JP2012168060A - Precision approach radar, precision approach radar control method and program for controlling the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably detect an airplane subject to landing guidance.SOLUTION: A precision approach radar executes: a step for using radar display means 30 to display approaching airplane information based on tracking target data D acquired from an ASR 40 and tracking target data E acquired from an SSR 50; a step for, when an operator selects an airplane to be guided, using a tracking management and control part 21 to calculate a predictive value and a predictive position of Doppler frequency of a target airplane that is detected by target detection means 10 based on the approaching airplane information of the selected airplane; a step for using a filter coefficient control part 14 to calculate a filter coefficient so that the calculated Doppler frequency becomes a central frequency; and a step for setting the filter coefficient calculated by the filter coefficient control part 14 to a target detection filter 11. The tracking management and control part 21 outputs a radio wave through an electronically-scanned antenna 1 that is set so that a transmission direction of the radio wave turns to a predictive position, and also receives a reflective wave of the radio wave. The target detection filter 11 extracts a target signal, which is a reflection signal of the airplane, from the received reflective wave.

Description

  The present invention relates to a precision approaching radar, and more particularly to a precision approaching radar that variably sets a filter characteristic of a Doppler filter for each aircraft to be tracked.

  The Precision Approach Radar (PAR) is used to precisely measure the position and speed of the guidance target aircraft when guiding the landing of an aircraft. Usually, it is an airport surveillance radar (ASR) and secondary monitoring. It is operated in conjunction with radar (SSR: Secondary Surveillance Radar).

  The aircraft is guided by the ASR and SSR described above until entering the final approach course when landing at the airport, and the control right is handed over to the PAR at about 10 nautical miles (NM) from the airport.

  In PAR, a multi-Doppler filter method is generally used in which multiple filters are installed and noise is removed by each filter in order to separate clutter, which is noise other than aircraft, and reflected signals from the target aircraft. The frequency characteristics of this filter are designed with fixed values.

  However, because the target aircraft to be landed have different approach speeds for landing depending on the model and situation, the frequency characteristics of the multi-Doppler filter are often not optimized values for each situation. There was a problem that detection became difficult.

  On the other hand, Patent Documents 1 to 4 are the contents of the above-mentioned technical field that have been specifically known conventionally.

  The technique disclosed in Patent Literature 1 acquires position information and speed information of a target aircraft from each of ASR and SSR operated in conjunction with PAR, and is output from PAR based on the acquired position information and speed information. This is a technology that sets the direction of irradiation of radio waves to the direction of the target aircraft.

  In addition, the technique disclosed in Patent Document 2 increases the number of transmission beams output from the PAR according to the situation, thereby improving the PAR target machine detection capability and simultaneous tracking when there are multiple target machines. It is a technology that makes it possible.

  Furthermore, the technique disclosed in Patent Document 3 is a PAR that outputs radio waves at preset time intervals, and predicts the speed that the target machine can take during the next scan based on the Doppler frequency of the target machine in the current scan. This is a technique for reducing the processing load by receiving and processing a frequency band in a speed range predicted from a reflected wave of radio waves.

  Furthermore, the technique disclosed in Patent Document 4 performs radar irradiation from a flying aircraft toward the ground surface, calculates the altitude of the aircraft from this reflected wave, and holds the calculated altitude information and altitude information for each point. The technology for identifying the position of the aircraft by synchronizing with the digital elevation map (DEM: Digital Elevation Model) is a technology for reducing the processing load when identifying the location. Different.

Hei 3-242579 JP 2010-156547 A JP 2000-346932 A Special table 2005-525557

  However, in the techniques disclosed in Patent Documents 1 to 3, the frequency characteristics of the filter that removes noise caused by reflections other than the target aircraft are fixed values. Inconvenient that the value is not optimal.

(Object of invention)
An object of the present invention is to provide a precision approaching radar capable of improving the disadvantages of the related art and capable of stably performing target object detection and position measurement.

  In order to achieve the above object, a precision approach radar according to the present invention includes a radio wave transmitting / receiving means for transmitting a radio wave having a preset frequency toward a landing aircraft and receiving a reflected wave of the radio wave, and the reflected wave A target object detecting means for detecting the Doppler frequency of the aircraft and calculating position information of the aircraft based on a reflection detection time of the Doppler frequency and calculating speed information of the aircraft based on the Doppler frequency; In the precision approaching radar provided with the display means for displaying the position information and speed information calculated by the object detection means on the screen as the approaching equipment information for control, the position information and speed information of the aircraft are separately installed in advance. Based on the position information obtained from another radar, the radio wave transmission direction of the radio wave transmitting / receiving means is calculated in advance and from the other radar Tracking control means for calculating a predicted value of Doppler frequency detected by the target detection means based on the obtained velocity information is provided, and the target detection means is a target detection for blocking radio waves other than the reflected wave as noise. Filter coefficient control for variably setting the filter coefficient of the target detection filter so that the predicted value of the Doppler frequency calculated by the filter and the tracking control means becomes the center frequency of the frequency band of the radio wave passing through the target detection filter And a section.

