JP5621499B2 - Pulse radar equipment - Google Patents

Description

  The present invention relates to a pulse radar apparatus, and more particularly to a pulse radar apparatus that calculates three-dimensional information of a target based on a target distance and a Doppler frequency.

  A radar device generally detects the presence of a target by observing its position, movement status, etc. by emitting a radio wave into space and receiving a reflected signal from the target. In this type of radar apparatus, radio waves are transmitted from the antenna to the space, reflected by the target, reflected by the antenna, and transmitted again to the receiver as a radar reception signal.

  A / D (analog / digital) conversion is performed on the aforementioned radar reception signal at a predetermined sampling interval, and the amplitude value of the digital reception signal at each sampling point is compared with a preset threshold value. The digital received signal is determined as the target signal and the target signal is detected.

  Further, the distance information of the target can be obtained by obtaining the difference between the time when the radio wave is transmitted and the time when the target signal is detected, and this processing is called distance measurement processing.

  The above-described detection of the target and measurement of the distance information with respect to the target are the basic functions of the radar apparatus and the simplest configuration. In the radar apparatus having this configuration, only distance information with respect to the target can be obtained. For this reason, in a radar apparatus that monitors an aircraft or the like, the above-described antenna is controlled to rotate in the horizontal direction at a predetermined rotation speed, and the radar reception signals having different azimuths when the direction in which the antenna transmits radio waves are changed. The azimuth information of the target can be obtained by performing the azimuth measuring process.

  In addition, there is also an antenna called a phased array antenna that electronically changes the direction of the beam instead of mechanically rotating the antenna as described above. Furthermore, the radar is called scanning to emit a radio wave in a space to be observed, and the target information can be continuously acquired at a predetermined interval by repeatedly performing the scanning operation.

  A radar device that obtains two-dimensional position information such as target distance information and azimuth information is generally called a two-dimensional radar device. On the other hand, a radar apparatus that obtains three-dimensional position information obtained by adding altitude information to distance information and azimuth information is called a three-dimensional radar apparatus. This three-dimensional radar apparatus generally emits a plurality of radio waves having different elevation angles, receives reflected signals from the same target, and performs elevation angle measurement processing based on amplitude differences and phase differences of received signals having different elevation angles. Thus, altitude information of the target can be obtained.

  Here, in the case of the above-described three-dimensional radar apparatus, since radio waves are emitted and received in a plurality of directions having different azimuths and elevation angles, H / Ws (hardware) such as antennas and transceivers are simply set in one direction. Compared to a radar apparatus that only obtains distance information by transmitting and receiving radio waves, it becomes complicated and large-scale and expensive. Also, although the two-dimensional radar device is not as large as the three-dimensional radar device, it becomes complicated and large-scale and expensive compared to a radar device that simply transmits and receives radio waves in one direction to obtain distance information. .

  On the other hand, there are Patent Documents 1 to 3 as the contents of the above-described technical fields that have been specifically known conventionally.

  Patent Documents 1 to 3 disclose a radar apparatus configured to realize the function of a three-dimensional radar apparatus that can obtain position information such as distance information, azimuth information, and altitude information with an inexpensive radar apparatus. Has been.

  The technique disclosed in Patent Document 1 utilizes the fact that a target such as an aircraft targeted by a radar apparatus often has a constant-velocity constant-velocity linear motion. This is because when the motion is changed, such as changing the altitude, it consumes more fuel than when the constant-velocity linear motion is performed. This is because it can be assumed to exercise. Assuming that a constant-velocity linear motion is performed, altitude information can be estimated without simultaneously transmitting and receiving a plurality of radio waves having different elevation angles. For this purpose, in the two-dimensional radar apparatus, altitude information is estimated by measuring distance information, azimuth angle information, and Doppler information of a target for two scans, thereby realizing the function of the three-dimensional radar apparatus.

The technique disclosed in Patent Document 2 will be described with reference to FIG. The antenna unit 101 transmits a radio wave in a direction controlled by the drive control unit 108, receives a reflected radio wave from the target, and outputs the received signal to the transmission / reception unit 102. The transmitter / receiver unit 102 outputs a transmission signal, which is the source of the radio wave to be transmitted, to the antenna unit 101, further detects the received high-frequency signal, performs A / D (analog / digital) conversion, and performs pulse Doppler as a digital reception signal. The data is output to the processing unit 103.

  The pulse Doppler processing unit 103 performs pulse Doppler processing that is correlation processing between digital reception signals obtained for each of a plurality of transmission pulses transmitted in the same direction. The pulse Doppler process is a process generally performed when a plurality of transmission pulses are irradiated in the same direction for the purpose of improving detection performance in a radar apparatus.

  The target detection unit 104 compares the above-described pulse Doppler-processed digital reception signal with a preset threshold value, and if the digital reception signal is equal to or greater than the threshold value, determines that the digital reception signal is a target signal. The target signal is detected.

  The distance measuring unit 105 calculates and outputs the distance to the target based on the difference between the time when the transmission radio wave is transmitted and the time when the target signal is detected. The azimuth measuring unit 109 measures and outputs the target azimuth from the beam transmission angle at the time of target signal detection, the amplitude of the received signal, and the like.

