WO2023026548A1 - レーダ装置および利得調整方法 - Google Patents

レーダ装置および利得調整方法 Download PDF

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Publication number
WO2023026548A1
WO2023026548A1 PCT/JP2022/012633 JP2022012633W WO2023026548A1 WO 2023026548 A1 WO2023026548 A1 WO 2023026548A1 JP 2022012633 W JP2022012633 W JP 2022012633W WO 2023026548 A1 WO2023026548 A1 WO 2023026548A1
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WIPO (PCT)
Prior art keywords
signal
amplitude
maximum value
quadrature
phase
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/012633
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English (en)
French (fr)
Japanese (ja)
Inventor
佳文 大西
航輝 山口
卓也 沖本
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Furuno Electric Co Ltd
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Furuno Electric Co Ltd
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Priority to JP2023543665A priority Critical patent/JPWO2023026548A1/ja
Priority to EP22860846.9A priority patent/EP4394433A4/en
Publication of WO2023026548A1 publication Critical patent/WO2023026548A1/ja
Anticipated expiration legal-status Critical
Priority to US18/592,635 priority patent/US20240201325A1/en
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/358—Receivers using I/Q processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/038—Feedthrough nulling circuits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers

Definitions

  • the present invention relates to a radar device and gain adjustment method.
  • Patent Document 1 Japanese Unexamined Patent Application Publication No. 2001-228240 discloses the following received signal amplifying device. That is, the received signal amplifier amplifies the received signal in the received signal amplifier of the FMCW radar that transmits radio waves, receives the reflected waves from the target, and obtains the distance to the target or the relative speed with respect to the target.
  • a plurality of amplifiers connected in cascade for the purpose of the conversion, and from among the amplifiers, the amplifier whose output voltage matches the input voltage range of the A/D conversion means and whose level is the highest is selected, and its output is converted to A and an output selection means leading to the /D conversion means.
  • Patent Document 1 selectively uses one or more amplifiers out of a plurality of amplifiers to adjust the gain of the received signal, and it is difficult to finely adjust the gain of the received signal. .
  • the technique of controlling the gain of a received signal using an AGC (Auto Gain Control) circuit which is described as a conventional technique in Patent Document 1, may not be able to appropriately adjust the gain of the received signal.
  • the gain of the received signal cannot be adjusted appropriately, for example, the strength of the received signal after gain adjustment may become excessively large.
  • the present invention has been made to solve the above-described problems, and its object is to provide a radar device and a gain adjustment method capable of more appropriately adjusting the gain of a received signal.
  • a radar device includes a transmitter that transmits a transmission signal whose frequency is changed over time, and a transmitter that reflects the transmission signal from an object and returns it. a receiver that receives radio waves as a received signal; a frequency converter that generates an in-phase signal and a quadrature signal based on the received signal; an in-phase amplitude signal that indicates the amplitude of the in-phase signal; and the amplitude of the quadrature signal.
  • a maximum value selection unit that selects, as a maximum value signal, one of the in-phase amplitude signal and the quadrature amplitude signal that has a higher level, and based on the maximum value signal and a gain adjusting section for adjusting the gain of the received signal.
  • the in-phase signal and the quadrature signal are generated based on the received signal, and the in-phase amplitude signal indicating the amplitude of the in-phase signal and the quadrature amplitude signal indicating the amplitude of the quadrature signal are selected as the one with the higher level.
  • the in-phase signal and the quadrature signal Since the gain of the received signal can be adjusted based on the larger amplitude of the two amplitudes, it is possible to prevent the strength of the received signal after the gain adjustment from becoming excessively large.
  • the gain of the received signal can be adjusted more appropriately. Further, the gain of the received signal can be adjusted according to the magnitudes of the amplitudes of the in-phase signal and the quadrature signal in which the influence of the interference of the transmitted signal with respect to the received signal is reduced. Further, the process of generating the in-phase amplitude signal and the quadrature amplitude signal and selecting the maximum value signal can be realized by a simple circuit configuration consisting of general-purpose parts such as operational amplifiers, resistors, capacitors and diodes.