  Further, the precise approach radar control method according to the present invention includes a radio wave transmitting / receiving means for transmitting a radio wave having a preset frequency toward a landing-ready aircraft and receiving a reflected wave of the radio wave, and the reflected wave from the reflected wave Target detection means for detecting the Doppler frequency of the aircraft, calculating position information of the aircraft based on the reflection detection time of the Doppler frequency, and calculating speed information of the aircraft based on the Doppler frequency; and the target detection A precise approach radar having display means for displaying the position information and speed information calculated by the means as control information on the screen as control information, wherein the position information and speed information of the aircraft are separately installed in advance. Obtained from other radars, preliminarily calculating the radio wave transmission direction of the radio wave transmitting / receiving means based on the position information and obtained from the other radars The tracking control means calculates a predicted value of the Doppler frequency detected by the target detection means based on the speed information, and the predicted value of the Doppler frequency calculated by the tracking control means is a frequency band of a radio wave passing through the target detection filter. The filter coefficient control unit variably sets the filter coefficient of the target detection filter so that the target frequency becomes the center frequency of the target, and the target detection filter blocks the radio wave other than the reflected wave as noise based on the center frequency. It is characterized by that.

  Further, the precision approach radar control program according to the present invention includes a radio wave transmitting / receiving means for transmitting a radio wave having a preset frequency toward a landing-ready aircraft and receiving a reflected wave of the radio wave, and the reflected wave. Target detection means for detecting the Doppler frequency of the aircraft, calculating position information of the aircraft based on reflection detection time of the Doppler frequency, and calculating speed information of the aircraft based on the Doppler frequency; and the target A precision approaching radar provided with display means for displaying the position information and speed information calculated by the detection means on the screen as approaching equipment information, and the aircraft position information and speed information are separately installed in advance. The transmission direction of the radio wave of the radio wave transmitting / receiving means is calculated in advance based on the position information acquired from the other radar and the other radar A tracking control function for calculating a predicted value of the Doppler frequency detected by the target detection unit based on the acquired velocity information, and a predicted value of the Doppler frequency calculated by the tracking control unit for the radio wave passing through the target detection filter A filter coefficient control function for variably setting a filter coefficient of the target detection filter so as to be a center frequency of a frequency band, a target detection filter function for blocking radio waves other than the reflected wave as noise based on the center frequency, It is characterized in that it is programmed so as to be executable, and this is realized by a computer provided in advance in the precision approach radar.

  Since the present invention is configured as described above, according to this, the position information and speed information of the aircraft are acquired from other radars installed in advance, and the transmission direction of radio waves is calculated in advance based on the acquired position information. A predicted value of the Doppler frequency is calculated based on the acquired velocity information, and a filter coefficient is calculated by the filter coefficient control unit so that the calculated predicted value of the Doppler frequency becomes the center frequency and variably set in the target detection filter. This makes it possible to optimize the clutter removal and the received signal level in the precision approaching radar, stably detect the target aircraft and measure the position, and reduce the burden on the operator who performs the landing guidance control. It is possible to provide a precision approaching radar, a precision approaching radar control method, and a precision approaching radar control program.

1 is a block diagram showing an embodiment of a precision approaching radar according to the present invention. FIG. It is the flowchart which showed the operation | movement of the whole block diagram disclosed in FIG. FIG. 3 is an explanatory diagram comparing the filter characteristics of the target detection filter 11 in the block diagram disclosed in FIG. 1 with a conventional multi-Doppler filter, and (A) a diagram showing a spectrum of received video B as an input signal; FIG. 4 is a diagram showing filter characteristics of a conventional multi-Doppler filter, and FIG. 5C is a diagram showing filter characteristics of a target extraction filter 11. It is a block diagram which shows an example of other embodiment of the precise approach approach radar which concerns on this invention.

[First Embodiment]
In the following, an embodiment of a precision approaching radar according to the present invention will be described with reference to FIGS.

  First, the basic content of the precision approaching radar according to the present embodiment will be described with reference to FIGS.

  As shown in FIG. 1, a precision approaching radar (PAR) according to this embodiment includes an electronic scanning antenna 1, a radar transceiver 2 that transmits and receives radar radio waves, and a position of a target from a received video B. And target detection means 10 that detects and outputs the target detection data H, tracks the position of the target, predicts the position of the target in the next scan, and transmits the beam to the electronic scanning antenna 1 A tracking control means 20 that outputs a direction control signal F and sets an optimum value for the Doppler filter in the clutter suppression and target extraction processing from the Doppler frequency of the target predicted at the next scanning, display and final of target data Radar display means 30 having a function of selecting a lander as a tracking target, an airport surveillance radar (ASR) 40, a secondary surveillance radar (SSR) It consists of Secondary Surveillance Radar) 50.

  The tracking control means 20 described above receives tracking target data D and E output from the ASR 40 and SSR 50, and in the radar display means 30, the position, speed, and course of the target designated as a target to be tracked by PAR. Further, the beam directing direction of the electronic scanning antenna 1 is calculated and output to the electronic scanning antenna 1 to control the beam radiation direction. Further, the relative speed of the target with respect to the PAR is calculated, the Doppler frequency is obtained, and is output to the target detection means 10 as the filter frequency control data G.

  Further, the target detection means 10 described above sets the center frequency of the filter in the clutter removal and target extraction processing to the Doppler frequency of the tracking target instructed from the tracking control means 20, and uses this filter to remove clutter caused by rainfall. The signal of the tracking target is extracted, and the target is detected.

  As a result, the filter specifications in the clutter suppression and target extraction processing for the tracking target from the start of tracking can be set to the optimum value for each tracking target, so that tracking of the target can be started stably. After tracking is started based on the tracking target data from the ASR 40 and SSR 50, the tracking target data acquired by PAR is used to control the beam radiation direction and determine the filter value for each tracking. The target detection of the tracking target is continued.

  For this reason, by forming an optimal Doppler filter for each tracking target, it is possible to obtain the maximum received signal level and to stably perform target detection in PAR.