  The Doppler measurement unit 106 calculates a target gaze direction velocity based on the target Doppler frequency. The delay units 110A to 110C delay and output the measured target distance, azimuth angle, and line-of-sight speed values for a certain period. The estimated altitude calculation unit 111 is based on a total of six input signals of the measured distance, azimuth angle, line-of-sight speed, and the distance, azimuth, and line-of-sight speed a predetermined time delayed by the delay units 110A to 110C. The estimated altitude is calculated using the following formula. This calculation formula is shown in Formula (18) of Patent Document 2.

  Furthermore, in Patent Document 3, the three-dimensional coordinates of the target are acquired by associating the radio wave reflection information generated as the images with the reflected radio waves of the target received by the two receiving units installed at different points. A radar device is disclosed.

JP2009-14655 JP2009-244194A JP 2006-3348

  However, the radar apparatus disclosed in Patent Documents 1 and 2 uses a two-dimensional radar as a radar apparatus in order to use the azimuth angle information of the target in the calculation formula for the altitude of the target. Compared to a simple radar device that only observes, there is a disadvantage that it becomes complicated, large-scale and expensive.

  Furthermore, the radar apparatus disclosed in Patent Document 3 must have a device for generating target radio wave reflection information as an image for each receiving unit, resulting in inconvenience that hardware is complicated and expensive. It was.

(Object of invention)
The present invention improves the inconvenience of the related art and calculates three-dimensional information including altitude information of a target by using a simple radar apparatus that observes only one direction without using azimuth information. It is an object of the present invention to provide a pulse radar device that can perform the above-described operation.

  In order to achieve the above object, the pulse radar device according to the present invention is arranged so that one and the other pulse radars that can be observed in only one direction are searched in duplicate from the same position from different positions. The radar obtains the distance information with respect to the target and the Doppler information concerning the target based on the radio wave transmitted to the target in flight and the reflected radio wave, and the target based on each information. Is provided with the function of calculating the detection time, the distance to the target and the speed in the direction of the line of sight and outputting the target data as target data. A time correction unit for correcting the data, the target data from each pulse radar corrected by the time correction unit, and the position of each pulse radar Based on the data, characterized by comprising a target coordinate calculation unit for calculating three-dimensional coordinates including altitude information of the target.

  Further, the pulse radar apparatus control method according to the present invention includes a distance information to the target and the target based on a transmitted radio wave transmitted to a target flying in space and a reflected radio wave obtained from the target. The Doppler information is obtained, and one pulse radar calculates the target detection time, distance, and line-of-sight speed based on the distance information and Doppler information, and outputs it as target data. Another pulse radar that is arranged at a different position and has the same function as the one pulse radar transmits a radio wave to the space overlapping with the one pulse radar in the same manner as the one pulse radar. The target data output from each pulse radar is input, and the time correction unit corrects the target data to the target data at the same time. Based on the target data obtained by each pulse radar corrected by the normal part and the position coordinate data of each pulse radar, the target coordinate calculation unit calculates three-dimensional coordinates including altitude information of the target. It is characterized by having a configuration.

  Further, the program for controlling the pulse radar device according to the present invention includes the distance information to the target and the target based on the transmitted radio wave transmitted to the target flying in space and the reflected radio wave obtained from the target. A radar function that obtains Doppler information on an object, calculates a detection time, a distance, and a gaze direction speed of the target based on the distance information and the Doppler information, and outputs the target data as target data. Each of the target data output by a set of pulse radars is inputted and corrected to target data at the same time, and the target obtained by each pulse radar corrected by the time correction function Based on the object data and the position coordinate data of each pulse radar, three-dimensional coordinates including altitude information of the target are calculated. Target coordinate calculation function of, it is characterized in that so as to realize the computer.

  Since the present invention is configured as described above, according to this, three-dimensional information including altitude information of a target is obtained from distance information and Doppler information related to the target captured by a simple radar device that observes only one direction. An excellent pulse radar device, a pulse radar device control method, and a pulse radar device control program that can be obtained can be provided.

1 is a block diagram showing a first embodiment of a pulse radar device according to the present invention. It is explanatory drawing explaining the positional relationship of the radar apparatus and target in the block diagram disclosed in FIG. It is a block diagram which shows 2nd Embodiment of the pulse radar apparatus which concerns on this invention. It is a block diagram which shows 3rd Embodiment of the pulse radar apparatus which concerns on this invention. It is a block diagram which shows the form of the conventional radar apparatus.

[First Embodiment]
Hereinafter, a first embodiment of a pulse radar device according to the present invention will be described with reference to FIG.

  First, in the embodiment shown in FIG. 1, the pulse radar 10 and the pulse radar 20 that can be observed in only one direction are arranged so as to search the same space repeatedly from different positions, and each pulse radar flies through the space. The distance information with respect to the target and the Doppler information for the target are obtained based on the transmitted radio wave transmitted to the target (not shown) and the reflected radio wave obtained from the target, and the distance information and It has a function of calculating the detection time of the target, the distance from the target, and the line-of-sight speed based on Doppler information and outputting the target data.