  • the radar device further includes a low-pass filter that receives the maximum value signal and attenuates components of the maximum value signal that have a predetermined frequency or higher, and the gain adjustment unit includes the low-pass filter The gain of the received signal may be adjusted based on the maximum value signal that has passed through.
  • the gain of the received signal can be adjusted based on the smoothed maximum signal with the ripple removed, so that the gain can be adjusted more accurately according to the level of the received signal. be able to.
  • the amplitude signal generation section, the maximum value selection section, the low-pass filter, and the gain adjustment section may be configured by analog circuits.
  • the gain can be adjusted with higher responsiveness to fluctuations in the level of the received signal, compared to a configuration that adjusts the gain of the received signal using a digital circuit.
  • the frequency conversion section generates the in-phase signal and the quadrature signal in the baseband band
  • the amplitude signal generation section generates the in-phase amplitude signal indicating the amplitude of the in-phase signal in the baseband band
  • the quadrature amplitude signal indicating the amplitude of the quadrature signal in the baseband may be generated.
  • the amplitudes of the in-phase and quadrature signals can be adjusted to reduce the influence of the interference of the transmitted signal on the received signal. Since the gain of the received signal can be adjusted accordingly, it is possible to suppress the occurrence of gain control malfunction.
  • the radar device further includes an A/D converter that digitally converts the in-phase signal and the quadrature signal, and converts the in-phase signal and the quadrature signal digitally converted by the A/D converter to:
  • the configuration may include a data conversion unit that converts into amplitude data indicating the relationship between distance and amplitude.
  • the distance between the radar device and the object can be detected over a wide dynamic range based on the transmitted signal and the gain-adjusted received signal.
  • a gain adjustment method is a gain adjustment method in a radar apparatus, in which a transmission signal whose frequency is changed over time is transmitted, and the transmission signal is reflected by an object.
  • receive the returned radio wave as a received signal generate an in-phase signal and a quadrature signal based on the received signal, an in-phase amplitude signal indicating the amplitude of the in-phase signal and a quadrature amplitude indicating the amplitude of the quadrature signal
  • a signal having a higher level is selected as a maximum value signal from the in-phase amplitude signal and the quadrature amplitude signal, and the gain of the received signal is adjusted based on the maximum value signal.
  • the in-phase signal and the quadrature signal are generated based on the received signal, and the in-phase amplitude signal indicating the amplitude of the in-phase signal and the quadrature amplitude signal indicating the amplitude of the quadrature signal are selected as the one with the higher level.
  • In-phase and quadrature signals when the amplitudes of the in-phase and quadrature signals are different from each other due to the gain of each signal path, etc., by adjusting the gain of the received signal based on the maximum value signal Since the gain of the received signal can be adjusted based on the larger amplitude of the two amplitudes, it is possible to prevent the strength of the received signal after the gain adjustment from becoming excessively large.
  • the gain of the received signal can be adjusted more appropriately. Further, the gain of the received signal can be adjusted according to the magnitudes of the amplitudes of the in-phase signal and the quadrature signal in which the influence of the interference of the transmitted signal with respect to the received signal is reduced. Further, the process of generating the in-phase amplitude signal and the quadrature amplitude signal and selecting the maximum value signal can be realized by a simple circuit configuration consisting of general-purpose parts such as operational amplifiers, resistors, capacitors and diodes.
  • FIG. 1 is a diagram showing the configuration of a radar device according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing the configuration of the adjustment section in the radar device according to the embodiment of the present invention.
  • FIG. 3 is a diagram showing an example of a signal received by the amplitude signal generator in the radar device according to the embodiment of the present invention.
  • FIG. 4 is a diagram showing an example of a signal output by the amplitude signal generator in the radar device according to the embodiment of the present invention.
  • FIG. 5 is a diagram showing an example of a maximum value signal output by the maximum value selector in the radar device according to the embodiment of the present invention.
  • FIG. 6 is a diagram showing an example of a maximum value signal output by an LPF (Low Pass Filter) in the radar device according to the embodiment of the present invention.