  Next, the above embodiment will be described in more detail.

  First, as described above, the precision approaching radar according to the present embodiment transmits the radio wave toward the landing aircraft and receives the reflected wave of the radio wave, and the radio wave transmitting / receiving unit 3 receives the radio wave. The target detection means 10 for calculating the position information and speed information of the aircraft from the reflected wave, and the radio wave is transmitted toward the nose region of the aircraft based on the position information and speed information calculated by the target detection means 10. A tracking control means 20 for controlling the radio wave transmission / reception means 3 and a radar display means 30 for displaying the position information and speed information calculated by the target object detection means 10 on the screen as approaching equipment information for control purposes are provided.

  The radio wave transmission / reception means 3 described above generates a radio frequency (RF) signal A (transmission signal) at a preset time interval, outputs it to the electronic scanning antenna 1 and transmits it from the electronic scanning antenna 1. A radar transmission / reception unit 2 that receives an RF signal A (received signal) and outputs it as received video B, and a beam direction control signal F that is a signal for controlling the transmission direction of the radio wave output from the tracking control means 20 described above. Based on this, a radio wave transmission direction is set, and the RF signal A (transmission signal) described above is output in this direction as a radio wave, and a reflected wave of the radio wave is received and the RF signal A (reception signal) is sent to the radar transceiver 2 And an electronic scanning antenna unit 1 that transmits the data.

  The target detection means 10 described above includes a target detection filter 11 that removes frequency components of noise caused by reflections other than aircraft such as rainfall and reflection from the ground surface based on the received video B output from the radar transceiver unit 2; On the basis of the received video from which noise has been removed by the target object detection filter 11, the probability of detecting a reflected signal of an aircraft buried in the unnecessary signal while maintaining a constant probability of erroneously detecting an unnecessary signal other than the aircraft is fixed. An unnecessary signal processing unit 12 that performs alarm (CFAR: Constant False Alarm Rate) processing, and a reflected signal of the aircraft is detected based on the received video subjected to CFAR processing by the unnecessary signal processing unit 12, and based on the detected reflected signal A target detection processing unit 13 that calculates position information and speed information of the aircraft and outputs the target detection data I to the tracking control means 20 as target detection data I; I have.

  Thereby, the clutter component which becomes noise is removed from the reflected signal including noise other than the aircraft by the target detection filter 11, the constant error alarm processing is performed by the CFAR processing unit 12, and the target detection processing unit 13 Speed information and position information can be calculated, and target detection data I including the calculated speed information and position information can be output to the tracking control means 20.

  Further, the target detection means 10 extracts the Doppler frequency from the filter frequency control data G calculated by the tracking control means 20, and makes this Doppler frequency become the center frequency of the frequency band of the radio wave detected by the target detection filter 11. A filter coefficient control unit 14 is provided for calculating a simple filter coefficient and variably setting the calculated filter coefficient in the target object detection filter 11.

  The target detection filter 11 described above has a function of blocking signals other than a specific frequency band from the received video B as noise by the filter coefficient set by the filter coefficient control unit 14.

  Further, the above-described filter coefficient control unit 14 has a filter coefficient storage function in which the correspondence relationship between the filter coefficient and the cut-off frequency is stored in advance in a form not shown, and based on the stored contents of the filter coefficient storage function. It is assumed that a filter coefficient that allows passage of the center frequency is calculated.

  Accordingly, the filter coefficient control unit 14 can control the target detection filter 11 so that the predicted value of the Doppler frequency calculated by the tracking control unit 20 becomes the center frequency, and the target detection filter according to each situation. 11 filter characteristics can be changed.

  The aforementioned target detection processing unit 13 detects the Doppler frequency of the aircraft based on the detected reflected signal, calculates the speed information of the aircraft from the detected Doppler frequency, and the time when the Doppler frequency is detected. It has a function of calculating the position information of the aircraft based on the difference from the time when the radio wave is transmitted from the electronic scanning antenna 1.

  The tracking control means 20 described above has a function of acquiring tracking target data D including the position information and speed information of the aircraft from the ASR 40 separately provided in advance, and the position information and speed information of the aircraft from the SSR 50 provided separately in advance. And a tracking management control unit 21 having a function of acquiring tracking target object data E.

  Further, the tracking monitoring control unit 21 described above calculates the transmission direction of the radio wave in the electronic scanning antenna 1 based on the tracking target data D acquired from the ASR 40 and the tracking target data E acquired from the SSR 50, and performs beam direction control. The function of transmitting to the electronic scanning antenna as the signal F and the predicted value of the Doppler frequency of the aircraft included in the received video B input to the target detection filter 11 are calculated, and the filter coefficient control unit 14 provides the filter frequency control data G. It has a function of transmitting and a function of acquiring a system timing signal C for controlling the generation timing of the radio wave from the radar transceiver unit 2.

  Thereby, the tracking management control unit 21 can calculate the predicted value of the Doppler frequency of the aircraft in the PAR based on the position information and the speed information from the ASR 40 and the SSR 50, and the filter coefficient control unit 14 can calculate the Doppler frequency of the calculated Doppler frequency. Based on the predicted value, the filter coefficient of the target detection filter 11 can be calculated.

  Further, the tracking control unit 20 calculates a predicted position of the aircraft at the next radio wave transmission timing based on the position information and speed information calculated by the target object detection unit 10 and the system timing signal C; A beam direction control unit 24 that outputs a beam direction control signal F to the electronic scanning antenna 1 so as to transmit radio waves in the direction of the position calculated by the predicted position calculation unit 23 is provided. Here, the predicted position calculation unit 23 described above calculates the nose area of the aircraft as the position of the aircraft.