  The above-described pulse radar 10 includes an antenna unit 11 that transmits a transmission radio wave in a predetermined direction and receives a reflected radio wave from a target, and generates a transmission pulse and outputs the transmission pulse to the antenna unit 11 as the above-described transmission radio wave. The transmission / reception unit 12 detects the high-frequency signal received and converts it to A / D (analog / digital) and transmits it as a digital reception signal; And a pulse Doppler processing unit 13 that performs pulse Doppler processing that is correlation processing between the obtained digital reception signals.

  Thereby, the transmission pulse generated in the transmission / reception unit 12 is output to the antenna unit 11 as a transmission radio wave, and the transmission radio wave transmitted from the antenna unit 11 is reflected on the target in flight through the space, and the reflected radio wave is transmitted to the antenna unit 11. Is received and received, and the A / D converter 12 performs A / D conversion and outputs it as a digital reception signal. The pulse Doppler processing unit 13 can perform pulse Doppler processing on this digital reception signal.

  Here, the aforementioned pulse Doppler processing is processing generally performed when a plurality of transmission pulses are irradiated in the same direction for the purpose of improving detection performance in the pulse radar device.

  Further, the pulse radar 10 includes a distance calculating unit 14 that detects a signal related to the target and measures a distance to the target based on the digital reception signal that has been subjected to pulse Doppler processing by the pulse Doppler processing unit 13 described above. Based on the digital received signal pulse-Doppler processed by the pulse Doppler processing unit 13 described above, the gaze direction speed calculation means 15 for calculating the gaze direction speed of the target and the distance calculation means 14 detect the signal related to the target. And a target data output unit 16 for collecting one target data by collecting the target time, the distance to the target, and the visual direction speed of the target calculated by the visual direction speed calculating means 15.

  Here, the distance calculating means 14 compares the digital reception signal subjected to the pulse Doppler processing by the pulse Doppler processing unit 13 with a preset threshold value and is equal to or larger than the threshold value. A target signal detection unit 14A that detects the target by determining the digital reception signal as a signal related to the target, and a time at which the transmission / reception unit 12 generates a transmission pulse and transmits a radio wave from the antenna unit 11 as a transmission radio wave. And a distance calculation unit 14B that calculates the distance from the target based on the difference between the time when the signal related to the target is detected by the target signal detection unit 14A.

  Thus, the target detection unit 14 eliminates unnecessary noise unrelated to the target, detects only the signal related to the target, the time when the signal related to the target is detected, and the transmission output from the transmission / reception unit 12 described above. The distance calculation unit 14B can calculate the distance to the target by taking the difference from the time when the radio wave is transmitted by the antenna unit 11.

  The line-of-sight speed calculation means 15 calculates the Doppler frequency of the target based on the digital received signal subjected to the pulse Doppler processing by the pulse Doppler processing unit 13 and outputs the Doppler information calculation unit 15A. A line-of-sight speed calculation unit 15B that calculates the line-of-sight speed of the target based on the Doppler frequency output by the unit 15A.

  Accordingly, the Doppler information calculation unit 15A calculates the target Doppler frequency based on the digital received signal subjected to the pulse Doppler processing, and the line-of-sight speed calculation unit 15B calculates the line-of-sight speed of the target based on the Doppler frequency. can do.

  As described above, the pulse radar 20 has the same function as the pulse radar 10, and in this embodiment, the same configuration as the pulse radar 10 is used. For this reason, the pulse radar 20 includes an antenna unit 21, a transmission / reception unit 22, a pulse Doppler processing unit 23, a distance calculation unit 14 including a target signal detection unit 24A and a distance measurement unit 24B, and a Doppler information calculation unit 25A. And a line-of-sight speed calculation means 15 constituted by a line-of-sight speed calculation unit 25B, and a target data output unit 26.

Further, the aerial part 21 of the pulse radar 20 is installed so as to irradiate an overlapping space whose position is different from that of the aerial part 11 of the pulse radar 10.
By installing the antenna unit 11 of the pulse radar 10 and the antenna unit 21 of the pulse radar 20 as described above, it is possible to transmit radio waves to the same target from different positions.

  Further, a time correction unit 40 that corrects the target data output from the target data output unit 16 of the pulse radar 10 and the target data output unit 26 of the pulse radar 20 to target data at the same time, and the time correction. Target coordinates for calculating three-dimensional coordinates including target altitude information based on the target data received by the pulse radar 10 and the pulse radar 20 corrected by the unit 40 and the position coordinate data where each of the pulse radars is installed. A calculation unit 50 is provided in the pulse radar 10 and the pulse radar 20.

  Here, the time correction unit 40 described above selects target data having a similar detection time as a method of correcting the time, and calculates the distance and the line-of-sight speed at the same time by interpolation calculation or the like.

  Accordingly, it is possible to calculate the three-dimensional coordinates including the target altitude information based on the target distance and Doppler information obtained by the radar apparatus that observes only one direction.

[Overall operation]
Next, the overall operation of the pulse radar apparatus will be described with reference to FIGS.

