JP5986835B2 - Sensing method and sensing device - Google Patents

Description

  The present disclosure relates to a sensing method and a sensing apparatus that perform wireless communication using a high-frequency signal (for example, a microwave or a millimeter wave).

  When wireless communication is performed using a high-frequency signal (for example, a microwave or a millimeter wave) in a conventional sensing device (for example, a radar device or a sonar device), a DC offset may occur in a signal component in a high-frequency circuit of a transmission system or a reception system. . It is known that when a DC offset occurs, sensing characteristics (reception characteristics) deteriorate.

  For example, Patent Documents 1 and 2 have been proposed as prior arts for reducing the DC offset, respectively. For example, the A / D conversion circuit of Patent Document 1 converts an input analog signal into a digital signal and then reduces the DC offset of the analog signal through a digital high-pass filter.

  In the radar apparatus of Patent Document 2, the passband width of the bandpass filter that limits the band of the received signal is set to ½ of the sampling frequency of the A / D converter, and the local frequency of the local oscillator is 17.14 MHz (30 MHz). × 4/7) and 18.46 MHz (60 MHz × 4/13). The radar apparatus performs sampling by setting the sampling frequency of the A / D converter to 4/7 or 4/13 of the frequency of the received signal, and the DC offset caused by the output signal after sampling is set to the subsequent stage of the A / D converter. Reduced by a digital filter connected to

Japanese Patent Laid-Open No. 2-243022 JP 2000-338226 A

  The present inventors examined a sensing method and a sensing device that perform radio communication using a high-frequency signal (for example, a microwave or a millimeter wave). However, in the conventional sensing method and sensing device, in order to reduce the DC offset generated in the high-frequency circuit of the transmission system or the reception system, a digital high-pass filter as an analog circuit component shown in Patent Document 1 is added, or Patent Document 2 It was necessary to set the circuit constants of the analog circuit components shown in detail.

  Therefore, in the conventional sensing method and sensing device, it is possible to reduce the DC offset generated when a high-frequency signal (for example, a microwave or a millimeter wave) is used in wireless communication with a simple configuration to suppress degradation of the sensing characteristics of the target. It was difficult.

  In order to solve the above-described problem, the present disclosure provides a sensing method and a sensing apparatus that reduce DC offset that occurs when a high-frequency signal is used in wireless communication with a simple configuration and suppress degradation of sensing characteristics of a target. For the purpose.

  The present disclosure includes a step of generating a transmission signal in which a first code sequence and a second code sequence having a predetermined length are arranged in a predetermined order for each transmission cycle, and a phase rotation amount with respect to the transmission signal for each transmission cycle And a step of converting the transmission signal to which the amount of phase rotation has been applied into a high-frequency signal and transmitting the signal from a transmission antenna. The transmission signal includes an Mth (M: 1 or greater) transmission group and an (M + 1) th transmission group each including 2N (N: 1 or greater) transmission periods. The phase rotation amount of the (M + 1) th transmission group is a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the Mth transmission group.

  The present disclosure also includes a transmission signal generation unit that generates a transmission signal in which a first code sequence and a second code sequence having a predetermined length are arranged in a predetermined order for each transmission cycle, and the transmission for each transmission cycle. A sensing device includes: a phase rotation unit that applies a phase rotation amount to a signal; and a transmission RF unit that converts the transmission signal to which the phase rotation amount is applied into a high-frequency signal and transmits the signal from a transmission antenna. The transmission signal includes an Mth (M: 1 or greater) transmission group and an (M + 1) th transmission group each including 2N (N: 1 or greater) transmission periods. The phase rotation amount of the (M + 1) th transmission group is a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the Mth transmission group.

  ADVANTAGE OF THE INVENTION According to this invention, DC offset which arises when using a high frequency signal in radio | wireless communication can be reduced with a simple structure, and degradation of the sensing characteristic of a target can be suppressed.

The block diagram which shows the 1st structural example of the conventional sensing apparatus. (A) Delay profile when DC offset is not included, (B) Delay profile when DC offset is included The block diagram which shows the 2nd structural example of the conventional sensing apparatus. (A) The block diagram which shows the structural example of the transmission part of the sensing apparatus of a structure common to each embodiment, (B) The block diagram which shows the structural example of the receiving part of the sensing apparatus of a structure common to each embodiment. The block diagram which shows the structural example of the sensing apparatus of a structure common to each embodiment (A) The figure which shows an example of the content of the pulse code / phase rotation table used in the transmission part TX of 1st Embodiment, (B) The pulse code / phase reverse rotation used for the receiving part RX of 1st Embodiment Figure showing an example of table contents Explanatory drawing explaining the cancellation of the phase of a dc component in 1st Embodiment Delay profile of simulation result in sensing device of first embodiment The figure which shows an example of the content of the pulse code / phase rotation table of 2nd Embodiment Explanatory drawing explaining cancellation of the phase of dc component in 2nd Embodiment Delay profile of simulation result in sensing device of second embodiment The figure which shows an example of the content of the pulse code / phase rotation table of 3rd Embodiment, (A) The content corresponding to the transmission method of 1st Embodiment, (B) Corresponding to the transmission method of 2nd Embodiment Content Delay profile of simulation result in sensing device of third embodiment

(Background to the contents of each embodiment)
First, before describing embodiments of the sensing method and the sensing device according to the present disclosure, problems in the conventional sensing method and the sensing device will be described with reference to FIGS. 1 to 3. FIG. 1 is a block diagram illustrating a first configuration example of a conventional sensing device. FIG. 2A shows a delay profile when no DC offset is included. FIG. 2B shows a delay profile when a DC offset is included. 2A and 2B, the horizontal axis represents time [msec], that is, the elapsed time since the high-frequency signal was transmitted, and the vertical axis in FIG. 2 represents the correlation value level (correlation level) [dB]. Represent.

  The sensing device 200 shown in FIG. 1 has no technical device for reducing the DC offset generated in the transmission RF unit 230, for example, and transmits a high-frequency signal generated using a pulse compression code (for example, a complementary code) for each transmission period. Transmit from antenna 240. The high frequency signal transmitted from the sensing device 200 is reflected by the target 100, and the reflected wave signal is received by the receiving antenna 250. Sensing device 200 measures the distance between sensing device 200 and target 100 based on the reflected wave signal received by receiving antenna 250.

  1 includes a pulse code table 201, a control unit 202, a pulse wave generation unit 210, a DAC (Digital Analog Converter) 220, a transmission RF unit 230 to which a transmission antenna 240 is connected, and a reception antenna 250. A reception RF unit 260, an ADC (Analog Digital Converter) 270, a correlator 280, and a coherent addition unit 290.

  In the pulse code table 201, for example, a code sequence A or B constituting a complementary code (A, B) and each code sequence A or B are used as code sequences used by the sensing device 200 to generate a transmission signal. Information on the order is stored. The output order is, for example, the order in which the code sequences A, B, A, B,.

