JP2830805B2 - Radar equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a radar device,
In particular, the present invention relates to a radar device that sequentially emits transmission pulses of different frequencies for performing elevation angle measurement.

[0002]

2. Description of the Related Art Conventionally, in this type of radar device,
As shown in FIG. 3, the antenna device 2 includes a transmitting device 3, a receiving device 4, a signal processing device 5, a target tracking device 6, and a beam control device 7. The beam control device 7 includes a tracking beam hit number control unit 71, a beam scan data creation unit 72, a search beam hit number control unit 73, and a search beam scan data storage unit 74.

The antenna device 2 can change the azimuth and elevation angle of a beam under the control of a beam control device 7. For example, for the frequency f1, the azimuth θ1 and the elevation angle φ
One can direct the beam.

Here, when the antenna apparatus 2 has a frequency higher than the frequency f1 by δf, the azimuth θ1 and the elevation angle φ1 +
It has the characteristic that a beam is formed in the direction of α · δf. That is, in the same control state, the beam forming elevation angle changes in proportion to the frequency difference with respect to the reference frequency (f1 in this case). Here, α is a proportional constant reflecting the characteristics of the antenna device 2.

[0005] The beam controller 7 controls the transmitter 3
Control is performed so as to generate a plurality of continuous transmission pulses having different frequencies. At this time, the frequency of each transmission pulse is determined so as to correspond to the characteristics of the antenna device 2 and to have a frequency difference such that the elevation beam directions corresponding to the respective frequencies overlap each other at a point of about the elevation beam width.

For example, a case where four different frequencies are used will be described with reference to FIG. First, the beam control device 7 controls the antenna device 2 to form a beam at the frequency f1 in the azimuth θ1 and the elevation angle φ1.

Subsequently, the beam control device 7 controls the transmission device 3 to generate continuous transmission pulses of frequencies f1 to f4. Here, the frequencies f1 to f4 are different from each other by δf, and these transmission pulses are sequentially radiated in the antenna device 2 at elevation angles different from the elevation angles φ1 to φ4, respectively. These elevation angles φ1 to φ4 also have different elevation angles by α · δf.

That is, frequency f2 = f1 + δf, frequency f3 = f1 + 2δf, frequency f4 = f1 + 3δf, elevation angle φ2 = φ1 + α · δf, elevation angle φ3 = φ1 + 2α.
Δf, elevation angle φ4 = φ1 + 3α · δf.

The above-mentioned δf is determined so that α · δf is approximately equal to the elevation beam width of the antenna device 2, so that the transmission pulses of the frequencies f1 to f4 are radiated at different elevation angles adjacent to each other.

Next, the beam control device 7 controls the antenna device 2 to form a beam at the frequency f1 in the azimuth θ1 and the elevation angle φ5. Here, the elevation angle φ5 = φ4 + α ·
By selecting an elevation angle such that δf = φ1 + 4α · δf, beams are formed at elevation angles φ5 to φ8 shown in FIG.

Therefore, the elevation angles φ1 to φ8 are covered with the elevation angle intervals of α · δf in combination with the previous elevation angles φ1 to φ4. The elevation angle φ6 = φ1 + 5α · δf, the elevation angle φ7 = φ1 + 6α · δf, the elevation angle φ8 = φ1 + 7α · δf
Becomes

All of the above control is performed in the azimuth θ1, but by changing the azimuth sequentially to the azimuth θ2,..., All the azimuths can be covered. Hereinafter, a beam that scans at a predetermined interval sequentially as described above is referred to as a search beam.

The receiving device 4 separates a target reflected signal of a transmission pulse radiated from the antenna device 2 into space by a filter for each of four frequencies f1 to f4, and outputs it to the signal processing device 5. The signal processor 5 measures the target distance from the timing at which the target reflection signal is received, and measures the target azimuth from the beam forming azimuth of the antenna device 2.

Since the same target is simultaneously received at two adjacent elevation beams, that is, at two adjacent frequencies, the target elevation angle can be obtained by comparing the reception intensities of the two elevation beams, and the target elevation angle is obtained from the elevation angle. Is calculated.

The information on the distance, direction, and altitude of the target obtained as described above is input to the target tracking device 6. The target tracking device 6 calculates the speed, the traveling direction, and the like of each target based on the information on the distance, azimuth, and altitude of the target.