  In FIG. 1, first, the pulse radar 10 will be described. The transmission / reception unit 12 shown in FIG. 1 generates a transmission pulse that is a source of a radio wave to be transmitted, and outputs the transmission pulse to the antenna unit 11 as a transmission radio wave (transmission signal generation step). The antenna unit 11 transmits the transmission radio wave output from the transmission / reception unit 12 in a predetermined direction, receives the reflected radio wave reflected by the target flying in the space, and reflects the reflected radio wave as a reflected signal. To the transmitter / receiver 12 (radio wave transmitting / receiving step).

  Subsequently, the transmission / reception unit 12 detects a high-frequency signal of the reflected radio wave output from the antenna unit 11, performs A / D (analog / digital) conversion, and outputs the digital reception signal to the pulse Doppler processing unit 13 (reception signal). Detection process). The pulse Doppler processing unit 13 performs pulse Doppler processing, which is correlation processing between digital reception signals obtained for each of a plurality of transmission pulses, on the digital reception signal output from the transmission / reception unit 12, and performs this pulse Doppler processing. The received digital signal is output to the target signal detector 14A and the Doppler information calculator 15A (pulse Doppler processing step).

  The target signal detection unit 14A compares the digital reception signal after pulse Doppler processing output from the pulse Doppler processing unit 13 with a preset threshold value, and the received digital reception signal is equal to or greater than the above threshold value. If the received signal is a digital received signal, the digital received signal is determined as a signal related to the target, the target is detected, and is output to the distance calculating unit 14B (target signal detecting step).

  The distance calculation unit 14B calculates the distance to the target based on the difference between the time when the radio wave is transmitted from the antenna unit 11 and the time when the target signal detection unit 14A detects the signal related to the target, and the calculated distance information is obtained. It outputs to the target object data output part 16 (distance calculation process).

  The Doppler information calculation unit 15A calculates a target Doppler frequency based on the pulse Doppler-processed digital reception signal output from the pulse Doppler processing unit 13, and uses the calculated Doppler frequency information as the gaze direction velocity calculation unit 15B. (Doppler frequency measurement process).

  The line-of-sight speed calculation unit 15B calculates a target line-of-sight direction speed based on the Doppler frequency information output from the Doppler information calculation unit 15A, and outputs the calculated line-of-sight direction speed information to the target data output unit 16 ( Line-of-sight speed calculation process).

  The distance information and speed information of the target can be obtained from the distance to the target calculated by the distance calculation unit 14B and the target gaze direction speed calculated by the gaze direction speed calculation unit 15B.

  The target data output unit 16 detects the detection time of the signal related to the target detected by the target signal detection unit 14A, the distance information with the target calculated by the distance measurement unit 14B, and the gaze direction velocity calculation unit 15B. Gaze direction velocity information on the target is collected to generate one target data, and this target data is output to the time correction unit 40 (data output step).

  On the other hand, the distance calculation means 24, the Doppler information calculation unit 25A, and the line-of-sight direction constituted by the antenna unit 21, the transmission / reception unit 22, the pulse Doppler processing unit 23, the target signal detection unit 24A and the distance measurement unit 24B provided in the pulse radar 20. The line-of-sight speed calculation unit 25 and the target data output unit 26 configured by the speed calculation unit 25B also operate in the same manner as the units included in the pulse radar 10 described above.

  The time correction unit 40 corrects the target data output from the target data output unit 16 of the pulse radar 10 and the target data output unit 26 of the pulse radar 20 to data of the same time, and the corrected target data is converted to the corrected target data. It outputs to the target coordinate calculation part 50 (time correction process).

  The target coordinate calculation unit 50 includes target data output from the pulse radar 10 and the pulse radar 20 corrected at the same time by the time correction unit 40, and the antenna unit 11 of the pulse radar 10 and the antenna unit 21 of the pulse radar 20, respectively. The three-dimensional coordinates of the target including altitude information are calculated on the basis of the position coordinate data where is installed (target coordinate calculation step).

  Next, a method by which the above-described target coordinate calculation unit 50 calculates the three-dimensional coordinates of the target will be described in detail based on FIG. 2 and the mathematical formulas shown below.

FIG. 2 is a schematic diagram for explaining the positional relationship between the radar apparatus of the present invention and the target 30. Here, as a precondition, it is assumed that the target 30 is in a constant-velocity linear motion. The measurement values in the radar apparatus of this system are the detection time T, the distance R, and the line-of-sight velocity _Rv , which are respectively measured by the pulse radar 10 and the pulse radar 20 corresponding to the two antenna portions.

In the three-dimensional coordinate calculation, these two measurement values are used. The coordinates of the antenna portion 11 of the pulse radar 10 are (x ₁ , y ₁ , z ₁ ), and the coordinates of the antenna portion 21 of the pulse radar 20 are (x ₂ , y ₂ , z ₂ ). The coordinates of the target 30 when scanned for the first time and the second time are (x, y, z) and (x ′, y ′, z). Here, z indicates the altitude, and z does not change because the target 30 is in constant-velocity linear motion. The target 30 ′ indicates the position of the target 30 at the second scan.

The above measured values are R ₁ , R ₂ , R _1v , R _2v , V _R1 , VR ₂ , where the subscripts 1 and 2 indicate the measured values of the pulse radar 10 or 20, and “′” Indicates a measurement value of the second scan. Further, the time difference between the first time and the second time is represented by Δt.