  Thus, the predicted position calculation unit 23 calculates the predicted position of the aircraft at the next radio wave transmission timing, and the beam direction control unit 24 moves the electronic scanning antenna unit 1 from the nose area of the aircraft calculated by the predicted position calculation unit 23. The transmission direction of the output radio wave can be directed, and the aircraft can be tracked stably.

  Further, the radar display means 30 described above displays the position information and speed information of the aircraft calculated by the target detection processing unit 13 on the radar screen for control as approaching equipment information, and displays on the radar screen. A tracking target specifying function for specifying the selected target aircraft and transmitting the selected target aircraft as tracking target data I to the tracking control means 20 when the operator selects a tracking target aircraft for landing guidance from approaching aircraft information. .

  The tracking management control unit 21 described above has a storage function of storing approaching aircraft information of the target aircraft specified by the tracking target specifying function. Further, the tracking control means 20 correlates the approaching machine information acquired from the target object detection hand processing unit 13 and the approaching machine information stored in the storage function, and the approaching machine detected by the target object detection processing unit 13 is The target detection processing unit 13 uses the tracking target determination function for determining whether or not it is a tracking target machine, and the approaching machine information stored in the storage function when the tracking target determination function determines that the tracking target machine is a tracking target machine. A tracking processing unit 22 having an update function for updating the detected approaching aircraft information is provided.

  As a result, the storage function stores the aircraft approach information selected by the operator, and the detected aircraft is correlated with the aircraft entry information detected by the target detection means 10 and the storage function entry aircraft information. The tracking target determination function determines whether or not it is an aircraft, and when meeting with the tracking target aircraft, it tracks the target aircraft selected by the operator by updating the information on the aircraft that detected the memory function. Can continue.

[Operation of First Embodiment]
Next, the basic contents of the overall operation of the PAR will be described with reference to FIG.

  First, tracking target data from the ASR 40 and the SSR 50 is input to the tracking management control unit 21 (FIG. 2: step S101 / ASR reception process, FIG. 2 step S102 / SSR reception process), and the information is displayed on the radar display unit 30. (FIG. 2: Step S103 / approach information display step). Based on the displayed information, the operator selects a target for landing guidance by PAR, and specifies the selected target aircraft (FIG. 2: Step S104 / selected target specifying step).

  When the target is selected, the tracking management control unit 21 obtains the position, speed, and course of the target from the tracking target data input from the ASR 40 and SSR 50, and calculates the relative speed with respect to the PAR (FIG. 2: step). (S106 / relative speed calculation step), the Doppler frequency is calculated (FIG. 2: step S107 / Doppler frequency calculation step), and is output to the filter coefficient controller 14. The filter coefficient controller 14 controls the target extraction filter 11 so that the input Doppler frequency becomes the center frequency (FIG. 2: step S108 / filter control step).

  The beam direction control unit 24 calculates the antenna beam direction of the PAR from the target position information obtained from the tracking target data input from the ASR 40 and the SSR 50 by the tracking management control unit 21, and receives the system timing signal C from the radar transceiver 2. At the same time, the beam direction control signal F is output to the electronic scanning antenna 1 to control the beam direction (FIG. 2: step S109 / beam output direction control step).

  The radar transceiver 2 transmits a radar signal in accordance with the system timing signal C (FIG. 2: step S110 / transmission wave output step), and the reflected signal reflected from the target is received by the electronic scanning antenna 1, The signal is received by the radar transceiver 2 and input to the target detection means 10 as a received video (FIG. 2: step S111 / reception processing step).

  In the target object detection means 10, the clutter component due to rain or the like is removed by the target extraction filter 11 set to the Doppler frequency of the tracking target as described above, and the target signal is extracted. Thereafter, the CFAR processing unit 12 performs constant error alarm reception processing, and then the target detection processing unit 13 performs target detection from the received video signal B.

  The target detection data H output from the target detection unit 10 is input to the tracking processing unit 22 of the tracking control unit 20. In the tracking processing unit 22, the input target detection data H is compared with the tracking target target stored in the tracking management control unit 21. Also at the timing, the position, speed, and course of the target are obtained, and the calculation result is output to the tracking management control unit 21.

  The tracking management control unit 21 stores the input data and outputs it to the beam direction control unit 24 for the beam direction control in the next beam radiation.

  Accordingly, the Doppler frequency for the PAR of the aircraft that tracks with the PAR is calculated based on the approach information input from the ASR 40 and the SSR 50, and the calculated frequency is set in the Doppler filter in the clutter suppression and the target extraction process. It is possible to optimize the removal and the received signal level, and to perform the target detection and the position measurement stably.

  Next, the operation of the above embodiment will be described in more detail.

  First, the tracking management control unit 21 acquires the position information and speed information of the aircraft from the ASR 40 as the tracking target data D as described above (FIG. 2: Step S101 / ASR receiving process) and also the tracking target data E from the SSR 50. (Step S102 / SSR reception step in FIG. 2).

  Subsequently, the tracking management control unit 21 controls the radar display unit 30 via the tracking processing unit 22 so that the acquired flight information of the aircraft is displayed as approaching aircraft information, and the aircraft is displayed on the radar screen of the radar display unit 30. Flight information is displayed (FIG. 2: step S103 / flight information display step).

