condition of "same distance".

L. Other embodiments:
(L1) In each of the above embodiments, a parabolic antenna was used as an antenna as appropriate, but other directional antennas such as an array antenna that electronically scans electromagnetic waves may be used.

(L2) Further, as the parabolic antenna, as shown in FIG. 25, a parabolic antenna 81 having a square shape with rounded corners instead of a substantially circular shape may be used. FIG. 25 shows an example applied to the antenna device 1 in the first embodiment, but if detection is possible, it can be applied to the

elevation antennas

12, 63, 64 and the azimuth antenna 11 in other embodiments. good too.

(L3) As a modification of the third embodiment, as shown in FIG. 26, the elevation angle antenna may be composed of two antennas, the first antenna 51 and the third antenna 53 .

(L4) In each of the above embodiments, the elevation angle antenna 12 is assumed to reciprocate within a range of 90 degrees. However, the angle range can be appropriately changed to a suitable range according to the installation position and orientation of the turntable of the system 100, the size of the space to be monitored, the number of antenna devices that can be arranged, and the like.

(L5) In the first to third embodiments, the elevation angle antenna 12 and the azimuth angle antenna 11 have the same rotation axes 35 and 36 in the azimuth direction. may A separate axis of rotation may be provided for each

antenna

11 , 12 .
The information processing unit 20 and the techniques described in this disclosure can be performed by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. , may be implemented. Alternatively, the information processor 20 and the techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the information processing unit 20 and techniques described in the present disclosure may be a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured in combination. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

The present disclosure is not limited to the above-described embodiments, and can be implemented in various configurations without departing from the scope of the present disclosure. For example, the technical features in each embodiment corresponding to the technical features in the form described in the outline of the invention are used to solve some or all of the above problems, or Substitutions and combinations may be made as appropriate to achieve part or all. Also, if the technical features are not described as essential in this specification, they can be deleted as appropriate.

Claims

An antenna device having an azimuth angle antenna (11) and an elevation angle antenna (12, 56, 62, 63, 64, 70), radiating radio waves to a detection target and receiving a reflected wave from the detection target. (1,2,3,4,5,6,7,8,9,10) and
an azimuth angle information acquisition unit (16) for acquiring the distance from the antenna device to the detection target and the azimuth angle of the detection target based on the reflected wave detected by the azimuth angle antenna;
an elevation angle information acquisition unit (17) for acquiring the distance from the antenna device to the detection target and the elevation angle of the detection target based on the reflected wave detected by the elevation angle antenna;
A determination unit ( 18) and
a deriving unit (19) for deriving position-related information related to the position of the same detected object from the azimuth angle, elevation angle, and distance of the same detected object;
A location information derivation system comprising:
The location information derivation system according to claim 1, wherein the derivation unit derives the latitude, longitude, and altitude of the same detected object as the location-related information.
The azimuth angle information acquisition unit acquires the velocity of the detection target calculated based on the reflected wave detected by the azimuth angle antenna,
The elevation angle information acquisition unit acquires the velocity of the detection target calculated based on the reflected wave detected by the elevation angle antenna,
In addition to the distance comparison, the determination unit compares the speed obtained by the azimuth angle information acquisition unit and the speed obtained by the elevation angle information acquisition unit. 3. The positional information deriving system according to claim 1, wherein the detection objects that take the same value in both of and are determined to be the same detection object.
The position information derivation system according to any one of claims 1 to 3, wherein the radio waves emitted by the antenna device are pulse waves.
The antenna device is
an elevation rotation mechanism (14) for rotating the elevation angle antenna in the elevation direction;
An azimuth rotation mechanism (13) for rotating the azimuth angle antenna and the elevation angle antenna in the azimuth direction about the same rotation axis (35). 1. The location information derivation system according to 1.
Assuming that the angle in the azimuth direction that can be detected by the elevation antenna at one time is a detection angle R°, and the value obtained by dividing 360° by the detection angle R° is the number of times T,
6. The position information deriving system according to claim 5, wherein the elevation angle antenna scans electromagnetic waves in the elevation angle direction a number of times equal to or greater than the number of times T while the azimuth angle antenna detects 360 degrees in the azimuth angle direction.
　The position information deriving system according to claim 5, wherein the elevation angle antenna and the azimuth angle antenna are composed of a single dual-purpose antenna capable of changing its posture in the elevation direction so as to have different directivities.
The antenna device has an azimuth angle rotation mechanism (13) that allows the azimuth angle antenna and the elevation angle antenna to rotate in the azimuth direction around the same rotation axis (35),
the elevation antenna has a non-rotatably fixed reflector (58) and movable radiators (57, 65) movable relative to the reflector;
When the elevation angle antenna rotates in the azimuth direction around the rotation axis, the radiator moves while changing the distance with respect to the reflector. 5. The position information deriving system according to any one of claims 1 to 4, which detects an elevation angle of an object.
The position information derivation system according to claim 8, wherein the reflector of the elevation angle antenna has a concave parabolic surface.
the reflector of the elevation antenna is a fixed hemispherical lens (71),
the radiator is provided inside the lens,
9. The position information deriving system according to claim 8, wherein radio waves emitted from said radiator are converged by passing through said lens.
At least one of the azimuth antenna and the elevation antenna is a parabolic antenna having a radiator (31, 32, 57, 65) and a reflector (32, 34) having a concave parabolic curved surface. The location information deriving system according to any one of claims 1 to 10, wherein:
The position information deriving system according to any one of claims 1 to 11, wherein at least one of the elevation angle antenna and the azimuth angle antenna is provided in plurality.