Here, the unknown parameters are the true coordinates A ₁ (x, y, z) and A ₂ (x ′, y ′, z) of the target on the three-dimensional orthogonal coordinates, and the speed (x of the target 30) _v , y _v , 0). Since the following relational expression holds between these eight unknown parameters, the three-dimensional coordinates (x, y, z) of the target can be calculated.

The relational expressions established between the parameters are shown below.
_{^{(X-x 1) 2 +}} (y-y 1) 2 + (z-z 1) 2 = R 1 2 ··· (1)

(X−x ₁ ) · x _v + (y−y ₁ ) · y _v = R ₁ · R _1v (2)

(X−x ₂ ) ² + (y−y ₂ ) ² + (z−z ₂ ) ² = R ₂ ² (3)

(X−x ₂ ) · x _v + (y−y ₂ ) · y _v = R ₂ · R _2v (4)

(X′−x ₁ ) ² + (y′−y ₁ ) ² + (z′−z ₂ ) ² = R ₁ ′ ² (5)

(X′−x ₁ ) · x _v + (y′−y ₁ ) · y _v = R ₁ ′ · R _1v ′ (6)

(X′−x ₂ ) ² + (y′−y ₂ ) ² + (z′−z ₂ ) ² = R ₂ ′ ² (7)

(X′−x ₂ ) · x _v + (y′−y ₂ ) · y _v = R ₂ ′ · R _2v ′ (8)

x ′ = x + x _v · Δt (9)

y ′ = y + y _v · Δt (10)

First, _xv is obtained by solving the following equation.

(B ₁ ² + C ₁ ² ) · x _v ² −2B ₁ · D ₁ · x _v + D ₁ ² −A ₁ · C ₁ ² = 0
(11)

here,

A ₁ = (R ₁ ′ · R _1v ′ −R ₁ · R _1v ) / Δt (12)

B ₁ = x ₂ −x ₁ (13)

C ₁ = y ₂ −y ₁ (14)

D ₁ = R ₁ · R _1v -R ₂ · R _2v (15)

Here, since the equation (11) is a quadratic equation, two solutions are obtained, but the subsequent calculation is performed in parallel corresponding to the two solutions, and the coordinates outside the space where the radio wave is irradiated are obtained. By removing the required solution, a single solution is obtained.

Moreover, _yv is calculated _| required by following Formula.

_{y v = (D 1 -B 1} ) · x v / C ··· (16)

Next, x, y, and z are obtained by the following equations. For simplification, the coordinate system is set to z ₁ = z ₂ = 0.

x = (C ₂ · B ₃ −C ₃ · B ₂ ) / (A ₂ · B ₃ −A ₃ · B ₂ ) (17)

y = (C ₂ −A ₂ × x) / B ₂ (18)

z = √ {R ₁ ² − (x−x ₁ ) ² + (y−y ₁ ) ² } (19)

here,

A ₂ = x _v (20)

B ₂ = y _v (21)

C ₂ = R ₁ · R _1v + x ₁ · x _v + y ₁ · y _v (22)

A ₃ = 2 · (x ₂ −x ₁ ) (23)

B ₃ = 2 · (y ₂ −y ₁ ) (24)

_{^{C 3 = R 1 2 -R 1}} 2 -x 1 2 -y 1 2 + x 2 2 + y 2 2 ··· (25)

It is. The three-dimensional coordinates of the target can be calculated from the equations (17) to (19).

  Here, since the azimuth angle information of the target is not used in the above calculation formula, the altitude of the target can be obtained with a simple radar device that can observe only one direction and obtain only the target distance and Doppler information. It is possible to realize a function of a three-dimensional radar apparatus that calculates three-dimensional coordinates including information.

  Further, the calculated three-dimensional coordinates of the target may be displayed as numerical values on the display means connected to the target coordinate calculating section 50 in a form not shown, or numerical information may be displayed as a figure.

  Here, in the operation in the first embodiment described above, each execution content executed in the above steps may be programmed, and this may be configured to function on a computer. 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 the first embodiment, the pulse radar 10 and the pulse radar 20 installed so that the positions of the antenna portions are different and the radio wave ranges transmitted from the antenna portions overlap are signals related to the target. The detection time, the distance to the target, and the target gaze direction speed are calculated and output as target data. The target correction data is corrected by the time correction unit 40 to data at the same time, and each of the corrected targets is corrected. Based on the object data and the respective coordinate position data of the aerial part 11 of the pulse radar 10 and the aerial part 21 of the pulse radar 20, the target coordinate calculation part calculates three-dimensional coordinates including the altitude information of the target. This makes it possible to calculate the altitude of the target only with the distance information and Doppler information of the target, and to obtain three-dimensional information of the target with a simple hardware radar device that does not change the direction of transmission of the radio wave. .

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG.
Here, the same code | symbol shall be used about the component same as 1st Embodiment mentioned above.

  In the first embodiment disclosed in FIG. 1 described above, the detection time of the target data generated by the target data output unit 16 of the pulse radar 10 and the target data output unit 26 of the pulse radar 20 is corrected for time. The case where it corrects in the part 40 was illustrated.