The complementary code is a code using, for example, two complementary code sequences (A _n , B _n ) that form a pair. The complementary code is obtained by adding the respective autocorrelation calculation results obtained by matching the delay times τ [seconds] in the respective autocorrelation calculation results of one complementary code sequence _An and the other complementary code sequence _Bn. It has the property that the side lobe excluding is zero. The parameter n is n = 1, 2 to L (code sequence length (code length)). In the following description, the notation of the parameter n is omitted, and is simply expressed as a code sequence A or B.

  The control unit 202 refers to the pulse code table 201 and alternately selects the code sequence A or B for each transmission cycle of the high frequency signal and outputs the code sequence A or B to the pulse wave generation unit 210. The pulse wave generation unit 210 generates a transmission signal as a pulse compression code using the code sequence A or B output from the control unit 202 and outputs the transmission signal to the DAC 220. The DAC 220 D / A converts the digital transmission signal output from the pulse wave generation unit 210 into an analog transmission signal and outputs the analog transmission signal to the transmission RF unit 230. The transmission RF unit 230 converts the transmission signal output from the DAC 220 into a high-frequency signal using the local signal output from a local signal oscillator (not shown), and transmits the high-frequency signal from the transmission antenna 240.

  The reception RF unit 260 receives the high frequency signal reflected by the target 100 at the reception antenna 250, and uses the local signal output from the local signal oscillator (not shown) to receive the high frequency reception signal received at the reception antenna 250. The signal is converted into a baseband received signal and output to the ADC 270. The ADC 270 A / D converts the analog baseband reception signal output from the reception RF unit 260 into a digital baseband reception signal and outputs the digital baseband reception signal to the correlator 280.

  Correlator 280 calculates a correlation value between the transmission signal generated by pulse wave generation unit 210 and the reception signal output from ADC 270 for each transmission period, and outputs the correlation value to coherent addition unit 290. The coherent adding unit 290 adds the correlation values calculated by the correlator 280 in each transmission cycle for a predetermined number of coherent additions, and based on the time that becomes the peak correlation value (see FIG. 2A or 2B). Thus, the distance between the target 100 and the sensing device 200 is measured. The delay profile shown in FIG. 2A or FIG. 2B is a coherent addition result in the coherent adder 290.

  FIG. 2A is a delay profile in which the transmission RF unit 230 and the reception RF unit 260 do not include a DC offset in the transmission signal and the reception signal. For this reason, in FIG. 2A, the average value (floor average value) of other correlation values (for example, noise, side lobes or a combination of noise and side lobes) excluding the peak correlation value at an elapsed time of about 220 [msec]. ) Level is relatively lower than the peak correlation value.

  On the other hand, FIG. 2B shows a delay profile in which the transmission RF unit 230 or the reception RF unit 260 includes a DC offset in the transmission signal or the reception signal. For this reason, in FIG. 2B, the level of the average value (floor average value) of other correlation values excluding the peak correlation value at an elapsed time of about 220 [msec] is the floor average value shown in FIG. It is relatively higher than the level.

  Therefore, when the peak correlation value corresponding to the reflected wave signal from another target that is not the target 100 is smaller than the floor average value shown in FIG. 2B, the sensing device 200 detects another target. It becomes difficult. That is, in the sensing device 200 shown in FIG. 1, the sensing characteristics of the target are deteriorated.

  FIG. 3 is a block diagram illustrating a second configuration example (see, for example, Patent Document 1) of a conventional sensing device. 3 further includes an analysis unit 310, a DAC 320, and an addition unit 330 as compared to the sensing device 200 illustrated in FIG. 1 in order to reduce a DC offset generated in the transmission RF unit 230, for example. In the description of the operation of the sensing device 300 illustrated in FIG. 3, description of the same content as the operation of the sensing device 200 illustrated in FIG. 1 is omitted, and different content is described.

  For example, the analysis unit 310 calculates a DC offset based on the average value of the digital baseband reception signal output from the ADC 270 and outputs the DC offset to the DAC 320. Specifically, analysis unit 310 holds in advance an average value of received signals that do not include a DC offset, and calculates a difference from the average value of the received signals output from ADC 270 as a DC offset. However, the DC offset calculation method in the analysis unit 310 is not limited to the average difference calculation method.

  The DAC 320 D / A converts the digital DC offset output from the analysis unit 310 into an analog signal, and outputs the DC offset signal after the D / A conversion to the addition unit 330. The addition unit 330 subtracts the analog DC offset signal output from the DAC 320 from the analog reception signal output from the reception RF unit 260. Since the output signal from the addition unit 330 is obtained by subtracting the DC offset signal from the reception signal output from the reception RF unit 260, the sensing device 300 illustrated in FIG. 3 reduces the DC offset generated in the transmission RF unit 230. It is possible to suppress degradation of the sensing characteristics of the target.

  However, in the sensing device 300 illustrated in FIG. 3, it is necessary to add the analysis unit 310, the DAC 320, and the addition unit 330 in order to suppress the degradation of the sensing characteristics of the target, and the configuration of the sensing device 300 becomes complicated. There was a problem that the cost also increased.

  Therefore, in each of the following embodiments, a sensing method and a sensing method that reduce DC offset caused by using a high-frequency signal (for example, microwave or millimeter wave) in wireless communication with a simple configuration and suppress degradation of sensing characteristics of the target. An example of the apparatus will be described.

(First embodiment)
First, a first embodiment of a sensing method and a sensing device according to the present disclosure will be described with reference to the drawings. The sensing device 400 of the present embodiment includes a transmission unit TX illustrated in FIG. 4A and a reception unit RX illustrated in FIG. 4B, and measures the distance between the target 100 and the sensing device 400 (measurement). Distance). The sensing device of this embodiment is a radar device or a sonar device, for example. The category of the invention in the present disclosure is not limited to the sensing device of each embodiment, and may be a sensing method including each operation (step) executed by the sensing device of each embodiment.

  FIG. 4A is a block diagram illustrating a configuration example of the transmission unit TX of the sensing device 400 having a configuration common to the embodiments. FIG. 4B is a block diagram illustrating a configuration example of the reception unit RX of the sensing device 400 having a configuration common to the embodiments. FIG. 5 is a block diagram illustrating a configuration example of a sensing device having a configuration common to the embodiments.

  4A includes a transmission RF unit 230 to which a pulse code / phase rotation table 401, a control unit 402, a pulse wave generation unit 210, a phase rotation unit 410, a DAC 220, and a transmission antenna 240 are connected. Including. The reception unit RX shown in FIG. 4B includes a reception RF unit 260, an ADC 270, a phase reverse rotation unit 420, a correlator 280, and a coherent addition unit 290 to which the reception antenna 250 is connected. A control signal output from the control unit 402 is input to the phase reverse rotation unit 420. Note that the transmission signal generated by the pulse wave generator 210 is input to the correlator 280.