At the same time, the target tracking device 6 predicts the current position from the speed, the traveling direction, and the like of the target after the search beam is scanned with respect to a target and before the next scan, and in the predicted direction. A request is output to the beam controller 6 to perform beam scanning. Hereinafter, the beam that scans the target between the scan by the search beam and the next scan is referred to as a tracking beam.

In response to a request from the target tracking device 6, the beam control device 7 controls the tracking of the target by the tracking beam during the scanning by the search beam. By repeatedly performing the above-described control, search and tracking during normal operation are performed.

When the detection capability is increased without increasing the hardware scale of the radar apparatus, there is a method of increasing the number of hits as a method of increasing the detection capability without changing the hardware scale. Here, the number of hits indicates the number of pulses radiated while being fixed at the designated azimuth and elevation angle.

For example, when the detection capability is quadrupled, the number of hits also needs to be quadrupled. Specifically, when the detection capability of the elevation angle φ1 is quadrupled, the number of hits is 3 hits × 4 = 1
Two hits.

The search beam scanning data storage unit 74 of the beam control device 7 stores the azimuth, elevation scan order, frequency, hit number, and the like as shown in FIG. 4. When scanning with a normal search beam, These pieces of information are output to the beam scanning data creation unit 72 without being particularly processed by the search beam hit number control unit 73.

When the detection capability is increased, the number of hits at the elevation angle to be increased is increased by the search beam hit number controller 73 and output to the beam scanning data generator 72. The beam scanning data creation unit 72 includes a tracking beam hit number control unit 71.
Each time a tracking beam scanning request is input, the tracking beam scanning request is interrupted in the middle of the input data from the search beam hit number control unit 73, which is the data for the search beam, so that the antenna device 2 and the transmitting device 3 are transmitted. Output.

The tracking beam hit number control unit 71 does not perform any processing at the time of a normal tracking beam request. However, if the target target of the tracking beam request is within the scanning range of the high detection search beam, it is included in the tracking beam request. The number of hits is increased and output to the beam scanning data generator 72.

As described above, in the method of increasing the detection capability without increasing the hardware scale of the radar device, the detection capability is improved by increasing the number of hits for both the search beam and the tracking beam.

On the other hand, Japanese Patent Application Laid-Open No. 2-213790 discloses a technique capable of simultaneously exhibiting long-distance and short-distance performances. That is, the transmission / reception pulse signals are two types of composite waves for long-distance search tracking and short-distance search tracking with their mutual frequencies offset to about the allowable beam pointing error range, and the respective transmission / reception pulse widths and chirp directions are determined. The controller can be flexibly set, and the received signal is subjected to digital pulse compression processing corresponding to each transmitted / received pulse signal.

Further, in operating a plurality of (for example, simultaneously coping with four planes) radar devices, in order to minimize radio wave interference between the respective radar devices, the combination of the transmission frequency of each radar, the pulse width, and the chirp direction. And a controller that centrally designates and manages the combination of the above.

[0026]

In the above-mentioned conventional radar apparatus, since the number of hits for both the search beam and the tracking beam is increased, the detection capability is improved without increasing the hardware scale of the radar apparatus. In addition, the increase in the number of hits increases the time required for the search, thereby deteriorating the data rate.

In addition, in the case of a method in which the transmission / reception pulse signal is used as two types of composite waves for long-distance search tracking and short-distance search tracking, long-distance and short-distance performances can be simultaneously exhibited. However, it is difficult to apply the technique to improve the detection capability without increasing the hardware scale of the radar device.

An object of the present invention is to provide a radar apparatus which solves the above-mentioned problems and which can improve the detection capability without deteriorating the data rate and without increasing the hardware scale. is there.

[0029]

According to the radar apparatus of the present invention, a plurality of high-frequency pulses corresponding to each of the frequencies are continuously formed so that beams having different elevation angles for each frequency are formed at predetermined elevation angle intervals. Generating means, generating means, searching means for sequentially searching a predetermined azimuth and elevation range using a plurality of high-frequency pulses generated by the generating means, and generating means based on a search result of the searching means. And a tracking means for tracking a target during a search by the search means using the high-frequency pulse to be performed.
At a specified time,
Single frequency only high frequency pallet
Pulse width n times (n is a positive integer of 2 or more)
1 search and the remaining height of the plurality of high frequency pulses
Control means is provided for controlling the search means to perform a second search using a frequency pulse .