  In contrast, in the second embodiment, as shown in FIG. 3, instead of the time correction by the time correction unit 40 described above, the pulse radar 10 and the pulse radar 20 transmit radio waves in synchronization. The transmission timing control unit 60 is provided so that a signal related to the target at the same time can be detected without correcting the time by the time correction unit 40.

  The transmission timing control unit 60 transmits a timing control signal for controlling the transmission / reception unit 12 of the pulse radar 10 and the transmission / reception unit 22 of the pulse radar 20 so that each transmission / reception unit simultaneously transmits transmission radio waves at different frequencies. Output.

  When the transmission / reception unit 12 of the pulse radar 10 receives the timing control signal described above, the transmission / reception unit 12 transmits a transmission radio wave to the antenna unit 11. On the other hand, the transmission / reception unit 22 of the pulse radar 20 also transmits a transmission radio wave to the antenna unit 21 when receiving the timing control signal in the same manner as the transmission / reception unit 12.

  With this timing control signal, the timing at which the transmission / reception unit 12 and the transmission / reception unit 22 transmit outgoing radio waves at different frequencies can be controlled, and the respective transmission / reception units can simultaneously transmit outgoing radio waves.

  The target data output units 16 and 28 output the above-described target data to the target coordinate calculation unit 50, respectively. This is because a transmission pulse synchronized in advance by the transmission timing control unit 60 described above is output, so that the three-dimensional coordinates of the target can be calculated without correcting the time.

  Thereby, each pulse radar of the pulse radar 10 and the pulse radar 20 can detect a signal related to the target at the same time and generate target data, so that the target 3 can be obtained without performing time correction as described above. Dimensional coordinates can be calculated.

[Operation of Second Embodiment]
First, the transmission timing control unit 60 outputs a timing control signal that controls the transmission / reception unit 12 of the pulse radar 10 and the transmission / reception unit 22 of the pulse radar 20 to simultaneously transmit transmission radio waves at different frequencies. To do.

  The transmission / reception unit 12 of the pulse radar 10 receives the timing control signal described above, outputs a transmission radio wave, and transmits it from the antenna unit 11. As for the operation after the transmission radio wave is transmitted, the reflected radio wave from the target is received by the antenna unit 11 and the received radio wave is output to the transmission / reception unit 12 as in the first embodiment. D conversion is performed and a digital reception signal is output to the pulse Doppler processing unit 13.

  The pulse Doppler processing unit 13 performs pulse Doppler processing on the above-described digital reception signal, and outputs the digital reception signal after the pulse Doppler processing to the target signal detection unit 14A and the Doppler information calculation unit 15A.

  The target signal detection unit 14A compares the above-described digital reception signal with a preset threshold value, detects a digital reception signal equal to or greater than the threshold value as a signal related to the target, and outputs the signal to the distance calculation unit 14B. The distance calculation unit 14B calculates the distance to the target based on the difference between the time when the radio wave is transmitted and the time when the signal related to the target is detected, and outputs the distance to the target data output unit 16.

  On the other hand, the Doppler information calculation unit 15A calculates a target Doppler frequency based on the digital reception signal subjected to the pulse Doppler process and outputs the target Doppler frequency to the line-of-sight speed calculation unit 15B. The line-of-sight speed calculation unit 15B calculates the target line-of-sight direction speed based on the above-described target Doppler frequency, and outputs the target line-of-sight speed to the target data output unit 16.

  The target data output unit 16 collects the distance between the time detected by the target signal detection unit 14A and the target calculated by the distance calculation unit 14B and the target gaze direction velocity calculated by the gaze direction velocity calculation unit 15B, and collects one target. Output object data.

  The pulse radar 20 also operates in the same manner as each part of the pulse radar 10 described above.

  The target coordinate calculation unit 50 includes three-dimensional coordinates including target altitude information based on the target data output from each of the target data output unit 16 of the pulse radar 10 and the target data output unit 26 of the pulse radar 20. Is calculated. About this calculation method, it is as having shown to Numerical formula (17) thru | or (19) of 1st Embodiment.

(Effect of 2nd Embodiment)
As described above, since each of the pulse radars 10 and 20 is provided with the transmission timing control unit 60 that outputs the timing control signal for controlling the transmission radio waves to be simultaneously output at different frequencies, Targets at the same time can be detected and target data can be calculated. For this reason, it is possible to calculate the three-dimensional coordinates of the target without performing time correction. Further, in this case, an error due to time correction does not occur, so that an error in the calculation result of the three-dimensional coordinates is reduced. It is also possible to calculate the three-dimensional information of the target by performing pulse transmission only on one of the pulse radars and performing the reception operation on both pulse radars.
About another structure and its effect, it is the same as 1st Embodiment mentioned above.

[Third Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG.
Here, the same code | symbol shall be used about the component same as 1st Embodiment mentioned above.

  In the first embodiment disclosed in FIG. 1 described above, the case where the three-dimensional coordinates of the target data are calculated using the pulse radar 10 and the pulse radar 20 which are two sets of pulse radars is exemplified.

  On the other hand, in the third embodiment, as shown in FIG. 4, in order to detect signals related to a wide range of targets, N (≧ 3) sets of pulse radars are provided. It is configured to output target data to the radar selection unit 70.