  • FIG. 7 is a diagram showing an example of a signal output from the frequency converter in the radar device according to the embodiment of the invention.
  • FIG. 8 is a diagram showing an example of the circuit configuration of the adjustment section in the radar device according to the embodiment of the present invention.
  • FIG. 9 is a diagram for explaining the operation of the circuit of the adjustment section in the radar device according to the embodiment of the present invention.
  • FIG. 10 is a diagram for explaining the operation of the circuit of the adjustment section in the radar device according to the embodiment of the present invention.
  • FIG. 11 is a flow chart defining an example of the operation procedure when the radar apparatus according to the embodiment of the present invention adjusts the gain of the received signal.
  • FIG. 1 is a diagram showing the configuration of a radar device according to an embodiment of the present invention.
  • radar device 300 includes radar section 201 and display processing section 202 .
  • the radar unit 201 includes a signal generation unit 110, a transmission unit 120, a transmission antenna 130, a reception antenna 140, a reception unit 150, a frequency conversion unit 170, an A/D (Analog to Digital) conversion unit 180, A signal processing section 190 and an adjustment section 100 are included.
  • the signal processor 190 is an example of a data converter.
  • the radar device 300 is an FM-CW radar device, and is mounted on a ship, for example.
  • the radar device 300 performs processing for displaying, on a display device (not shown), an echo image indicating the presence or absence of a target in the detection target area monitored by the ship and the distance between the radar device 300 and the target.
  • the radar unit 201 outputs, to the display processing unit 202, echo data indicating the target detection result in the division target area, which is a region obtained by dividing the detection target area into a plurality of regions. Transmitting antenna 130 and receiving antenna 140 rotate so that the azimuth angle of the radiation direction of radio waves from transmitting antenna 130 changes by a predetermined angle every predetermined sweep period T. FIG. The radar unit 201 outputs echo data in a plurality of division target areas for each sweep period T to the display processing unit 202 .
  • the display processing unit 202 performs processing for displaying echo images in the detection target area on the display device based on a plurality of pieces of echo data received from the radar unit 201 .
  • the signal generating section 110 repeatedly generates an analog signal of a predetermined pattern and outputs it to the transmitting section 120 . More specifically, signal generating section 110 outputs to transmitting section 120 an analog signal generated using, for example, an FM-CW modulation method in sweep period T and whose frequency increases by a predetermined amount per unit time.
  • signal generator 110 includes, for example, a voltage generator and a VCO (Voltage-Controlled Oscillator). The voltage generator generates an FM modulated voltage whose magnitude increases at a constant rate during the sweep period T and outputs it to the VCO. The VCO generates an analog signal having a frequency corresponding to the magnitude of the FM modulated voltage received from the voltage generator and outputs it to the transmitter 120 .
  • VCO Voltage-Controlled Oscillator
  • the transmission unit 120 transmits a transmission signal whose frequency is changed over time. More specifically, the transmission unit 120 generates an RF (Radio Frequency) band transmission signal based on the analog signal received from the signal generation unit 110 in the sweep period T, and transmits the generated RF band transmission signal to the radar. The signal is output to the division target area via the transmitting antenna 130 that rotates as the unit 201 rotates. Further, the transmission section 120 outputs the generated transmission signal in the RF band to the frequency conversion section 170 . Specifically, for example, transmission section 120 includes a frequency multiplier and a power amplifier. The frequency multiplier generates an RF band transmission signal based on the analog signal received from signal generation section 110 and outputs the generated transmission signal to power amplifier and frequency conversion section 170 . In transmission section 120 , the power amplifier amplifies the transmission signal received from the frequency multiplier and outputs the amplified transmission signal to the division target area via transmission antenna 130 .