In another radar apparatus according to the present invention, in addition to the above configuration, a high frequency pulse having a larger number of hits indicating the number of pulses radiated while being fixed at a specified azimuth and elevation angle than in the normal tracking by the tracking means is provided. Means for controlling the tracking means so as to track a target in the scanning area of the search means controlled by the control means by using the control means.

Another radar apparatus according to the present invention is an antenna apparatus in which beams are formed at different elevation angles for different frequencies, and a frequency at which beam formation is performed at a predetermined elevation angle interval in the antenna apparatus. A transmitting device that continuously generates a plurality of high-frequency pulses having the same, and a high-frequency pulse emitted from the antenna device at a different elevation angle according to each of the frequencies separates a received signal reflected at a target for each frequency of the high-frequency pulse. Receiving device, based on the elevation angle calculated from the amplitude value of the same target detected by the adjacent elevation angle beam and performs the detection of the target and the measurement of the azimuth and distance for each frequency separated by the receiving device. A signal processing device for calculating a target altitude, and tracking of the target based on the azimuth, distance, and altitude for each target obtained by the signal processing device. A target tracking device, and controlling the antenna device so as to sequentially scan a predetermined azimuth and elevation range with a search beam, and at the same time between the search beam scanning based on the target tracking information held by the target tracking device. A beam control device that controls the antenna device to scan with a tracking beam for the radar device,
Increased detective ability specified when searching for the target
A specified elevation angle of the plurality of high-frequency pulses
Pulse of high frequency pulse with only a single frequency corresponding to the
Continuous width used in the search beam scanning.
A pulse with the same pulse width as the total pulse width of the high-frequency pulse
A first search transmitting a search search beam and the plurality of heights;
Searching using the remaining high-frequency pulses
A search beam pulse width control unit for controlling to perform a second search for transmitting a beam.

Still another radar apparatus according to the present invention, in addition to the above-described configuration, is a high-detection tracking beam in which the number of hits indicating the number of pulses radiated while being fixed at a specified azimuth and elevation angle is larger than a normal tracking beam. And a tracking beam hit number control unit for controlling to scan a target in the scanning area of the high detection search beam.

[0033]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, the operation of the present invention will be described below.

The present invention has a search beam pulse width control unit as a means for increasing the detection capability. In a normal search beam, a plurality of transmission pulses with different frequencies are continuously transmitted, but the pulse width is the same as that of the normal search beam only at a single frequency corresponding to the elevation direction in which the detection capability is to be increased. Control, the pulse width increases,
Increased detection capability is obtained.

As described above, the pulse width of the search beam is increased within a range where the hardware scale does not increase, that is, the total value of the transmission pulses for each frequency of one ordinary search beam is increased. Data rate degradation is less than when the number of beam hits is increased.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention. FIG. 2 is a diagram showing a relationship between control data for an antenna apparatus and a transmitting apparatus according to an embodiment of the present invention and a beam elevation angle radiated from the antenna apparatus. FIG.

Referring to FIG. 1, a radar apparatus according to an embodiment of the present invention includes a beam control apparatus 1, an antenna apparatus 2, a transmitting apparatus 3, a receiving apparatus 4, a signal processing apparatus 5, and a target tracking apparatus 6. It is configured. The beam control device 1 includes a tracking beam hit number control unit 11, a beam scan data creation unit 12, a search beam pulse width control unit 13, and a search beam scan data storage unit 14.

The antenna device 2 can change the azimuth and elevation angle of the beam under the control of the beam control device 1. For example, for the frequency f1, the azimuth θ1 and the elevation angle φ
One can direct the beam.

Here, when the antenna apparatus 2 has a frequency higher than the frequency f1 by δf, the azimuth θ1 and the elevation angle φ1 +
It has the characteristic that a beam is formed in the direction of α · δf. That is, in the same control state, the beam forming elevation angle changes in proportion to the frequency difference with respect to the reference frequency (f1 in this case). Here, α is a proportional constant reflecting the characteristics of the antenna device 2.

The beam control device 1 controls the transmitting device 3
Control is performed so as to generate a plurality of continuous transmission pulses having different frequencies. At this time, the frequency of each transmission pulse is determined so as to correspond to the characteristics of the antenna device 2 and to have a frequency difference such that the elevation beam directions corresponding to the respective frequencies overlap each other at a point of about the elevation beam width.

For example, a case where four different frequencies are used will be described with reference to FIG. First, the beam control device 1 controls the antenna device 2 to form a beam at a frequency f1 in an azimuth θ1 and an elevation angle φ1.