  In the pulse code / phase rotation table 401, as a code sequence used by the transmission unit TX of the sensing device 400 to generate a transmission signal, for example, a code sequence A or B constituting a complementary code (A, B), and each code Information relating to the output order in which the sequence A or B is used and information relating to the amount of phase rotation added to the transmission signal generated based on the code sequence A or B are stored (see FIG. 6A).

  FIG. 6A is a diagram illustrating an example of the contents of the pulse code / phase rotation table 401 used in the transmission unit TX of the first embodiment. In the pulse code / phase rotation table 401 shown in FIG. 6A, the ordinal number of the transmission cycle of the high-frequency signal transmitted from the transmission antenna 240, the code sequence used in each transmission cycle, and the transmission signal generated in each transmission cycle. The amount of phase rotation to be given to is defined.

  In this embodiment, a total of 8 transmissions from the first to the eighth (8 = 2 × N, N = 4) are defined as the first transmission group, and a total of eight from the ninth to the 16th. A transmission cycle of (8 = 2 × N, N = 4) is set as the second transmission group. That is, each transmission group includes 2N (N: integer greater than or equal to 1) transmission cycles that are multiples of the number of code sequences (A and B) constituting the complementary code.

  In the present embodiment, each code sequence of A, B, A, B,... And a predetermined phase rotation amount are repeatedly used in units of 16 transmission periods that are the sum of the first transmission group and the second transmission group. . Therefore, for example, in the 17th transmission cycle, the code sequence A is used as in the first transmission cycle of the first transmission group, and the phase rotation amount “0” is added to the transmission signal generated based on the code sequence A. "[Rad]".

  Further, in the present embodiment, the transmission sequence using the code sequences A and B constituting the complementary code, that is, the transmission signal generated based on the code sequence A and the code sequence B is generated based on two transmission cycles. The same phase rotation amount is given to the transmitted signal.

  For example, in each of the first and second transmission cycles, the same phase rotation amount “0” [rad] is assigned to the transmission signal generated based on each code sequence A or B. In the third and fourth transmission cycles, the same phase rotation amount “π / 2” [rad] is assigned to the transmission signal generated based on each code sequence A or B. Further, in each of the fifth and sixth transmission periods, the same phase rotation amount “π” [rad] is assigned to the transmission signal generated based on each code sequence A or B.

  Further, in each of the seventh and eighth transmission cycles, the same phase rotation amount “3π / 2” [rad] is assigned to the transmission signal generated based on each code sequence A or B. Although explanation is omitted, similarly in each transmission cycle after the second transmission group, a transmission signal generated based on the code sequence A and a transmission signal generated based on the code sequence B in units of two transmission cycles. Are given the same amount of phase rotation.

  Furthermore, in this embodiment, in the first transmission group and the second transmission group, the first and second, third and fourth,..., (2N-1) th and second of each transmission group. In each 2N-th transmission period, the phase rotation amount given to the transmission signal in the second transmission group is the phase rotation amount obtained by adding π [rad] to the phase rotation amount given to the transmission signal in the first transmission group. That is, the phase rotation amount obtained by inverting the phase rotation amount given to the transmission signal in the first transmission group.

  For example, when a phase rotation amount of “0” [rad] is given to the transmission signal generated in each of the first and second transmission periods of the first transmission group, the ninth and second of the second transmission group A phase rotation amount of “π” [rad] is added to the transmission signal generated in each tenth transmission cycle.

  In addition, when a phase rotation amount of “π / 2” [rad] is added to the transmission signals generated in the third and fourth transmission periods of the first transmission group, the eleventh of the second transmission group. A phase rotation amount of “3π / 2” [rad] is given to the transmission signals generated in the th and twelfth transmission cycles.

  Further, when a phase rotation amount of “π” [rad] is given to the transmission signals generated in the fifth and sixth transmission periods of the first transmission group, the thirteenth and second of the second transmission group A phase rotation amount of “0” [rad] is added to the transmission signal generated in each of the fourteenth transmission periods.

  Further, when a phase rotation amount of “3π / 2” [rad] is given to the transmission signals generated in the seventh and eighth transmission periods of the first transmission group, the 15th of the second transmission group. A phase rotation amount of “π / 2” [rad] is given to the transmission signals generated in the 16th and 16th transmission periods.

  The control unit 402 refers to the pulse code / phase rotation table 401 and alternately selects the code sequence A or B for each high-frequency signal transmission cycle and outputs the code sequence A or B to the pulse wave generation unit 210. Further, the control unit 402 refers to the pulse code / phase rotation table 401, receives the phase rotation amount added to the transmission signal generated by the pulse wave generation unit 210 based on the code sequence A or B, and the reception output from the ADC 270. The phase reverse rotation amount to be given to the signal is determined.

  The phase reverse rotation amount is a phase opposite to the phase rotation amount, that is, a phase in which the sign of the phase rotation amount is inverted. That is, the control unit 402 determines that the reception unit RX has an opposite phase to the phase rotation amount determined to be provided by the transmission unit TX.

  FIG. 6B shows the phase reverse rotation amount. FIG. 6B is a diagram illustrating an example of the contents of the pulse code / phase reverse rotation table used in the reception unit RX according to the first embodiment. For example, in the reception cycle 1, since the phase rotation amount in the transmission unit TX is “0” [rad] in the transmission cycle 1 corresponding to the reception cycle 1, the phase reverse rotation amount in the reception unit RX is “0” [rad]. It becomes.

  Further, in the reception cycle 3, since the phase rotation amount in the transmission unit TX is “π / 2” [rad] in the transmission cycle 3 corresponding to the reception cycle 3, the phase reverse rotation amount in the reception unit RX is “−π / 2 ”[rad]. Similarly, in the reception cycle 7, since the phase rotation amount in the transmission unit TX is “3π / 2” [rad] in the transmission cycle 7 corresponding to the reception cycle 7, the phase reverse rotation amount in the reception unit RX is “−3π. / 2 = − (− π / 2) = π / 2 ”[rad].

  The control unit 402 outputs to the phase rotation unit 410 a control signal for giving the determined amount of phase rotation to the transmission signal generated by the pulse wave generation unit 210. Further, the control unit 402 outputs to the phase reverse rotation unit 420 a control signal for adding the determined phase reverse rotation amount to the reception signal output from the ADC 270.

  A pulse wave generation unit 210 as a transmission signal generation unit generates a transmission signal as a pulse compression signal (pulse compression wave) based on the code sequence A or B output from the control unit 402, and sends it to the phase rotation unit 410. Output.

Hereinafter, in order to specifically describe the contents of the present embodiment, it is assumed that the coherent addition number in the coherent addition unit 290 is 16 times or a multiple of 16, and the target 100 and the sensing device 400 are stationary. explain. Specifically, the pulse wave generation unit 210 performs the transmission cycles from the first to the 16th,

A, B, A, B, A, B, A, B,
A, B, A, B, A, B, A, B

Each transmission signal is generated. Here, the transmission cycle is 2 series and the transmission group is 8 series.