Further, the pulse radar selection unit 70 selects target data having overlapping ranges of radio wave irradiation and outputs the target data output from each pulse radar to the time correction unit 40. This is because the above-described coordinate position data for each of the N sets of pulse radars and the range of radio waves transmitted from each pulse radar are set in advance. This is because it can be selected.
Other configurations are the same as those of the first embodiment.

[Operation of Third Embodiment]
The pulse radar selection unit 70 that has received target data from a plurality of pulse radars selects target data having overlapping radio wave irradiation ranges and outputs the target data to the time correction unit 40.

  The time correction unit 40 corrects the target data output from the pulse radar selection unit 70 as data at the same time, and outputs the time-corrected target data to the target coordinate calculation unit 50.

  The target coordinate calculation unit 50 calculates the target three-dimensional coordinates based on the above-described time-corrected target object data. This method can be calculated by using the calculation formulas (17) to (19) of the first embodiment.

Here, since the range in which each pulse radar radiates the transmission radio wave can be specified in advance by the position coordinate data where the antenna portion of each pulse radar is installed, overlapping target data can be selected.

(Effect of the third embodiment)
As described above, by selecting target data output from three or more sets of pulse radars installed over a wide range by using the radar radar selection unit 70 for overlapping the radio wave transmission ranges, an expensive three-dimensional radar is selected. The function of the three-dimensional radar apparatus can be realized by arranging a plurality of inexpensive radars in a necessary range without using the apparatus. In addition, in a range where three or more sets of pulse radars overlap, it is possible to improve the coordinate measurement system by using three-point surveying in addition to the calculation formula of the first embodiment.
About another structure and its effect, it is the same as 1st Embodiment mentioned above.

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) Arrange one and the other pulse radars that can be observed in only one direction so as to search the same space repeatedly from different positions,
Each of these pulse radars obtains distance information with respect to the target and Doppler information concerning the target based on the radio wave transmitted to the target in flight and the reflected radio wave, and based on each information It has the function of calculating the detection time of the target, the distance to the target, and the gaze direction speed and outputting it as target data,
A time correction unit that inputs target data output from each pulse radar and corrects it to target data at the same time, and
A target coordinate calculation unit for calculating three-dimensional information including altitude information of the target based on the target data from each pulse radar and the position coordinate data of each pulse radar corrected by the time correction unit; A pulse radar device comprising:

(Appendix 2) In the pulse radar device according to Appendix 1,
Each pulse radar is
A transmission / reception unit that transmits a radio wave in a predetermined direction via an antenna, receives a reflected wave from a target, performs A / D conversion, and outputs it as a digital reception signal, and obtains the digital reception signal for each of a plurality of transmission pulses. A pulse Doppler processing unit for performing pulse Doppler processing, which is correlation processing between digital received signals, and specifying the target based on the digital received signal subjected to the pulse Doppler processing and calculating a distance from the target A distance calculation means; and a gaze direction speed calculation means for calculating a gaze direction speed of the target based on the digital Doppler-processed digital reception signal,
Collecting time information when the target is specified by the distance calculation means, distance information with respect to the calculated target, and gaze direction speed of the target calculated by the gaze direction speed calculation means A pulse radar device comprising a target data output unit for outputting data.

(Appendix 3) In the pulse radar device according to Appendix 2,
The distance calculating means compares the digital received signal that has been subjected to the pulse Doppler processing with a preset threshold value, and if the digital received signal is equal to or greater than the threshold value, A target signal detection unit that detects a target by determining as a signal related to the object, and calculates a distance from the target based on a difference between a time at which the transmission / reception unit transmits the transmission radio wave and a time at which the target is detected A pulse radar device comprising: a distance calculating unit that performs the calculation.

(Appendix 4) In the pulse radar device according to Appendix 2,
The line-of-sight speed calculation means calculates a target Doppler frequency based on the pulse-Doppler digital received signal and outputs the target Doppler frequency; and the target line-of-sight speed based on the target Doppler frequency. A pulse radar device comprising: a line-of-sight speed calculation unit that calculates

(Appendix 5) In the pulse radar device according to any one of Appendixes 2 to 4,
Instead of the time correction unit, a transmission timing control unit that outputs a timing control signal for controlling the transmission / reception unit of each radar sensor to transmit the transmission radio wave at different frequencies simultaneously is provided. A pulse radar device characterized by the above.

(Appendix 6) In the pulse radar device according to Appendix 5,
The pulse radar apparatus, wherein the transmission / reception units provided in the one and other radar devices transmit the transmission radio wave from any one of the transmission / reception units and receive the reflected wave in each transmission / reception unit.

(Appendix 7) In the pulse radar device according to any one of Appendixes 1 to 4,
Three or more sets of the pulse radars are installed, and the target data that overlaps the radio wave irradiation range in the target data output from the target data output unit of each pulse radar is selected and the time correction unit is selected. A pulse radar apparatus comprising a pulse radar selection unit for outputting.

(Appendix 8) In the pulse radar device according to Appendix 7,
The target coordinate calculation unit calculates three-dimensional information including altitude information of the target using three-point surveying when three or more sets of target data are selected by the pulse radar selection unit. A pulse radar device characterized by that.