Subsequently, the beam controller 1 controls the transmitter 3 to generate continuous transmission pulses of the frequencies f1 to f4. Here, the frequencies f1 to f4 are different from each other by δf, and these transmission pulses are sequentially radiated in the antenna device 2 at elevation angles different from the elevation angles φ1 to φ4, respectively. These elevation angles φ1 to φ4 also have different elevation angles by α · δf.

That is, frequency f2 = f1 + δf, frequency f3 = f1 + 2δf, frequency f4 = f1 + 3δf, elevation angle φ2 = φ1 + α · δf, elevation angle φ3 = φ1 + 2α.
Δf, elevation angle φ4 = φ1 + 3α · δf.

The above-mentioned δf is determined so that α · δf is approximately equal to the elevation beam width of the antenna device 2, so that the transmission pulses of the frequencies f1 to f4 are radiated at different elevation angles adjacent to each other.

Next, the beam control device 1 controls the antenna device 2 to form a beam at the frequency f1 in the azimuth θ1 and the elevation angle φ5. Here, the elevation angle φ5 = φ4 + α ·
By selecting an elevation angle such that δf = φ1 + 4α · δf, beams are formed at elevation angles φ5 to φ8 shown in FIG.

Therefore, the elevation angles φ1 to φ8 are covered by the elevation angle beam intervals α · δf in combination with the previous elevation angles φ1 to φ4. The elevation angle φ6 = φ1 + 5α · δf, the elevation angle φ7 = φ1 + 6α · δf, the elevation angle φ8 = φ1 + 7α · δf
Becomes

The above control is all performed in the azimuth θ1, but by changing the azimuth sequentially to the azimuth θ2,..., All the azimuths can be covered. Hereinafter, a beam that scans at a predetermined interval sequentially as described above is referred to as a search beam.

The receiving device 4 separates the target reflected signal of the transmission pulse radiated from the antenna device 2 into space by a filter for each of four frequencies f1 to f4, and outputs it to the signal processing device 5. The signal processor 5 measures the target distance from the timing at which the target reflection signal is received, and measures the target azimuth from the beam forming azimuth of the antenna device 2.

Since the same target is simultaneously received by two adjacent elevation beams, that is, two adjacent frequencies, the target elevation angle can be obtained by comparing the reception intensities of the two elevation beams, and the target elevation angle can be obtained from the elevation angle. Is calculated.

Information on the distance, azimuth and altitude of the target obtained as described above is input to the target tracking device 6. The target tracking device 6 calculates the speed, the traveling direction, and the like of each target based on the information on the distance, azimuth, and altitude of the target.

At the same time, the target tracking device 6 predicts the current position from the speed, the traveling direction, and the like of the target after the search beam is scanned for a target and before the next scan, and moves in the predicted direction. A request is output to the beam controller 6 to perform beam scanning. Hereinafter, the beam that scans the target between the scan by the search beam and the next scan is referred to as a tracking beam.

In response to a request from the target tracking device 6, the beam control device 1 controls so as to perform tracking of the target by the tracking beam during scanning by the search beam. By repeatedly performing the above-described control, search and tracking during normal operation are performed.

In the case where the detection capability is increased without increasing the hardware scale of the above-mentioned radar apparatus, in one embodiment of the present invention, the pulse width is increased as a method of increasing the detection capability without changing the hardware scale. Is taking a way.

The search beam scanning data storage section 14 of the beam control device 1 stores the azimuth, the elevation scanning order, the frequency, the number of hits, and the like as shown in FIG. 4, and when scanning with a normal search beam, These pieces of information are output to the beam scanning data creation unit 12 without being processed by the search beam pulse width control unit 13.

When the detection capability is increased, for example, by setting the pulse width of the frequency f1 corresponding to the elevation angle φ1 to 4Tt, the detection capability in that region can be quadrupled. The search beam scanning data storage unit 14 transmits the elevation angles φ2 to φ4 formed by the ordinary search beam at the same time as the elevation angle φ1 separately from the elevation angle φ1.
Modify the data received from.

The beam scanning data generator 12 transmits the data received from the search beam pulse width controller 13 to the antenna device 2
And to the transmitting device 3. However, when a tracking beam scanning request is input from the tracking beam hit number control unit 11, the tracking beam scanning request is interrupted by the search beam control data and output to the antenna device 2 and the transmitting device 3.