  • RF Radio Frequency
  • the receiving unit 150 receives, as a received signal, a radio wave that has returned after the transmitted signal has been reflected by an object. More specifically, the receiving unit 150 receives an RF-band reflected signal, which is a signal in which a transmission signal transmitted from the transmitting antenna 130 is reflected by an object in the division target area, and rotates as the radar unit 201 rotates. Receive via antenna 140 . For example, receiving section 150 amplifies the received signal in the RF band and outputs the amplified signal to frequency converting section 170 . More specifically, receiver 150 includes a variable gain amplifier. The variable gain amplifier amplifies a received signal received via receiving antenna 140 and outputs the amplified received signal to frequency conversion section 170 . The variable gain amplifier changes its gain according to the control voltage received from adjustment section 100 .
  • the receiving unit 150 may be configured to attenuate the received RF band signal and output the attenuated signal to the frequency converting unit 170 .
  • receiving section 150 includes a low noise amplifier and a variable gain attenuator instead of the variable gain amplifier.
  • the low noise amplifier amplifies the received signal received via the receiving antenna 140 .
  • the variable gain attenuator attenuates the received signal amplified by the low noise amplifier and outputs the attenuated received signal to frequency conversion section 170 .
  • the variable gain attenuator changes its gain, that is, its attenuation rate, according to the control voltage received from the adjustment section 100 .
  • the frequency converter 170 generates the I signal Si and the Q signal Sq based on the received signal received by the receiver 150 .
  • frequency conversion section 170 generates baseband I signal Si and Q signal Sq.
  • the I signal Si is an example of an in-phase signal.
  • Q signal Sq is an example of a quadrature signal.
  • I signal Si and Q signal Sq are signals having a frequency component that is the difference between the frequency component of the transmission signal transmitted by transmission section 120 and the frequency component of the reception signal received by reception section 150 . More specifically, frequency conversion section 170 includes two mixers.
  • a branching unit branches the transmission signal output from the transmission unit 120 , adds a phase difference of 90° to the branched transmission signal, and outputs the branched transmission signal to each mixer in the frequency conversion unit 170 .
  • a branching unit branches the received signal output from the receiving unit 150 and outputs the branched signal to each mixer in the frequency converting unit 170 .
  • the two mixers in the frequency conversion section 170 multiply the transmission signal and the reception signal, respectively, to generate a baseband beat signal Sbb consisting of a set of the I signal Si and the Q signal Sq.
  • Output to /D conversion section 180 For example, frequency conversion section 170 outputs beat signal Sbb from which the low-frequency component and DC component have been removed by a capacitor to adjustment section 100 and A/D conversion section 180 .
  • the adjusting section 100 performs AGC of the variable gain amplifier in the receiving section 150 based on the beat signal Sbb received from the frequency converting section 170 .
  • the adjustment section 100 performs IAGC (Instantaneous Auto Gain Control) of the variable gain amplifier. More specifically, the adjustment unit 100 adjusts the gain of the received signal by generating a control voltage based on the beat signal Sbb received from the frequency conversion unit 170 and feeding back the generated control voltage to the variable gain amplifier. do. Details of the adjustment unit 100 will be described later.
  • the A/D converter 180 digitally converts the I signal Si and the Q signal Sq. That is, the A/D converter 180 converts the analog beat signal Sbb received from the frequency converter 170 into the beat signal SD, which is a digital signal composed of a set of the I signal Si and the Q signal Sq. More specifically, the A/D conversion unit 180 performs sampling at a predetermined sampling frequency every sweep period T to generate N beats each consisting of a set of N I signals Si and N Q signals Sq. A signal SD is generated and output to the signal processing unit 190 . N is an integer of 2 or more.
  • the signal processing unit 190 converts the I signal Si and the Q signal Sq digitally converted by the A/D conversion unit 180 into amplitude data DS indicating the relationship between the distance d and the amplitude. That is, the signal processing section 190 converts the beat signal SD received from the A/D conversion section 180 into amplitude data DS indicating the relationship between the distance d from the radar device 300 and the amplitude. More specifically, the signal processing unit 190 receives N beat signals SD consisting of sets of N I signals Si and N Q signals Sq from the A/D conversion unit 180 every sweep period T. , the sum of the square of the I signal Si and the square of the Q signal Sq is calculated for each pair to convert the beat signal SD from a complex voltage to a real signal voltage.