  When the operator selects a target aircraft to perform landing guidance from the approaching aircraft information displayed on the radar display means 30, the radar display means 30 identifies the target aircraft selected by the operator (FIG. 2: Step S104 / selected target identification) Step), the identified target machine is transmitted as tracking target data I to the tracking processing unit 22, and the tail processing unit 22 stores the position information and speed information of the target machine accepted by the selection target specifying function in the tracking management control unit 21. Save to function.

  On the other hand, the tracking management control unit 21 extracts the approaching machine information of the target aircraft selected by the operator from the tracking target data D acquired from the ASR 40 and the tracking target data E acquired from the SSR 50, and based on the extracted approaching machine information The position information, speed information, and course information of the target aircraft are calculated to calculate the relative speed with respect to the electronic scanning antenna unit 1 (FIG. 2: Step S106 / relative speed calculation process).

  Furthermore, the tracking management control unit 21 calculates the Doppler frequency of the target aircraft from the calculated relative speed (FIG. 2: Step S107 / Doppler frequency calculation step), and uses the calculated Doppler frequency as filter frequency control data G as a filter coefficient controller. 14 for output.

  Based on the filter frequency control data G, the filter coefficient controller 14 calculates a filter coefficient such that the Doppler frequency becomes the center frequency of the pass frequency band of the target detection filter 11, and sets the calculated filter coefficient as a target. The extraction filter 11 is controlled (FIG. 2: Step S108 / filter control step).

  As a result, the filter characteristic as shown in FIG. 3C is set in the target object detection filter 11, and it is difficult to remove the filter characteristic as shown in FIG. It is possible to remove only the target signal K by removing the ground clutter I which is reflection from the ground surface and the sea surface as shown in a) and the weather clutter J which is reflection due to rain.

  Further, the tracking management control unit 21 calculates position information in addition to the calculated relative velocity, and the antenna beam direction in which the transmission direction of the radio wave output from the electronic scanning antenna 1 is directed to the nose region of the target aircraft. And the calculated antenna beam direction is output to the beam direction control unit 24.

  The beam direction control unit 24 controls the output timing of the radio wave transmitted from the radar transmitting / receiving unit 2 by using the beam direction control signal F for controlling the radio wave transmission direction based on the antenna beam direction calculated by the predicted position calculation unit 23. The signal is transmitted to the electronic scanning antenna unit 1 in accordance with the timing signal C, and the beam direction is controlled (FIG. 2: step S109 / beam output direction control step).

  As a result, the electronic scanning antenna 1 can be irradiated with radio waves toward the flight direction of the landing guidance target aircraft selected by the operator.

  The radar transceiver 2 transmits the generated transmission RF signal to the electronic scanning antenna unit 1 in accordance with the system timing signal C. The electronic scanning antenna unit 1 transmits the transmission RF signal transmitted from the radar transmission / reception unit 2. Is output from the antenna as a radio wave (FIG. 2: Step S110 / transmission wave output step).

  The radio waves described above are reflected by the target aircraft, the ground surface, the sea surface, and rain, and are received by the electronic scanning antenna unit 1 as reflected waves, and the received reflected waves are transmitted to the radar transceiver unit 2 as received RF signals. The radar transmission / reception unit 2 receives the received RF signal transmitted from the electronic scanning antenna unit 1, converts it to a received video signal B, and inputs it to the target detection means 10 (FIG. 2: step S111 / reception processing). Process).

  The received video B input to the target object detection means 10 is obtained by removing clutter components due to rainfall or the like by the target extraction filter 11 in which the center frequency of transmission is set to the Doppler frequency of the target machine as described above, and Is extracted.

  The received video B from which the clutter component has been removed by the target object detection filter 11 is subjected to constant error alarm reception processing in the CFAR processing unit 12, and then the target signal detection processing unit 13 detects a reflected signal from the aircraft. The target detection unit 13 calculates the position information and speed information of the aircraft and outputs them as target detection data H to the tracking control means 20.

  Since the filter characteristic of the target detection filter 11 described above is a filter characteristic that matches the Doppler frequency of the aircraft selected as the target aircraft by the operator, the clutter component that is noise other than the target is removed, and the target aircraft is It can be easily detected.

  The tracking processing unit 22 of the tracking control unit 20 acquires information on the landing guidance target aircraft selected by the operator stored in the tracking management control unit 21, and the acquired information and the target output from the target detection unit 10. The detection data H is compared.

  When the tracking processing unit 22 compares the approaching machine information stored in the storage function and the approaching machine information of the target object detection data H, if the correlation is obtained, the target object detection data H is the target machine. Based on the target detection data H, the predicted position calculation unit 23 calculates the position information, speed information, and course information of the target aircraft at the time when the system timing signal C is next output from the radar transceiver unit 2. The calculation result is output to the tracking management control unit 21.

  The tracking management control unit 21 stores the prediction information of the target machine calculated by the predicted position calculation unit 23 in a storage function, and the beam direction control unit so that the electronic scanning antenna unit 1 emits radio waves in the direction of the calculated position. 24 is controlled.

  This facilitates detection of the reflected signal from the aircraft, and also facilitates detection of the tracking target, so that tracking of the tracking target machine selected by the operator can be stably performed, and the operator performing the control work The burden can be reduced.

  Here, in the operation in the above-described embodiment, each execution content executed in the above steps may be programmed and the computer may function. In this case, the program may be recorded on a non-temporary recording medium such as a DVD, a CD, or a flash memory. In this case, the program is read from the recording medium by a computer and executed.

(Effect of 1st Embodiment)
As described above, in this embodiment, the tracking management control unit 21 calculates the predicted value of the Doppler frequency in the precision approaching radar based on the flight information of the aircraft input from the ASR 40 and the SSR 50, and the calculated Doppler frequency is predicted. By setting the value as the center frequency for the target detection filter 11 by the filter coefficient control unit 14, the clutter removal and the received signal level can be optimized, and target detection and position measurement can be stably performed. it can.