When the tracking beam scan target is within the scanning range of the high detection search beam, the tracking beam hit number control unit 11 increases the number of hits included in the tracking beam request and outputs it to the beam scanning data creation unit 12. In other areas, the data is output to the beam scanning data generator 12 with the normal number of hits.

When the detection capability of the elevation angle φ1 is increased by a factor of four, the beam scanning data generator 12 transmits the data received from the search beam pulse width controller 13, that is, the control data as shown in FIG. Send it to the transmitting device 3.

That is, the control data of the azimuth θ1 and the elevation angle φ1 are transmitted twice from the beam scanning data creation unit 12 to the antenna device 2, and the control data of the azimuth θ1 and the elevation angle φ5 are transmitted once.

When the control data of the first azimuth θ1 and the elevation angle φ1 is transmitted from the beam scanning data generator 12 to the antenna device 2 for the first time, the frequency “f1” and the pulse width “ 4Tt ”and the number of hits“ 3 ”are transmitted. At this time, the antenna device 2 emits a beam having an elevation angle of φ1.

When the second-time control data of the azimuth θ1 and the elevation angle φ1 is transmitted from the beam scanning data generator 12 to the antenna device 2, the frequencies “f2 = f1 + δf”, “ f3 = f1 + 2δ
f "," f4 = f1 + 3δf ", the pulse width" Tt ", and the number of hits" 3 "are transmitted. At this time, the antenna device 2
From the elevation angle φ2 = φ1 + α · δf, the elevation angle φ3 = φ1 + 2
A beam having α · δf and an elevation angle φ4 = φ1 + 3α · δf is emitted.

When the control data of the azimuth θ1 and the elevation angle φ5 is transmitted from the beam scanning data generator 12 to the antenna device 2, the frequencies “f1”, “f2 = f1 + δf”, "F3 = f1 + 2
δf ”,“ f4 = f1 + 3δf ”, the pulse width“ Tt ”, and the number of hits“ 3 ”are transmitted. At this time, the elevation angle φ5 = φ1 + 4α · δf and the elevation angle φ6 = φ1
+ 5α · δf, elevation angle φ7 = φ1 + 6α · δf, elevation angle φ8
= Φ1 + 7α · δf is emitted.

The above control is all performed in the azimuth θ1, but by changing the azimuth sequentially to the azimuth θ2,..., All the azimuths can be covered.

Assuming that the reception time is Tr, the required time per search direction is the required time of elevation angle φ1 = (4Tt + Tr) × 3 The required time of elevation angles φ2 to φ4 = (3Tt + Tr) × 3 The required time of elevation angles φ5 to φ8 Required time = (4Tt + Tr) × 3, so that (4Tt + Tr) × 3 + (3Tt +
Tr) × 3 + (4Tt + Tr) × 3 = 33Tt + 9Tr
Becomes

On the other hand, the time required per conventional search direction is the sum of the time required for elevation angles φ1 to φ4 = (4Tt + Tr) × 3 × 4 and the time required for elevation angles φ5 to φ8 = (4Tt + Tr) × 3. (4Tt + Tr) × 3 × 4 + (4T
(t + Tr) × 3 = 60Tt + 15Tr.

Accordingly, when only the detection capability of the elevation angle φ1 is improved by a factor of four, the time required for the search is shorter than in the prior art, so that the deterioration of the data rate can be reduced.

In order to improve the tracking beam detection capability, a means for increasing the number of hits is used instead of increasing the pulse width, as in the conventional example. This is a method of comparing the amplitude of reception between elevation beams. Since the high detection search beam is equivalent to one elevation angle, the reception intensity of adjacent elevation beams is weak, and the target may not be detected or an error may occur in elevation angle measurement. There is. Therefore, the number of hits of the high detection tracking beam is increased, and the detection capability of all (four in the above case) beams transmitted at the same time is improved, thereby reliably measuring the elevation angle.

As described above, in the ordinary search beam, a plurality of transmission pulses having different frequencies are continuously transmitted, and only the single frequency corresponding to the elevation direction in which the detection capability is to be increased is the same as the ordinary search beam. By controlling the search beam pulse width control unit 13 so that the pulse width becomes the pulse width, the pulse width is extended and the detection capability is increased.

Therefore, the pulse width of the search beam is increased by increasing the pulse width of the search beam so that the hardware scale does not increase, that is, by increasing the total value of the transmission pulses for each frequency of the normal search beam. Data rate degradation is less than when the number of hits is increased. This makes it possible to improve the detection capability without increasing the hardware scale without deteriorating the data rate.