  • the signal processing section 190 generates a power spectrum by performing processing such as window function processing and FFT processing on the beat signal SD converted into the actual signal voltage.
  • the signal processing unit 190 multiplies the frequency in the generated power spectrum by a predetermined coefficient C to convert the frequency into a distance, and the like, thereby generating the amplitude data DS.
  • the signal processing unit 190 generates echo data by logarithmically transforming the absolute value of the generated amplitude data DS, and outputs the generated echo data to the display processing unit 202 .
  • Radar device 300 may be configured to include one antenna that functions as transmitting antenna 130 and receiving antenna 140, instead of transmitting antenna 130 and receiving antenna 140, as an antenna for transmitting and receiving radio waves.
  • transmitting section 120 transmits the transmission signal to the division target area via the circulator and the antenna.
  • the receiving unit 150 receives a received signal via the antenna and the circulator.
  • the display processing unit 202 generates integrated data, which is echo data in the detection target area, based on the echo data for each division target area received from the signal processing unit 190, and based on the generated integrated data, displays the data in the detection target area. Processing for displaying the echo image on a display device (not shown) is performed.
  • FIG. 2 is a diagram showing the configuration of the adjustment section in the radar device according to the embodiment of the present invention.
  • adjusting section 100 includes an amplitude signal generating section 10 , a maximum value selecting section 20 , a low pass filter (LPF) 30 and a gain adjusting section 40 .
  • LPF low pass filter
  • the amplitude signal generator 10 generates an amplitude signal Smi indicating the amplitude of the I signal Si and an amplitude signal Smq indicating the amplitude of the Q signal Sq.
  • the amplitude signal generator 10 generates an amplitude signal Smi indicating the amplitude of the baseband I signal Si and an amplitude signal Smq indicating the amplitude of the baseband Q signal Sq.
  • the amplitude signal Smi is an example of an in-phase amplitude signal.
  • Amplitude signal Smq is an example of a quadrature amplitude signal.
  • FIG. 3 is a diagram showing an example of a signal received by the amplitude signal generator in the radar device according to the embodiment of the present invention.
  • the solid line indicates the I signal Si and the dashed line indicates the Q signal Sq.
  • FIG. 4 is a diagram showing an example of the signal output by the amplitude signal generator in the radar device according to the embodiment of the present invention.
  • the solid line indicates the amplitude signal Smi and the dashed line indicates the amplitude signal Smq.
  • amplitude signal generation unit 10 receives I signal Si and Q signal Sq in the baseband output from frequency conversion unit 170, and determines the level of received I signal Si.
  • the amplitude signal Smi indicating the absolute value and the amplitude signal Smq indicating the absolute value of the level of the received Q signal Sq are output to the maximum value selection unit 20 .
  • the amplitude signal generator 10 outputs the amplitude signal Smi, which is the full-wave rectified waveform of the I signal Si, and the amplitude signal Smq, which is the full-wave rectified waveform of the Q signal Sq, to the maximum value selector 20. .
  • the radar section 201 may be configured to include an offset applying circuit (not shown).
  • the offset applying circuit receives the I signal Si and the Q signal Sq output from the frequency conversion unit 170, gives the received I signal Si and the Q signal Sq with an offset voltage Vo of a predetermined level, and adjusts the adjustment unit 100 and A Output to /D conversion section 180 .
  • a unipolar A/D converter can be used as the A/D converter 180 .
  • the amplitude signal generator 10 receives the baseband I signal Si and the Q signal Sq output from the offset adding circuit, and an amplitude signal Smi indicating the absolute value of the level of the received I signal Si, An amplitude signal Smq indicating the absolute value of the level of the received Q signal Sq is output to the maximum value selection unit 20 .
  • the maximum value selection unit 20 selects the amplitude signal Smi or the amplitude signal Smq, whichever has the higher level, as the maximum value signal Smax.
  • FIG. 5 is a diagram showing an example of the maximum value signal output by the maximum value selection section in the radar device according to the embodiment of the present invention.
  • maximum value selection section 20 outputs maximum value signal Smax obtained by taking the maximum value of amplitude signals Smi and Smq received from amplitude signal generation section 10 to LPF 30 .