[Other Embodiments]
As described above, in one embodiment, the filter coefficient control unit 14 sets the target object detection filter 11 with a filter coefficient such that the predicted value of the Doppler frequency calculated by the tracking management control unit 21 is the center frequency. Was illustrated. On the other hand, a plurality of target detection filters may be installed to be multi-filtered and set so that the center frequency is shifted by a predetermined frequency, and the target detection filter having the maximum received signal level may be selected.

  As shown in FIG. 4, a plurality of target detection filters 11 a to 11 x having functions equivalent to the target detection filter 11 are installed to form a multi-filter, and the signal level from each target detection filter is obtained by the video signal selection unit 15. The target is detected by selecting the largest one.

  The frequency settings of the filters of the multi-filters 11a to 11x described above are set as follows. First, similarly to the above-described embodiment, the predicted value of the Doppler frequency calculated from the flight information of the aircraft input from the ASR 40 and SSR 50 is set at the center of the target extraction filters 11a to 11x configured as a multi-filter, and A frequency shifted by a predetermined frequency is set for the front and rear filters so as to cope with the speed fluctuation.

  For example, the number of target detection filters is set to 11 (11a to 11k), and the target detection filter 11f is set so that the predicted value of the Doppler frequency calculated by the tracking control unit 20 becomes the center frequency. The target detection filter 11g sets, as the center frequency, a frequency that is increased by a frequency corresponding to 1 knot from the center frequency set in the target detection filter 11f. On the other hand, the target detection filter 11e sets, as the center frequency, a frequency that is reduced by a frequency corresponding to 1 knot from the center frequency set in the target detection filter 11f.

  Similarly, in the target detection filters h to k whose subscript is closer to z than the target detection filter 11f, a frequency increased by a frequency corresponding to 1 knot is set as the center frequency, and the subscript is higher than that of the target detection filter 11f. In the target detection filters a to d close to a, a frequency reduced by a frequency corresponding to 1 knot in the order of d, c, b, and a is set as the center frequency.

  In this way, by setting a multi-filter and setting a frequency shifted by a predetermined frequency, it is possible to always obtain the best reception level even when the speed of the tracked aircraft fluctuates. Even in this case, it is possible to obtain a precision approaching radar having the same effect as that of the above-described embodiment.

About the embodiment mentioned above, if the summary of the novel technical content is put together, it will become as the following additional remarks.
In addition, although one part or all part of the said embodiment is put together as follows as a novel technique, this invention is not necessarily limited to this.

(Appendix 1) Radio wave transmission / reception means for transmitting radio waves of a preset frequency toward a landing-ready aircraft and receiving reflected waves of the radio waves, detecting the Doppler frequency of the aircraft from the reflected waves, and detecting the Doppler frequency Target position detecting means for calculating position information of the aircraft based on the reflection detection time of the aircraft and calculating speed information of the aircraft based on the Doppler frequency, and position information and speed information calculated by the target position detecting means. In precision approaching radar equipped with display means for displaying on-screen as control information as approach aircraft information,
The position information and speed information of the aircraft are acquired from other radars separately installed in advance, the radio wave transmission direction of the radio wave transmitting / receiving means is calculated in advance based on the position information, and the speed information acquired from the other radars A tracking control means for calculating a predicted value of the Doppler frequency detected by the target object detection means based on
The target detection means includes
The target detection filter that cuts off radio waves other than the reflected wave as noise, and the predicted value of the Doppler frequency calculated by the tracking control means so as to be the center frequency of the frequency band of the radio wave passing through the target detection filter A precision approaching radar comprising: a filter coefficient control unit that variably sets a filter coefficient of a target detection filter.

(Appendix 2) In the precision approach radar described in Appendix 1,
The target detection means includes a plurality of target detection filters,
Each of the target detection filters is calculated by the filter coefficient control unit so that the center frequency of each target detection filter becomes a different frequency so as to be able to cope with a shift in Doppler frequency due to speed fluctuation of the aircraft. It has a function to variably set the filter coefficient of each target object detection filter,
The target detection means includes a signal selection unit that selects a Doppler frequency having a maximum reception level from among the Doppler frequencies extracted by the target detection filters for calculating approach information of the aircraft. Precision approach radar.

(Appendix 3) In the precision approach radar described in Appendix 1,
The radio wave transmission / reception unit has a function of transmitting the radio wave at a preset time interval and setting a transmission direction of the radio wave toward a nose region of the aircraft by a control signal from the tracking control unit. A precision approaching radar.

(Appendix 4) In the precision approach radar described in Appendix 3,
The tracking control means calculates a position of the aircraft at a next transmission timing based on the position information and speed information of the aircraft calculated by the target detection means;
A precision approach radar comprising: a beam direction control unit configured to control the radio wave transmission / reception means so as to transmit the radio wave toward the nose region of the aircraft calculated by the predicted position calculation unit.

(Appendix 5) In the precision approach radar described in Appendix 1,
The display means has a tracking target selection function for identifying the selected aircraft when the operator selects the tracking target aircraft from the approaching aircraft information displayed on the screen,
The tracking control means includes
A tracking target storage function for storing approaching machine information selected by the tracking target selection function in a storage means;
A tracking target determination function that correlates the approaching machine information detected by the target object detection means and the approaching machine information stored in the storage means, and determines whether the aircraft of the detected approaching machine information is a tracking target machine. When,
When the detected approaching aircraft is determined to be a tracking target aircraft, the display means includes a display function for displaying that the aircraft detected by the target detection means is a tracking target aircraft. A precision approach radar.