The phase rotation unit 410 adds a phase rotation amount corresponding to the control signal output from the control unit 402 to the transmission signal output from the pulse wave generation unit 210. The phase rotation unit 410 outputs a transmission signal to which the phase rotation amount is added to the DAC 220.
Specifically, the phase rotation unit 410 is in each of the first to sixteenth transmission cycles,

A, B, jA, jB, -A, -B, -jA, -jB,
-A, -B, -jA, -jB, A, B, jA, jB

Are transmitted to the DAC 220. j is an imaginary unit.

  Therefore, the phase rotation amount “0” [rad] is multiplied by “1”, the phase rotation amount “π / 2” [rad] is multiplied by “j”, and the phase rotation amount “π” [rad] is “−1” is multiplied, and the phase rotation amount “3π / 2” [rad] is multiplied by “−j”.

  Here, the first to eighth transmission cycles are the first transmission group, and the ninth to sixteenth transmission cycles are the second transmission group. For this reason, the second transmission group has a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the first group.

  The DAC 220 D / A converts the digital transmission signal output from the phase rotation unit 410 into an analog transmission signal and outputs the analog transmission signal to the transmission RF unit 230. The transmission RF unit 230 converts the transmission signal output from the DAC 220 into a high-frequency signal using the local signal output from a local signal oscillator (not shown), and transmits the high-frequency signal from the transmission antenna 240.

Specifically, since a DC offset occurs in the transmission RF unit 230, the high-frequency signal in each transmission cycle from the first to the sixteenth is

A + dc, B + dc, jA + dc, jB + dc,
-A + dc, -B + dc, -jA + dc, -jB + dc,
-A + dc, -B + dc, -jA + dc, -jB + dc,
A + dc, B + dc, jA + dc, jB + dc

It becomes. Similarly to the code sequences A and B, dc is a vector having a code length L, and all the components are the same value.

  The high frequency signal transmitted from the transmission antenna 240 is reflected by the target 100, and the reflected wave signal is received by the reception antenna 250. In the following description, in the actual high-frequency signal transmission line, phase rotation or signal attenuation occurs according to the transmission line, but for the sake of simplicity, the amplitude and phase of the high-frequency signal are received without change. The description will be made assuming that the signal is received by the antenna 250.

  The reception RF unit 260 converts a high frequency reception signal received by the reception antenna 250 into a baseband reception signal using the local signal output from a local signal oscillator (not shown), and outputs the baseband reception signal to the ADC 270. The ADC 270 A / D converts the analog baseband reception signal output from the reception RF unit 260 into a digital baseband reception signal and outputs the digital baseband reception signal to the phase reverse rotation unit 420.

  The phase reverse rotation unit 420 adds a phase reverse rotation amount (see FIG. 6B) corresponding to the control signal output from the control unit 402 to the reception signal output from the ADC 270.

The phase reverse rotation unit 420 outputs the received signal to which the phase reverse rotation amount is added to the correlator 280. Specifically, the phase reverse rotation unit 420 includes the first to sixteenth transmission cycles,

A + dc, B + dc, −j (jA + dc), −j (jB + dc),
-(-A + dc),-(-B + dc), j (-jA + dc), j (-jB + dc),
-(-A + dc),-(-B + dc), j (-jA + dc), j (-jB + dc),
A + dc, B + dc, −j (jA + dc), −j (jB + dc)

The received signals are output to the correlator 280.

That is, the phase reverse rotation unit 420 in each transmission cycle from the first to the 16th,

A + dc, B + dc, A-jdc, B-jdc,
A-dc, B-dc, A + jdc, B + jdc,
A-dc, B-dc, A + jdc, B + jdc,
A + dc, B + dc, A-jdc, B-jdc

The received signals are output to the correlator 280.

Correlator 280 as a correlation unit calculates a correlation value between the transmission signal generated by pulse wave generation unit 210 and the reception signal output from phase reverse rotation unit 420 for each transmission cycle, and outputs the correlation value to coherent addition unit 290. To do. Here, the calculation of the correlation value between the code sequence X and the code sequence Y is expressed as X # Y, and the code sequence X = [x ₁ , x ₂ , x ₃ ,..., X _L ], Y = [y ₁ , If y ₂ , y ₃ ,..., y _L ], X # Y is expressed by Equation (1). X # Y is a vector of length L.

Specifically, the calculation result of the correlator 280 is as follows in each transmission cycle from the first to the 16th.

A # (A + dc), B # (B + dc), A # (A−jdc), B # (B−jdc),
A # (A-dc), B # (B-dc), A # (A + jdc), B # (B + jdc),
A # (A-dc), B # (B-dc), A # (A + jdc), B # (B + jdc),
A # (A + dc), B # (B + dc), A # (A-jdc), B # (B-jdc)

It becomes.

  The coherent addition unit 290 adds the correlation values calculated by the correlator 280 in a transmission cycle of a predetermined number of coherent additions (for example, 16 times), and based on the time that becomes the peak correlation value (see FIG. 2A). Then, the distance between the target 100 and the sensing device 400 is measured.

Specifically, the coherent addition unit 290 performs the coherent addition results in the first to sixteenth transmission periods as follows:

A # (A + dc) + B # (B + dc) + A # (A−jdc) + B # (B−jdc) +
A # (A-dc) + B # (B-dc) + A # (A + jdc) + B # (B + jdc) +
A # (A-dc) + B # (B-dc) + A # (A + jdc) + B # (B + jdc) +
A # (A + dc) + B # (B + dc) + A # (A−jdc) + B # (B−jdc)

Is calculated.

  Here, since the calculation of the correlation value is a linear calculation, Expression (2) is established. Therefore, the coherent addition result in each transmission period from the first to the 16th is expressed by Expression (3). That is, in the coherent addition result, the second term and the fourth term become zero, the DC offset is canceled, and becomes a sum component of the autocorrelation value of the code sequence A and the autocorrelation value of the code sequence B.

  Thereby, in a state where the target 100 and the sensing device 400 are stationary, the sensing device 400 of the present embodiment gives a phase rotation amount to the transmission signal in the transmission unit TX and reverses the phase of the reception signal in the reception unit RX. By providing the rotation amount, for example, a DC offset generated in the transmission RF unit 230 can be canceled, and deterioration of sensing characteristics can be suppressed.