  • LPF 30 receives maximum value signal Smax and attenuates components of the maximum value signal Smax that are equal to or higher than a predetermined frequency.
  • FIG. 6 is a diagram showing an example of the maximum value signal output by the LPF in the radar device according to the embodiment of the invention.
  • LPF 30 filters maximum value signal Smax received from maximum value selection unit 20 and outputs maximum value signal Fmax, which is a smoothed signal with ripples removed, to gain adjustment unit 40 . .
  • the level of the maximum value signal Fmax output by the LPF 30 is close to the peak voltage of the sine waves.
  • the level of the maximum value signal Fmax is proportional to the levels of the I signal Si and the Q signal Sq that the amplitude signal generator 10 receives from the frequency converter 170 .
  • Gain adjustment section 40 adjusts the gain of the received signal based on maximum value signal Smax. For example, based on the maximum value signal Fmax that has passed through the LPF 30, the gain of the received signal is adjusted.
  • gain adjustment section 40 generates a control voltage corresponding to the level of maximum value signal Fmax received from LPF 30 and outputs the generated control voltage to the variable gain amplifier in reception section 150 .
  • the gain adjustment section 40 includes an integrator using an operational amplifier.
  • the integrator receives a maximum value signal Fmax at its non-inverting input terminal, receives a reference voltage Vref at a predetermined level at its inverting input terminal, and outputs a control voltage from its output terminal.
  • reference voltage Vref is set in advance based on the dynamic range of A/D conversion section 180 .
  • FIG. 7 is a diagram showing an example of a signal output by the frequency converter in the radar device according to the embodiment of the present invention.
  • the solid line indicates the I signal Si output from the frequency converter 170 to the A/D converter 180 in the radar device 300
  • the dashed line indicates the frequency converter 170 in the radar device without the adjuster 100. to the A/D converter 180.
  • FIG. 7 is a diagram showing an example of a signal output by the frequency converter in the radar device according to the embodiment of the present invention.
  • the solid line indicates the I signal Si output from the frequency converter 170 to the A/D converter 180 in the radar device 300
  • the dashed line indicates the frequency converter 170 in the radar device without the adjuster 100. to the A/D converter 180.
  • Sbb may be output from frequency conversion section 170 to A/D conversion section 180 .
  • the level of the beat signal Sbb output from the frequency conversion section 170 to the A/D conversion section 180 converges to the level of the reference voltage Vref by the IAGC performed by the adjustment section 100. . Therefore, even when the level of the received signal increases, the level of the beat signal Sbb output from the frequency conversion unit 170 to the A/D conversion unit 180 is adjusted to match the dynamic range of the A/D conversion unit 180. can be adjusted to
  • FIG. 8 is a diagram showing an example of the circuit configuration of the adjustment section in the radar device according to the embodiment of the present invention.
  • FIG. 8 shows the circuit configurations of the amplitude signal generator 10, the maximum value selector 20 and the LPF 30. As shown in FIG.
  • the amplitude signal generation section 10, the maximum value selection section 20, and the LPF 30 are configured by analog circuits. More specifically, the amplitude signal generator 10 and the maximum value selector 20 have input terminals T1 and T2, resistors R1 to R10, diodes D1 to D6, and operational amplifiers OP1 to OP4. LPF 30 has a resistor R11, a capacitor C1, and an output terminal T3. For example, resistors R1 to R10 have the same resistance value.
  • the input terminal T1 receives the I signal Si output from the frequency conversion section 170 .
  • Input terminal T2 receives Q signal Sq output from frequency conversion section 170 .
  • the output terminal T3 outputs the maximum value signal Fmax to the gain adjustment section 40.
  • the input terminal T1 is connected to the first end of the resistor R1.
  • the input terminal T2 is connected to the first end of the resistor R6.
  • the second end of the resistor R1, the first end of the resistor R2, the inverting input terminal of the operational amplifier OP1, and the first end of the resistor R3 are connected.
  • a non-inverting input terminal of the operational amplifier OP1 is connected to the ground.