(Appendix 6) In the precision approach radar described in Appendix 1,
The other radar is an airport monitoring radar that is installed together with the precision approaching radar and monitors the airspace around the airport, or a secondary monitoring radar that monitors the air route on which the aircraft flies. Approach radar.

(Supplementary note 7) Radio wave transmission / reception means for transmitting radio waves having a preset frequency toward the landing-ready aircraft and receiving reflected waves of the radio waves, detecting the Doppler frequency of the aircraft from the reflected waves, and detecting the Doppler frequency Target position detecting means for calculating position information of the aircraft based on the reflection detection time of the aircraft and calculating speed information of the aircraft based on the Doppler frequency, and position information and speed information calculated by the target position detecting means. In a precision approaching radar equipped with display means for displaying on-screen as control information as approach aircraft information,
The position information and speed information of the aircraft are acquired from other radars separately installed in advance, the radio wave transmission direction of the radio wave transmitting / receiving means is calculated in advance based on the position information, and the speed information acquired from the other radars The tracking control means calculates the predicted value of the Doppler frequency detected by the target object detection means based on
The filter coefficient control unit variably sets the filter coefficient of the target detection filter so that the predicted value of the Doppler frequency calculated by the tracking control means becomes the center frequency of the frequency band of the radio wave passing through the target detection filter,
A precise approach radar control method, wherein a target detection filter blocks radio waves other than the reflected wave as noise based on the center frequency.

(Appendix 8) In the precise approach radar control method described in appendix 7,
Based on the predicted value of the Doppler frequency calculated by the tracking control means, the center frequencies of the plurality of target detection filters are set to different frequencies so as to be able to cope with a shift in the Doppler frequency due to the speed fluctuation of the aircraft. The filter coefficient control unit variably sets the filter coefficient of each target object detection filter,
A precise approach radar control method, wherein a signal selection unit selects a Doppler frequency having a maximum reception level among Doppler frequencies extracted by each of the target detection filters, for calculating the approach information.

(Supplementary note 9) Radio wave transmission / reception means for transmitting a radio wave having a preset frequency toward the landing-ready aircraft and receiving a reflected wave of the radio wave; detecting the Doppler frequency of the aircraft from the reflected wave; Target position detecting means for calculating position information of the aircraft based on the reflection detection time of the aircraft and calculating speed information of the aircraft based on the Doppler frequency, and position information and speed information calculated by the target position detecting means. In a precision approaching radar equipped with display means for displaying on-screen as control information as approach aircraft information,
The position information and speed information of the aircraft are acquired from other radars separately installed in advance, the radio wave transmission direction of the radio wave transmitting / receiving means is calculated in advance based on the position information, and the speed information acquired from the other radars A tracking control function for calculating a predicted value of the Doppler frequency detected by the target detection means based on
A filter coefficient control function for variably setting the filter coefficient of the target detection filter so that the predicted value of the Doppler frequency calculated by the tracking control means becomes the center frequency of the frequency band of the radio wave passing through the target detection filter;
A target detection filter function for blocking radio waves other than the reflected wave as noise based on the center frequency;
Is a program that can be executed, and this is realized by a computer that is provided in advance in the precision approach radar.

(Supplementary note 10) In the precision approach radar control program described in supplementary note 9,
Based on the predicted value of the Doppler frequency calculated by the tracking control means, each of the targets is set so that the center frequency of the target detection filter becomes a different frequency so as to be able to cope with a shift of the Doppler frequency due to the speed fluctuation of the aircraft. A function to variably set the filter coefficient of the detection filter,
A signal selection function for selecting the Doppler frequency having the maximum reception level among the Doppler frequencies extracted by the target detection filters for calculating the approaching vehicle information;
Is a program that can be executed, and this is realized by a computer that is provided in advance in the precision approach radar.

  Since the frequency characteristics of the filter can be variably set according to the situation, the present invention can be applied to an air traffic control radar device.

3 Radio wave transmission / reception means 10 Target detection means 11, 11x Target detection filter (x = a, b, c...)
DESCRIPTION OF SYMBOLS 14 Filter coefficient control part 15 Video selection part 20 Tracking control means 23 Predicted position calculation part 24 Beam direction control part 30 Radar display means 40 Airport surveillance radar (ASR)
50 Secondary surveillance radar (SSR)

Claims (10)