Next, a case where the target 100 is moving and the reflected wave signal (received signal) reflected by the moving target 100 is affected by the Doppler phase rotation amount φ will be described. That is, when the target 100 is moving, the phase rotation amount φ is weighted to the received signal every time a high-frequency signal is transmitted. The assumed phase rotation amount φ is a small value of about 1 to 2 degrees or less. However, when the number of coherent additions in the coherent addition unit 290 increases to, for example, about 100 times, the influence of the weighted phase rotation amount can be ignored. Disappear. As an influence of the Doppler phase rotation amount φ, the coefficient exp (j _(M−1) φ) is added to the received signal when the Doppler phase rotation amount φ is weighted in the Mth (M: integer greater than or equal to 1) transmission cycle. The

When the target 100 is moving, the received signal weighted by the Doppler phase rotation amount φ in each of the first to sixteenth transmission periods is:

exp (j ₀ φ) (A + dc), exp (j ₁ φ) (B + dc),
exp (j ₂ φ) (jA + dc), exp (j ₃ φ) (jB + dc),
exp (j ₄ φ) (− A + dc), exp (j ₅ φ) (− B + dc),
exp (j ₆ φ) (− jA + dc), exp (j ₇ φ) (− jB + dc),
exp (j ₈ φ) (− A + dc), exp (j ₉ φ) (− B + dc),
exp (j ₁₀ φ) (− jA + dc), exp (j ₁₁ φ) (− jB + dc),
exp (j ₁₂ φ) (A + dc), exp (j ₁₃ φ) (B + dc),
exp (j ₁₄ φ) (jA + dc), exp (j ₁₅ φ) (jB + dc)

It becomes.

The phase reverse rotation unit 420 is in each transmission cycle from the first to the 16th.

exp (j ₀ φ) (A + dc), exp (j ₁ φ) (B + dc),
(−j) exp (j ₂ φ) (jA + dc), (−j) exp (j ₃ φ) (jB + dc),
(-1) exp (j ₄ φ) (− A + dc), (−1) exp (j ₅ φ) (− B + dc),
(J) exp (j ₆ φ) (− jA + dc), (j) exp (j ₇ φ) (− jB + dc),
(−1) exp (j ₈ φ) (− A + dc), (−1) exp (j ₉ φ) (− B + dc),
(J) exp (j ₁₀ φ) (− jA + dc), (j) exp (j ₁₁ φ) (− jB + dc),
exp (j ₁₂ φ) (A + dc), exp (j ₁₃ φ) (B + dc),
(−j) exp (j ₁₄ φ) (jA + dc), (−j) exp (j ₁₅ φ) (jB + dc)

The received signals are output to the correlator 280.

That is, the phase reverse rotation unit 420 in each transmission cycle from the first to the 16th,

exp (j ₀ φ) (A + dc), exp (j ₁ φ) (B + dc),
exp (j ₂ φ) (A−jdc), exp (j ₃ φ) (B−jdc),
exp (j ₄ φ) (A-dc), exp (j ₅ φ) (B-dc),
exp (j ₆ φ) (A + jdc), exp (j ₇ φ) (B + jdc),
exp (j ₈ φ) (A-dc), exp (j ₉ φ) (B-dc),
exp (j ₁₀ φ) (A + jdc), exp (j ₁₁ φ) (B + jdc),
exp (j ₁₂ φ) (A + dc), exp (j ₁₃ φ) (B + dc),
exp (j ₁₄ φ) (A-jdc), exp (j ₁₅ φ) (B-jdc)

The received signals are output to the correlator 280.

The calculation result of the correlator 280 is as follows in each transmission cycle from the first to the 16th

A # {exp (j ₀ φ) (A + dc)}, B # {exp (j ₁ φ) (B + dc)},
A # {exp (j ₂ φ) (A−jdc)}, B # {exp (j ₃ φ) (B−jdc)},
A # {exp (j ₄ φ) (A-dc)}, B # {exp (j ₅ φ) (B-dc)},
A # {exp (j ₆ φ) (A + jdc)}, B # {exp (j ₇ φ) (B + jdc)},
_{A # {exp (j 8 φ} ) (A-dc)}, B # {exp (j 9 φ) (B-dc)},
A # {exp (j ₁₀ φ) (A + jdc)}, B # {exp (j ₁₁ φ) (B + jdc)},
A # {exp (j ₁₂ φ) (A + dc)}, B # {exp (j ₁₃ φ) (B + dc)},
A # {exp (j ₁₄ φ) (A−jdc)}, B # {exp (j ₁₅ φ) (B−jdc)}

It becomes.

The coherent addition unit 290 performs the coherent addition results in the first to sixteenth transmission periods as follows:

A # {exp (j ₀ φ) (A + dc)} + B # {exp (j ₁ φ) (B + dc)} +
A # {exp (j ₂ φ) (A−jdc)} + B # {exp (j ₃ φ) (B−jdc)} +
A # {exp (j ₄ φ) (A−dc)} + B # {exp (j ₅ φ) (B−dc)} +
A # {exp (j ₆ φ) (A + jdc)} + B # {exp (j ₇ φ) (B + jdc)} +
A # {exp (j ₈ φ) (A−dc)} + B # {exp (j ₉ φ) (B−dc)} +
A # {exp (j ₁₀ φ) (A + jdc)} + B # {exp (j ₁₁ φ) (B + jdc)} +
A # {exp (j ₁₂ φ) (A + dc)} + B # {exp (j ₁₃ φ) (B + dc)} +
A # {exp (j ₁₄ φ) (A−jdc)} + B # {exp (j ₁₅ φ) (B−jdc)}

Is calculated. Therefore, the coherent addition result in each transmission period from the first to the 16th is expressed by Equation (4).

  The component in square brackets in the second term of Equation (4) is expressed by Equation (5) when divided into components including j and components not including j. Since the phase rotation amount φ is a small value of about 1 to 2 degrees, the relationship shown in the equation (6) is established for the equation (5). For this reason, Formula (5) can be approximated to a value close to zero (see FIG. 7).

FIG. 7 is an explanatory diagram for explaining the cancellation of the phase of the dc component in the first embodiment. If the phase rotation amount φ is a small value of about 1 to 2 degrees, the vector {exp (j ₀ φ) −exp (j ₄ φ)} and the vector {−exp (j ₈ φ) in the enlarged view of the region g1. + Exp (j ₁₂ φ)} can be approximated as having the same size and the opposite direction. As a result, when the phase rotation amount φ is a small value of about 1 to 2 degrees, the equation (5) can be approximated to a value close to zero.

  In addition, the component in square brackets in the fourth term of Equation (4) is expressed by Equation (7) when divided into components including j and components not including j. Since the phase rotation amount φ is a small value of about 1 to 2 degrees, the relationship shown in the equation (8) is established for the equation (7). For this reason, like the second term of the formula (4), the fourth term of the formula (4), that is, the formula (7) is not necessarily zero, but can be approximated to a value close to zero (FIG. 7). reference).

  For example, the phase rotation amount φ is 1 degree, and the number of coherent additions is 64 (= 16 × 4). The sum of the magnitudes of the components of Equations (5) and (7) is 60.725 when the phase rotation is not performed and when the phase rotation is not performed in the sensing device 400 of the present embodiment. In this case, it becomes 1.473.