  • a second end of the resistor R2, a first end of the resistor R4 and the anode of the diode D1 are connected.
  • a cathode of the diode D1, an output terminal of the operational amplifier OP1, and an anode of the diode D2 are connected.
  • a second end of the resistor R4, a first end of the resistor R5, and an inverting input terminal of the operational amplifier OP2 are connected.
  • a second end of the resistor R3, a cathode of the diode D2, and a non-inverting input terminal of the operational amplifier OP2 are connected.
  • the output terminal of the operational amplifier OP2 and the anode of the diode D3 are connected.
  • the second end of the resistor R6, the first end of the resistor R7, the inverting input terminal of the operational amplifier OP3, and the first end of the resistor R8 are connected.
  • a non-inverting input terminal of the operational amplifier OP3 is connected to the ground.
  • a second end of the resistor R7, a first end of the resistor R9 and the anode of the diode D4 are connected.
  • the cathode of the diode D4, the output terminal of the operational amplifier OP3, and the anode of the diode D5 are connected.
  • a second end of the resistor R9, a first end of the resistor R10, and an inverting input terminal of the operational amplifier OP4 are connected.
  • the second end of resistor R8, the cathode of diode D5, and the non-inverting input terminal of operational amplifier OP4 are connected.
  • the output terminal of operational amplifier OP4 and the anode of diode D6 are connected.
  • the second end of the resistor R5, the cathode of the diode D3, the second end of the resistor R10, the cathode of the diode D6, and the first end of the resistor R11 are connected.
  • a second end of the resistor R11, a first end of the capacitor C1, and the output terminal T3 are connected.
  • a first end of the capacitor C1 is connected to the ground.
  • FIG. 9 is a diagram for explaining the operation of the circuit of the adjustment section in the radar device according to the embodiment of the present invention.
  • FIG. 9 shows the operation of the circuit in the amplitude signal generator 10 and the maximum value selector 20 when the potentials of the node N1 at the first end of the resistor R1 and the node N2 at the first end of the resistor R6 are positive. .
  • the operational amplifiers OP1 to OP4 perform inversion amplification. Therefore, the potential V3 of the node N3 between the output terminal of the operational amplifier OP2 and the anode of the diode D3 is equal to V1. Also, the potential V4 of the node N4 between the output terminal of the operational amplifier OP4 and the anode of the diode D4 is equal to V2.
  • FIG. 10 is a diagram for explaining the operation of the circuit of the adjustment section in the radar device according to the embodiment of the present invention.
  • FIG. 10 shows the operation of the circuit in the amplitude signal generating section 10 and the maximum value selecting section 20 when the potentials of the node N1 at the first end of the resistor R1 and the node N2 at the first end of the resistor R6 are negative. .
  • the amplitude signal generator 10 and maximum value selector 20 are represented by the equivalent circuit shown in FIG. 8 again, when the potential V1 of the node N1 and the potential V2 of the node N2 are negative, the diodes D2 and D5 are conductive and the diodes D1 and D4 are non-conductive. Therefore, when V1 and V2 are negative, the amplitude signal generator 10 and maximum value selector 20 are represented by the equivalent circuit shown in FIG.
  • the potential V5 of the node N5 on the non-inverting input terminal side of the operational amplifier OP2 is (-2/3) ⁇ V1 from the virtual short condition of the operational amplifier OP1 and Kirchhoff's law.
  • the potential V6 of the node N6 on the non-inverting input terminal side of the operational amplifier OP4 is (-2/3) ⁇ V2 according to the virtual short condition of the operational amplifier OP3 and Kirchhoff's law.
  • Operational amplifiers OP2 and OP4 perform non-inverting amplification. Therefore, the potential V3 of the node N3 is equal to -V1. Also, the potential V4 of the node N4 is equal to -V2.
  • V3 and V4 are equal to V1 and V2 respectively when V1 and V2 are positive, and -V1 and -V2 respectively when V1 and V2 are negative. . That is, V3 and V4 are equal to the absolute values of V1 and V2, respectively.