(Additional remark 9) While obtaining the distance information with respect to the target and the Doppler information concerning the target based on the transmission radio wave transmitted to the target in flight and the reflected radio wave obtained from the target, The pulse radar calculates the detection time, distance, and line-of-sight speed of the target based on the distance information and Doppler information, and outputs it as target data.
Other pulse radars arranged at different positions from this one pulse radar and having the same function as the one pulse radar are similar to the one pulse radar in the space overlapping with the one pulse radar. Send outgoing radio waves to
While inputting each target data output from each pulse radar, the time correction unit corrects this to target data at the same time,
Based on the target data obtained by each pulse radar corrected by the time correction unit and the position coordinate data of each pulse radar, the target coordinate calculation unit calculates three-dimensional information including altitude information of the target. A method of controlling a pulse radar device, characterized in that the calculation is configured.

(Additional remark 10) While obtaining the distance information with respect to the target and the Doppler information concerning the target based on the transmission radio wave transmitted to the target in flight in the space and the reflected radio wave obtained from the target, A radar function that calculates the detection time, distance, and line-of-sight speed of the target based on distance information and Doppler information and outputs the target data as target data;
A time correction function for inputting the target data output by two sets of pulse radars having the radar function and correcting the target data to target data at the same time;
And target coordinates for calculating three-dimensional information including altitude information of the target based on target data obtained by each pulse radar corrected by the time correction function and position coordinate data of each pulse radar Calculation function,
A program for controlling a pulse radar device, characterized in that a computer is realized.

  The present invention uses two sets of pulse radars that are installed at different positions and transmit radio waves in overlapping spaces with respect to a target that performs constant-velocity constant-velocity linear motion. The detection time of the signal related to each target obtained, the distance to the target, and the line-of-sight speed of the target are calculated and output as target data. The target data is corrected as data at the same time, and three-dimensional information including altitude information of the target is calculated based on the target data corrected at the time and the position coordinate data of each pulse radar. As a result, even in a radar apparatus having a simple hardware antenna that does not change the direction of transmission of radio waves, it is possible to obtain the three-dimensional information of the target, so that the functions of the expensive and large-scale three-dimensional radar apparatus can be relatively improved. It can be realized with an inexpensive radar device.

10 Pulse radar (one pulse radar)
DESCRIPTION OF SYMBOLS 11 Aerial part 12 Transmission / reception part 13 Pulse Doppler process part 14 Distance calculation means 14A Target signal detection part 14B Distance calculation part 15 Gaze direction speed calculation means 15A Doppler information calculation part 15B Gaze direction speed calculation part 16 Target object data output part 20 Pulse radar (Other pulse radar)
40 Time Correction Unit 50 Target Coordinate Calculation Unit 60 Transmission Timing Control Unit 70 Pulse Radar Selection Unit

Claims (1)

In the pulse radar device arranged to search the same space repeatedly from different positions for one and the other pulse radar that can be observed in only one direction,
Each pulse radar transmits a radio wave to an in-flight target moving in a constant-velocity constant-velocity linear motion, and the distance to the target is based on a digital reception signal obtained by pulse Doppler processing of the reflected radio wave. And the gaze direction velocity of the target,
The coordinates of the antenna of the one pulse radar are (x ₁ , y ₁ , z ₁ ),
The coordinates of the antenna of the other pulse radar are (x ₂ , y ₂ , z ₂ ),
R ₁ , R ₂ , R _1v , R _2v, the distance to the target and the line-of-sight speed of the target, which are the first measured values by the one and the other pulse radars, respectively _,
R ₁ ′, R ₂ ′, R _1v ′, R _2v ′ _, the distance to the target and the line-of-sight speed of the target, which are the second measured values by the one and the other pulse radars, respectively _,
When the time difference between the first measurement and the second measurement by the one and the other pulse radar is Δt,
True coordinates (x, y, z) of the target at the first measurement by the one and the other pulse radar, True coordinates of the target at the second measurement by the one and the other pulse radar (X ′, y ′, z), and the speed of the target is obtained from the following equation (x _v , y _v , 0):
^{_{(X-x 1) 2 +}} (y-y 1) 2 + (z-z 1) 2 = R 1 2 ··· (1)
(X−x ₁ ) · x _v + (y−y ₁ ) · y _v = R ₁ · R _1v (2)
(X−x ₂ ) ² + (y−y ₂ ) ² + (z−z ₂ ) ² = R ₂ ² (3)
(X−x ₂ ) · x _v + (y−y ₂ ) · y _v = R ₂ · R _2v (4)
(X′−x ₁ ) ² + (y′−y ₁ ) ² + (z′−z ₂ ) ² = R ₁ ′ ² (5)
(X′−x ₁ ) · x _v + (y′−y ₁ ) · y _v = R ₁ ′ · R _1v ′ (6)
(X′−x ₂ ) ² + (y′−y ₂ ) ² + (z′−z ₂ ) ² = R ₂ ′ ² (7)
(X′−x ₂ ) · x _v + (y′−y ₂ ) · y _v = R ₂ ′ · R _2v ′ (8)
x ′ = x + x _v · Δt (9)
y ′ = y + y _v · Δt (10)
A pulse radar device characterized by that.

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