  Further, in the first transmission group and the second transmission group, the transmission signal generated in each of the first, second,..., (2N-1) th and 2Nth transmission periods of each transmission group is π. When phase rotation amounts having a phase difference of [rad] are respectively given, the sum of the magnitudes of the components of Equations (5) and (7) is 0.103.

  Accordingly, by rotating the phase and rotating the phase from the state where the phase is not rotated and the state where the phase is not rotated backward, the sum of the magnitudes of the components of the formulas (5) and (7) becomes 2.4%. Can be reduced.

  In addition, transmission signals generated in the first, second,..., (2N-1) th and 2Nth transmission periods of the first transmission group from the state where the phase does not rotate and the state where the phase does not rotate reversely. On the other hand, in the transmission signals generated in the first and second,..., (2N-1) th and 2Nth transmission periods of the second transmission group, the phase rotation amount is further set to π [ rad] is added, the sum of the magnitudes of the components of Equations (5) and (7) can be reduced to 0.17%.

  As described above, the sensing device 400 according to the present embodiment allows the transmission unit TX to perform the first and second,..., (2N) of the Mth (for example, M = 1) th transmission group including 2N transmission periods. -1) The 1st and 2nd, ..., (2N-1) th, and 2nd of the (M + 1) th transmission group with respect to the transmission signal generated in each of the 2nd and 2Nth transmission periods In the transmission signal generated in each 2N-th transmission cycle, the phase rotation amount is further added by π [rad] (see FIG. 6A).

  Furthermore, the sensing device 400 gives an antiphase of the amount of phase rotation given in the transmission unit TX in the reception unit RX (see FIG. 6B), and the Mth transmission group and the (M + 1) th transmission group. The correlation value calculated in each transmission cycle with the transmission group is coherently added.

  Thereby, the sensing apparatus 400 can reduce the level of the average value (floor average value) of other correlation values excluding the peak correlation value in the coherent addition result (see FIG. 8), and when using a high-frequency signal in wireless communication The generated DC offset can be reduced with a simple configuration, and degradation of the sensing characteristics of the target can be suppressed.

  Therefore, the sensing device 400 can detect both a car and a human, for example. In addition, the sensing device 400 can reduce a DC offset generated by using a high-frequency signal (for example, a microwave or a millimeter wave) in wireless communication with a simple configuration. Thereby, the sensing device 400 can identify and detect adults and children having different reflection cross sections as a plurality of targets, and the same applies to the sensing devices 400 of the following embodiments.

  FIG. 8 is a delay profile of a simulation result in the sensing device of the first embodiment. The horizontal axis of FIG. 8 is time [msec], that is, the elapsed time since the high-frequency signal was transmitted, and the vertical axis of FIG. 8 represents the correlation value level (correlation level) [dB]. In the simulation shown in FIG. 8, a Golay code having a code length L of 32 is used as a pulse compression code, the moving speed of the target 100 is 80 [km / h], and the number of coherent additions is 64.

  In FIG. 8, the peak correlation value at an elapsed time of about 220 [msec] is higher than the average level of other correlation values excluding the peak correlation value, and the average value of other correlation values excluding the peak correlation value. Is lower than the range of −70 [dB] to −50 [dB] and the peak correlation value, and the side lobe component can be suppressed.

(Second Embodiment)
In the first embodiment, the sensing device 400 uses the M-th and (M + 1) th transmission groups as the phase rotation amounts given in the Mth transmission group and the (M + 1) th transmission group. For example, (M + 2) -th and subsequent transmission groups are repeatedly given in units of a total of two transmission groups.

  In the second embodiment, the sensing device 400 gives the same amount of phase rotation as in the first embodiment in the Mth transmission group and the (M + 1) th transmission group. Further, the sensing device 400 gives a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the Mth transmission group in the (M + 2) th transmission group, and in the (M + 3) th transmission group. A phase rotation amount obtained by adding π [rad] to the phase rotation amount of the (M + 1) th transmission group is given (see FIG. 9). Moreover, since the configuration of the sensing device 400 of the second embodiment is the same as that of the sensing device 400 of the first embodiment, description will be made using the same reference numerals.

  FIG. 9 is a diagram illustrating an example of the contents of the pulse code / phase rotation table 401 according to the second embodiment. In the first transmission group and the second transmission group, the same phase rotation amount as that of the pulse code / phase rotation table 401 shown in FIG. In the third transmission group, a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the first transmission group is given, and in the fourth transmission group, π [rad] is added to the phase rotation amount of the second transmission group. The phase rotation amount is given.

  In the second embodiment, the sensing device 400 sets the coherent addition number in the coherent addition unit 290 to 32 times or a multiple of 32, and a total of four transmission groups from the first transmission group to the fourth transmission group. In the fifth and subsequent transmission groups, the phase rotation amount is repeatedly given.

  In the second embodiment, when the target 100 is stationary, the coherent addition result of the correlation values calculated in the third transmission group and the fourth transmission group is the DC offset ( (dc component) is canceled (see Equation (3)), it is possible to suppress degradation of sensing characteristics.

  In the second embodiment, when the target 100 is moving and the reflected wave signal (received signal) reflected by the moving target 100 is affected by the Doppler phase rotation amount φ, the first to the 16th The result of coherent addition in each transmission cycle up to is the same as in Equation (4). The coherent addition result in each transmission period from the 17th to the 32nd is Equation (9), and the phase rotation in which the phase rotation amount in each transmission period from the 1st to the 16th is π [rad]. It corresponds to the calculation result to which the amount is given.

  The component in square brackets in the second term of Equation (9) is expressed by Equation (10) when divided into components including j and components not including j. Since the phase rotation amount φ is a small value of about 1 to 2 degrees, the relationship shown in the equation (11) is established for the equation (10). For this reason, numerical formula (10) can be approximated to a value closer to zero compared to the first embodiment (see FIG. 10).

FIG. 10 is an explanatory diagram for explaining the cancellation of the phase of the dc component in the second embodiment. If the phase rotation amount φ is a small value of about 1 to 2 degrees, the vector {−exp (j ₁₆ φ) + exp (j ₂₀ φ)} and the vector {−exp (j ₂₄ φ) in the enlarged view of the region g2. + Exp (j ₂₈ φ)} can be approximated as having the same size and the opposite direction. Thus, when the phase rotation amount φ is a small value of about 1 to 2 degrees, the equation (10) can be approximated to a value closer to zero as compared with the value of the equation (5) of the first embodiment.

  The bracketed component in the fourth term of Equation (9) is expressed by Equation (12) when it is divided into components including j and components not including j. Since the phase rotation amount φ is a small value of about 1 to 2 degrees, the relationship shown in the equation (13) is established for the equation (12). For this reason, like the second term of the formula (9), the fourth term of the formula (9), that is, the formula (12) is not necessarily zero, but can be approximated to a value close to zero (FIG. 10). reference).