Radio wave transmitting / receiving means for transmitting a radio wave having a preset frequency toward the landing-ready aircraft and receiving a reflected wave of the radio wave; detecting a Doppler frequency of the aircraft from the reflected wave; and detecting a reflection of the Doppler frequency Target position detecting means for calculating the position information of the aircraft based on the Doppler frequency and the speed information of the aircraft based on the Doppler frequency, and the position information and speed information calculated by the target position detecting means as approaching equipment information In the precision approaching radar with display means for displaying on the screen for control purposes,
The position information and speed information of the aircraft are acquired from other radars separately installed in advance, the radio wave transmission direction of the radio wave transmitting / receiving means is calculated in advance based on the position information, and the speed information acquired from the other radars A tracking control means for calculating a predicted value of the Doppler frequency detected by the target object detection means based on
The target detection means includes
The target detection filter that cuts off radio waves other than the reflected wave as noise, and the predicted value of the Doppler frequency calculated by the tracking control means so as to be the center frequency of the frequency band of the radio wave passing through the target detection filter A precision approaching radar comprising: a filter coefficient control unit that variably sets a filter coefficient of a target detection filter. The precision approach radar according to claim 1,
The target detection means includes a plurality of target detection filters,
Each of the target detection filters is calculated by the filter coefficient control unit so that the center frequency of each target detection filter becomes a different frequency so as to be able to cope with a shift in Doppler frequency due to speed fluctuation of the aircraft. It has a function to variably set the filter coefficient of each target object detection filter,
The target detection means includes a signal selection unit that selects a Doppler frequency having a maximum reception level from among the Doppler frequencies extracted by the target detection filters for calculating approach information of the aircraft. Precision approach radar. The precision approach radar according to claim 1,
The radio wave transmission / reception unit has a function of transmitting the radio wave at a preset time interval and setting a transmission direction of the radio wave toward a nose region of the aircraft by a control signal from the tracking control unit. A precision approaching radar. The precision approach radar according to claim 3,
The tracking control means calculates a position of the aircraft at a next transmission timing based on the position information and speed information of the aircraft calculated by the target detection means;
A precision approach radar comprising: a beam direction control unit configured to control the radio wave transmission / reception means so as to transmit the radio wave toward the nose region of the aircraft calculated by the predicted position calculation unit. The precision approach radar according to claim 1,
The display means has a tracking target specifying function for specifying the selected aircraft when the operator selects the tracking target aircraft from the approaching aircraft information displayed on the screen,
The tracking control means includes
A tracking target storage function for storing the approaching machine information specified by the tracking target specifying function in a storage means;
A tracking target determination function that correlates the approaching machine information detected by the target object detection means and the approaching machine information stored in the storage means, and determines whether the aircraft of the detected approaching machine information is a tracking target machine. When,
When the detected approaching aircraft is determined to be a tracking target aircraft, the display means includes a display function for displaying that the aircraft detected by the target detection means is a tracking target aircraft. A precision approach radar. The precision approach radar according to claim 1,
The other radar is an airport monitoring radar that is installed together with the precision approaching radar and monitors the airspace around the airport, or a secondary monitoring radar that monitors the air route on which the aircraft flies. Approach radar. Radio wave transmitting / receiving means for transmitting a radio wave having a preset frequency toward the landing-ready aircraft and receiving a reflected wave of the radio wave; detecting a Doppler frequency of the aircraft from the reflected wave; and detecting a reflection of the Doppler frequency Target position detecting means for calculating the position information of the aircraft based on the Doppler frequency and the speed information of the aircraft based on the Doppler frequency, and the position information and speed information calculated by the target position detecting means as approaching equipment information A precision approaching radar having a display means for displaying on a screen for control purposes,
The position information and speed information of the aircraft are acquired from other radars separately installed in advance, the radio wave transmission direction of the radio wave transmitting / receiving means is calculated in advance based on the position information, and the speed information acquired from the other radars The tracking control means calculates the predicted value of the Doppler frequency detected by the target object detection means based on
The filter coefficient control unit variably sets the filter coefficient of the target detection filter so that the predicted value of the Doppler frequency calculated by the tracking control means becomes the center frequency of the frequency band of the radio wave passing through the target detection filter,
A precise approach radar control method, wherein a target detection filter blocks radio waves other than the reflected wave as noise based on the center frequency. The precise approach radar control method according to claim 7,
Based on the predicted value of the Doppler frequency calculated by the tracking control means, the center frequencies of the plurality of target detection filters are set to different frequencies so as to be able to cope with a shift in the Doppler frequency due to the speed fluctuation of the aircraft. The filter coefficient control unit variably sets the filter coefficient of each target object detection filter,
A precise approach radar control method, wherein a signal selection unit selects a Doppler frequency having a maximum reception level among Doppler frequencies extracted by each of the target detection filters, for calculating the approach information. Radio wave transmitting / receiving means for transmitting a radio wave having a preset frequency toward the landing-ready aircraft and receiving a reflected wave of the radio wave; detecting a Doppler frequency of the aircraft from the reflected wave; and detecting a reflection of the Doppler frequency Target position detecting means for calculating the position information of the aircraft based on the Doppler frequency and the speed information of the aircraft based on the Doppler frequency, and the position information and speed information calculated by the target position detecting means as approaching equipment information A precision approaching radar having a display means for displaying on a screen for control purposes,
The position information and speed information of the aircraft are acquired from other radars separately installed in advance, the radio wave transmission direction of the radio wave transmitting / receiving means is calculated in advance based on the position information, and the speed information acquired from the other radars A tracking control function for calculating a predicted value of the Doppler frequency detected by the target detection means based on
A filter coefficient control function for variably setting the filter coefficient of the target detection filter so that the predicted value of the Doppler frequency calculated by the tracking control means becomes the center frequency of the frequency band of the radio wave passing through the target detection filter;
A target detection filter function for blocking radio waves other than the reflected wave as noise based on the center frequency;
Is a program that can be executed, and this is realized by a computer that is provided in advance in the precision approach radar. The precise approach radar control program according to claim 9,
Based on the predicted value of the Doppler frequency calculated by the tracking control means, each of the targets is set so that the center frequency of the target detection filter becomes a different frequency so as to be able to cope with a shift of the Doppler frequency due to the speed fluctuation of the aircraft. A function to variably set the filter coefficient of the detection filter,
A signal selection function for selecting the Doppler frequency having the maximum reception level among the Doppler frequencies extracted by the target detection filters for calculating the approaching vehicle information;
Is a program that can be executed, and this is realized by a computer that is provided in advance in the precision approach radar.

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