  • V3 when V3 is greater than V4, diode D3 becomes conductive and diode D6 becomes non-conductive.
  • V4 is greater than V3
  • diode D6 will conduct and diode D3 will not conduct. Therefore, potential V10 at node N10, which is on the cathode side of diode D3 and on the cathode side of diode D6, is equal to the larger potential of V3 and V4.
  • the amplitude signal generation unit 10 and the maximum value selection unit 20 receive the I signal Si and the Q signal Sq, and the amplitude signal Smi, which is the full-wave rectified waveform of the received I signal Si, and the received Q signal Sq.
  • a maximum value signal Smax obtained by taking the maximum value of the amplitude signal Smq, which is a full-wave rectified waveform, is output to the LPF 30 in the subsequent stage.
  • FIG. 11 is a flow chart defining an example of the operation procedure when the radar apparatus according to the embodiment of the present invention adjusts the gain of the received signal.
  • radar device 300 transmits a transmission signal whose frequency is changed over time (step S102).
  • the radar device 300 receives, as a received signal, the radio waves that have returned after the transmitted transmission signal has been reflected by an object (step S104).
  • the radar device 300 generates baseband I signal Si and Q signal Sq based on the received signal (step S106).
  • the radar device 300 generates an amplitude signal Smi indicating the amplitude of the baseband I signal Si and an amplitude signal Smq indicating the amplitude of the baseband Q signal Sq (step S108).
  • the radar device 300 selects the amplitude signal Smi or the amplitude signal Smq, whichever has the higher level, as the maximum value signal Smax (step S110).
  • the radar device 300 generates a maximum value signal Fmax by filtering the maximum value signal Smax (step S112).
  • the radar device 300 adjusts the gain of the received signal based on the maximum value signal Fmax. More specifically, gain adjusting section 40 in radar apparatus 300 outputs a control voltage corresponding to the level of maximum value signal Fmax to the variable gain amplifier in receiving section 150 (step S114).
  • transmitting section 120 transmits a transmission signal whose frequency is changed over time.
  • the receiving unit 150 receives, as a received signal, a radio wave that has returned after the transmitted signal has been reflected by an object.
  • Frequency conversion section 170 generates I signal Si and Q signal Sq based on the received signal.
  • the amplitude signal generator 10 generates an amplitude signal Smi indicating the amplitude of the I signal Si and an amplitude signal Smq indicating the amplitude of the Q signal Sq.
  • the maximum value selection unit 20 selects the amplitude signal Smi or the amplitude signal Smq, whichever has the higher level, as the maximum value signal Smax.
  • Gain adjustment section 40 adjusts the gain of the received signal based on maximum value signal Smax.
  • the I signal Si and the Q signal Sq are generated based on the received signal, and the amplitude signal Smq indicating the amplitude of the I signal Si and the amplitude signal Smq indicating the amplitude of the Q signal Sq, whichever has the higher level, is
  • the configuration for adjusting the gain of the received signal based on the selected maximum signal Smax when the amplitude of the I signal Si and the amplitude of the Q signal Sq are different from each other due to the gain of each signal path, the I signal Since the gain of the received signal can be adjusted based on the amplitude of the larger one of the Si and Q signal Sq, it is possible to suppress an excessive increase in the strength of the received signal after the gain adjustment. can.
  • the gain of the received signal can be adjusted more appropriately. Further, the gain of the received signal can be adjusted in accordance with the magnitudes of the amplitudes of the I signal Si and the Q signal Sq in which the influence of the interference of the transmitted signal with respect to the received signal is reduced. Further, the process of generating the amplitude signal Smi and the amplitude signal Smq and selecting the maximum value signal Smax can be realized by a simple circuit configuration composed of general-purpose parts such as operational amplifiers, resistors, capacitors and diodes.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2022/012633 2021-08-23 2022-03-18 レーダ装置および利得調整方法 Ceased WO2023026548A1 (ja)

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JP2007155728A (ja) * 2006-12-01 2007-06-21 Mitsubishi Electric Corp Ｆｍ−ｃｗレーダ装置
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