  For example, the phase rotation amount φ is 1 degree, and the number of coherent additions is 64 (= 32 × 2). The sum of the magnitudes of the components of Equations (10) and (12) is 0.0145. Therefore, as in the first embodiment, the phase rotation amount shown in FIG. 6A is given to the first transmission group and the second transmission group from the state where the phase does not rotate and the state where the phase does not rotate, and the third In the transmission group, the phase rotation amount obtained by adding π [rad] to the phase rotation amount of the first transmission group is given, and in the fourth transmission group, the phase rotation amount obtained by adding π [rad] to the phase rotation amount of the second transmission group. Is added, the sum of the magnitudes of the components of Equations (10) and (12) can be reduced to 0.024%.

As described above, the sensing device 400 according to the present embodiment is configured such that the transmitter unit TX includes the Mth and (M + 3) th transmission groups including the 2N transmission cycles, the (M + 1) th and (M + 2) th transmission groups. In each transmission group, a phase rotation amount having a phase difference of π [rad] in transmission signals generated in the first, second,..., (2N−1) th and 2Nth transmission periods. (See FIG. 9).
Furthermore, the sensing device 400 gives a reverse phase to the phase rotation amount given in the transmission unit TX in the reception unit RX, and a total of four from the Mth transmission group to the (M + 3) th transmission group. The correlation value calculated in each transmission cycle of the transmission group is coherently added.

Thereby, the sensing apparatus 400 can reduce the DC offset that has not been sufficiently reduced to a value close to zero in the first embodiment to a value closer to zero, and other values obtained by removing the peak correlation value from the coherent addition result. The level of the average value (floor average value) of the correlation values can be further reduced than the level of the floor average value of the first embodiment (see FIG. 11).
Therefore, the sensing device 400 according to the present embodiment reduces the DC offset caused by using a high-frequency signal in wireless communication with a simple configuration as compared with the sensing device 400 according to the first embodiment, and the sensing characteristics of the target. Degradation can be further suppressed.

  FIG. 11 is a delay profile of a simulation result in the sensing device of the second embodiment. The horizontal axis in FIG. 11 represents time [msec], that is, the elapsed time since the high-frequency signal was transmitted, and the vertical axis in FIG. 11 represents the correlation value level (correlation level) [dB]. In the simulation shown in FIG. 11, a Golay code having a code length L of 32 is used as a pulse compression code, the moving speed of the target 100 is 80 [km / h], and the number of coherent additions is 64.

  In FIG. 11, the peak correlation value at an elapsed time of about 220 [msec] is higher than the average level of other correlation values excluding the peak correlation value. The average level is lower than the simulation result of the first embodiment shown in FIG. 8 in the range of −70 [dB] to −50 [dB], and the sidelobe component is simulated in the first embodiment. Compared to the results, it can be further suppressed.

(Third embodiment)
In each of the first and second embodiments, the code sequences A and B forming the complementary code (A, B) are used when the pulse wave generator 210 generates a transmission signal. In the third embodiment, the pulse wave generation unit 210 uses a SPANO code instead of these code sequences A and B. The SPANO code is a code sequence including code sequences A and B constituting complementary codes (A, B), an order-inverted code sequence A ′ of the code sequence A, and an order-inverted code sequence B ′ of the code sequence B. For example, it includes eight code sequences of A, B, B ′, A ′, B, A, A ′, and B ′. The configuration of the sensing device 400 of the third embodiment is the same as that of the sensing device 400 of the first embodiment, and will be described using the same reference numerals.

  In each of the first and second embodiments, the pulse wave generation unit 210 uses the code sequence A in a certain transmission cycle and uses the code sequence B in the next transmission cycle. In other words, the pulse wave generation unit 210 is selected by alternately repeating the code sequences A and B in units of two transmission periods.

  In the third embodiment, the pulse wave generator 210 similarly configures the SPANO code (A, B, B ′, A ′, B, A, A ′, B ′) in units of two transmission periods. A code sequence (A, B, A ′, B ′) is selected alternately and repeatedly according to a predetermined order of SPANO codes (see FIG. 12).

  FIG. 12 is a diagram illustrating an example of the contents of the pulse code / phase rotation table 401 according to the third embodiment. FIG. 12A is a table corresponding to the transmission method of the first embodiment. FIG. 12B is a table corresponding to the transmission method of the second embodiment. In FIG. 12A and FIG. 6, the amount of phase rotation given to the transmission signal is the same, but the code sequence used to generate the transmission signal is different. Similarly, in FIG. 12B and FIG. 9, the amount of phase rotation given to the transmission signal is the same, but the code sequence used to generate the transmission signal is different.

  The coherent addition result of the coherent addition unit 290 in the third embodiment is the coherent addition result in the first embodiment (see formula (3) or formula (4)) or the coherent addition result in the second embodiment ( Similarly, the DC offset is reduced. That is, the code sequence used when generating the transmission signal is not limited to the code sequences A and B constituting the complementary code (A, B) in each of the first and second embodiments. Even the SPANO code in the embodiment can reduce the DC offset (see FIG. 13).

  FIG. 13 is a delay profile of a simulation result in the sensing device of the third embodiment. The horizontal axis in FIG. 13 represents time [msec], that is, the elapsed time since the high-frequency signal was transmitted, and the vertical axis in FIG. 13 represents the correlation value level (correlation level) [dB].

  The dotted lines in FIG. 13 indicate the first transmission group (transmission cycle from the first transmission cycle to the eighth transmission cycle) and the second transmission group (from the ninth transmission cycle to the 16th transmission cycle) including a total of eight transmission cycles. Phase transmission having a phase difference of π [rad] in the transmission signal generated in each of the first, second,..., (2N−1) th and 2Nth transmission periods. This is a result of coherent addition when no amount is given.

  The solid lines in FIG. 13 indicate transmissions generated in the first, second,..., (2N-1) th and 2Nth transmission periods in the first transmission group and the second transmission group. This is a coherent addition result when a signal has a phase rotation amount having a phase difference of π [rad].

  As described above, the sensing device 400 according to the present embodiment can perform other correlations except for the peak correlation value in the coherent addition result even when the SPANO code is used in the third embodiment, as in the first or second embodiment. The level of the average value (floor average value) of the values can be reduced (see FIG. 13), the DC offset generated by using the high frequency signal in wireless communication can be reduced with a simple configuration, and the deterioration of the sensing characteristics of the target can be suppressed.

  Although various embodiments have been described with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  In the first or second embodiment, the number of transmission periods in one transmission group is not limited to eight. In the example of FIG. 6 or FIG. 9, the total amount of phase rotation given to the transmission signal is 4 [0 [rad], [pi] / 2 [rad], [pi] [rad], and 3 [pi] / 2 [rad]. When one transmission group includes 2N transmission periods, the phase rotation amount may be different by (2π / N) [rad] in the range of 0 to 2π [rad]. In FIG. 6 or FIG. 9, N = 4.