[0070]

As described above, according to the present invention, a plurality of high-frequency pulses corresponding to each frequency are continuously generated so that beams having different elevation angles are formed at predetermined elevation angle intervals for each frequency. Generating means, a searching means for sequentially searching a predetermined azimuth and elevation range using a plurality of high-frequency pulses generated by the generating means, and a high-frequency pulse generated by the generating means based on a search result of the searching means. And a tracking means for tracking a target during a search by the search means, and a pulse width equal to the total pulse width of a plurality of high-frequency pulses used in one search, that is, a pulse of the high-frequency pulse A target is searched using a high-frequency pulse having a pulse width of n times (n is a positive integer of 2 or more) and a single frequency corresponding to a specified elevation beam. By controlling the stage, without causing degradation of the data rate, there is an effect that it is possible to improve the detection capability without increasing the hardware scale.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a diagram illustrating a relationship between control data for an antenna device and a transmission device and an elevation angle of a beam emitted from the antenna device according to an embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a conventional example.

FIG. 4 is a diagram showing a relationship between control data for an antenna device and a transmission device according to a conventional example and a beam elevation angle radiated from the antenna device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 beam control device 2 antenna device 3 transmitting device 4 receiving device 5 signal processing device 6 target tracking device 11 tracking beam hit number control unit 12 beam scanning data creation unit 13 search beam pulse width control unit 14 search beam scanning data storage unit

Claims (4)

(57) [Claims] A generating means for continuously generating a plurality of high-frequency pulses corresponding to each of the frequencies so that beams having different elevation angles for respective frequencies are formed at a predetermined elevation angle interval; Searching means for sequentially searching a predetermined azimuth and elevation range using a plurality of high-frequency pulses to be obtained, and searching by the searching means using high-frequency pulses generated by the generating means based on a search result of the searching means. And a tracking means for tracking a target in the interval between the two.
When the augmentation is specified,
Only a single frequency high corresponding to the specified elevation beam
N times the pulse width of the frequency pulse (n is a positive integer of 2 or more)
Of the first search and the plurality of high-frequency pulses
A radar apparatus comprising: a control unit that controls the search unit so as to perform a second search using the remaining high-frequency pulses . 2. The search means according to claim 1, wherein the number of hits indicating the number of pulses radiated while being fixed at a specified azimuth and elevation angle is controlled by said control means using a higher frequency pulse than in normal tracking by said tracking means. 2. The radar apparatus according to claim 1, further comprising: means for controlling said tracking means so as to track a target in a scanning area. 3. An antenna device in which beams are formed at different elevation angles with respect to different frequencies, and a plurality of high-frequency pulses each having a frequency at which beam formation is performed at a predetermined elevation angle interval in the antenna device. A transmitting device that generates a high-frequency pulse emitted from the antenna device at a different elevation angle according to each of the frequencies, a receiving device that separates a received signal reflected at a target for each frequency of the high-frequency pulse, and the receiving device A signal for detecting the target and measuring the azimuth and distance for each frequency separated by the above and calculating the altitude of the target based on the elevation angle calculated from the amplitude value of the same target detected by the adjacent elevation angle beams. A processing device; a target tracking device that tracks a target based on the azimuth, distance, and altitude for each target obtained by the signal processing device; The antenna device is controlled so as to sequentially scan the azimuth and elevation ranges set by the search beam, and the target is scanned with the tracking beam between the search beam scans based on the target tracking information held by the target tracking device. wherein a radar apparatus comprising a beam controller for controlling the antenna device, detecting when performing search of the target as
When the increase in capacity is specified, the
A single frequency corresponding to the specified elevation beam
The pulse width of the high-frequency pulse is used in the search beam scanning.
The total pulse width of multiple consecutive high-frequency pulses
The first to transmit a high detection search beam with the same pulse width
And the remaining high frequency of said plurality of high frequency pulses
Performing a second search transmitting a search beam using wave pulses;
Radar apparatus characterized by having a search beam pulse width control unit for cormorants control requiring. 4. A high-finding tracking beam having a larger number of hits indicating the number of pulses radiated at a fixed azimuth and elevation angle than a normal tracking beam with respect to a target in a scanning area of the high-finding search beam. 4. The radar apparatus according to claim 3, further comprising a tracking beam hit number control unit that controls scanning.