  In the first or second embodiment, in the pulse code / phase rotation table 401 shown in FIG. 6 or FIG. 9, the phase rotation amount monotonically increases in units of two transmission cycles, but two transmission cycles in each transmission group. As a unit, the amount of phase rotation may not increase monotonously, but may increase randomly.

  In the second embodiment, the sensing device 400 assigns the same amount of phase rotation as in the first embodiment in each of the Mth and (M + 1) th transmission groups. Furthermore, the sensing device 400 gives a phase rotation amount obtained by inverting the phase rotation amount of the Mth transmission group by π [rad] in the (M + 2) th transmission group, and in the (M + 3) th transmission group. A phase rotation amount obtained by inverting the phase rotation amount of the (M + 1) th transmission group by π [rad] is given. Furthermore, in the second embodiment, the sensing device 400 uses the four transmission groups including the Mth to (M + 3) th transmission groups as a unit, and for each of the (M + 4) th and subsequent four transmission groups, The same phase rotation amount as that of the Mth to (M + 3) th transmission groups is repeatedly given.

  As a modification of the second embodiment, the sensing device 400 includes four transmission groups from the (M + 4) th to the (M + 7) th, and the Mth transmission group in the (M + 4) th transmission group. The phase rotation amount obtained by reversing the phase rotation amount of π [rad] is given, and in the (M + 7) th transmission group, the phase rotation amount of the (M + 3) th transmission group is reversed by π [rad]. A phase rotation amount may be applied. Furthermore, as a modification, the sensing apparatus 400 uses the 8th transmission group from the Mth to the (M + 7) th as a unit, and from the Mth to the (M + 7) for every (M + 8) th and subsequent 8 transmission groups. ) The same amount of phase rotation as the first transmission group is repeatedly given.

As a further modification of the second embodiment, the sensing device 400 is similar in that the number of transmission groups serving as a unit for repeatedly applying a predetermined amount of phase rotation is 2 ^P (P: an integer of 4 or more). A predetermined amount of phase rotation may be repeatedly given to.

  INDUSTRIAL APPLICABILITY The present invention is useful as a sensing method and a sensing apparatus that reduce a DC offset that occurs when a high-frequency signal is used in wireless communication with a simple configuration and suppress degradation of sensing characteristics of a target.

210 Pulse wave generator 220 DAC
230 Transmission RF unit 240 Transmission antenna 250 Reception antenna 260 Reception RF unit 270 ADC
280 Correlator 290 Coherent addition unit 400 Sensing device 401 Pulse code / phase rotation table 402 Control unit 410 Phase rotation unit 420 Phase reverse rotation unit

Claims (8)

Generating a transmission signal in which a first code sequence and a second code sequence having a predetermined length are arranged in a predetermined order for each transmission cycle;
Providing a phase rotation amount for the transmission signal for each transmission cycle;
Converting the transmission signal provided with the phase rotation amount into a high-frequency signal and transmitting the signal from a transmission antenna,
The transmission signal is
Each including an Mth (M: 1 or greater) transmission group and an (M + 1) th transmission group each including 2N (N: 1 or greater) transmission periods;
The phase rotation amount of the (M + 1) th transmission group is
A sensing method, which is a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the Mth transmission group. The sensing method according to claim 1,
Receiving a reflected wave signal obtained by reflecting the high-frequency signal by a target at a receiving antenna;
Applying a phase reverse rotation amount obtained by inverting the sign of the phase rotation amount applied in the step of applying the phase rotation amount to the received signal;
Calculating a correlation value between the transmission signal before the phase rotation amount is given and the reception signal to which the phase reverse rotation amount is given;
Adding each of the calculated correlation values in each transmission cycle of the Mth transmission group and the (M + 1) th transmission group. The sensing method according to claim 1 or 2,
The transmission signal further includes:
(M + 2) th transmission group and (M + 3) th transmission group each including 2N transmission periods,
In the step of providing the phase rotation amount,
The phase rotation amount of the (M + 2) th transmission group is
A phase rotation amount obtained by adding π [rad] to the phase rotation amount of the M-th transmission group;
The phase rotation amount of the (M + 3) th transmission group is
A sensing method, which is a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the (M + 1) th transmission group. The sensing method according to any one of claims 1 to 3,
The transmission signal is
And further comprising an inversion code sequence of the first code sequence and an inversion code sequence of the second code sequence,
A signal in which the first code sequence, the second code sequence, the order-inverted code sequence of the first code sequence, and the order-inverted code sequence of the second code sequence are arranged in a predetermined order for each transmission period. Sensing method. A transmission signal generator that generates a transmission signal in which a first code sequence and a second code sequence having a predetermined length are arranged in a predetermined order for each transmission cycle;
A phase rotation unit for providing a phase rotation amount for the transmission signal for each transmission cycle;
A transmission RF unit that converts the transmission signal provided with the phase rotation amount into a high-frequency signal and transmits the signal from a transmission antenna;
The transmission signal is
Each including an Mth (M: 1 or greater) transmission group and an (M + 1) th transmission group each including 2N (N: 1 or greater) transmission periods;
The phase rotation amount of the (M + 1) th transmission group is
The sensing device, which is a phase rotation amount obtained by adding π [rad] to the phase rotation amount of the Mth transmission group. The sensing device according to claim 5,
A reception RF unit that receives a reflected wave signal obtained by reflecting the high-frequency signal by a target at a reception antenna;
A phase reverse rotation unit that applies a phase reverse rotation amount obtained by inverting the sign of the phase rotation amount applied in the phase rotation unit to the received signal;
A correlation unit that calculates a correlation value between the transmission signal before the phase rotation amount is given and the reception signal to which the phase reverse rotation amount is given;
And a coherent adder that adds the calculated correlation values in each transmission period of the Mth transmission group and the (M + 1) th transmission group. The sensing device according to claim 5 or 6,
The transmission signal further includes:
(M + 2) th transmission group and (M + 3) th transmission group each including 2N transmission periods,
The phase rotation unit is
A phase rotation amount obtained by adding π [rad] to the phase rotation amount given to the Mth transmission group is added to the (M + 2) th transmission group,
A sensing device, wherein a phase rotation amount obtained by adding π [rad] to the phase rotation amount assigned to the (M + 1) th transmission group is added to the (M + 3) th transmission group. The sensing device according to any one of claims 5 to 7,
The transmission signal is
And further comprising an inversion code sequence of the first code sequence and an inversion code sequence of the second code sequence,
The transmission signal generator is
A transmission signal in which the first code sequence, the second code sequence, the order-inverted code sequence of the first code sequence, and the order-inverted code sequence of the second code sequence are arranged in a predetermined order for each transmission period A sensing device to generate.

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