JPH10246772A - Radar system diagnostic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain judgement of failure of each part and location of a failure part by a small-sized diagnostic circuit by extracting a radar constitution element as a diagnostic target, inputting a specific signal during a prescribed period, and comparing the output of the constitution element of the diagnostic target with a reference signal. SOLUTION: The same charge signal as a transmission charge signal digitized from a specific signal generation part 12 is input, and processed together with a receiving signal. The input digitized charge signal is received, a pulse compression(PC) part 4 processes it, and a diagnostic processing part 13 takes in the output signal to perform failure judgement. At first, a PC output signal processed by the PC part 4 is extracted by a receiving signal extraction part 14 during transmission. The level of the signal after processing is compared with the upper and lower limits of a reference level in a level measuring part 16. Next, the center part of a pulse is compared with the upper and lower limits of a reference distance in a distance measuring part 17, the pulse width of the signal after processing is compared with the upper and lower limits of reference width in a pulse width measuring part 18, and it is judged whether measurement is normal or not.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for inputting a specific signal to a circuit to be diagnosed for detecting a fault and specifying a fault location in a radar system and analyzing the processed signal to determine the fault. It is.

[0002]

2. Description of the Related Art FIG. 14 shows a configuration diagram of a radar system including a conventional diagnostic device. In the figure, 1 is a transmitting / receiving antenna, 2 is a receiver, 3 is an A / D converter, 4 is a pulse compression (PC) unit, 5 is a def router, 6 is a moving target identification unit (MTI), 7 is a pulse Doppler (PD). A) a processing unit, 8 is a Doppler correlation unit, 9 is a constant false alarm probability (CFAR) function unit, 10 is a tracking processing unit, and 11 is a transmitter.

Next, the operation will be described. Transmitter 11
The transmission wave generated by the transmission / reception antenna 1 is radiated. Next, the reception wave reflected by the target is received by the receiver 2 again through the transmission / reception antenna 1. The A / D converter 3 performs A / D conversion processing on the received signal. Next, the PC unit 4 performs pulse compression of the received signal. Further, the PC unit 4 performs a diagnosis process. Next, the differential router 5 removes interference waves. Further, the diagnostic processing is performed by the differential router 5. The MTI unit 6 extracts only the moving target from the signal that has been subjected to the de-router processing.
The MTI unit 6 performs a diagnosis process. The signal from which only the moving target is extracted by the MTI unit 6 is subjected to pulse Doppler processing by the PD processing unit 7. The PD processing unit 7
Diagnosis processing is performed. The signal processed by the PD processing unit 7 is subjected to correlation processing by the Doppler correlation unit 8. In addition, a diagnostic process is performed. From the signal processed by the Doppler correlation unit 8, a target signal is extracted by a CFAR unit 9.
A diagnostic process is performed. Next, the tracking processing unit 10
The signal extracted by the R unit 9 is tracked, and a diagnostic process is performed. Here, the diagnostic processing is performed by checking the contents of the header data of the input data for measuring the frequency of the input data, and the like.
Determine the presence or absence of an abnormality. In a case where a logical operation performed on a representative input performed by a diagnosis target is known in advance in information processing or the like, the representative input is used as a diagnostic input, and a diagnostic circuit that compares a processing output of the logical operation circuit with a correct answer is used. Although known, it is not a suitable method for analog signal circuits.

[0004]

The conventional radar system diagnostic apparatus has the above-described configuration, and requires processing for fault detection in each part of the radar system. For this reason, it is necessary to add a diagnostic function for each part, and there is a problem that the scale of hardware and software increases.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to provide an apparatus for judging the failure of each part and specifying the location of the failure using a relatively small-scale diagnostic circuit. .

[0006]

A radar according to the present invention is provided.
In a radar system, a specific signal generating means for extracting a constituent element of a radar as a diagnostic target in a radar system and inputting a specific signal as a diagnostic input for a predetermined period, and a configuration of the diagnostic target based on the specific signal Diagnostic processing means for diagnosing by comparing the output of the element with a reference signal is provided.

Further, the predetermined period during which the diagnostic input is given is a period during which the radar system is in the transmission period.

Still further, as a diagnostic input, a signal equivalent to a radar transmission signal or a signal corresponding to a corresponding input signal in a reception state of the radar system to a component to be diagnosed is provided.

Furthermore, as a reference signal for diagnosis,
The levels or widths of the upper and lower limits are determined, and the diagnosis is performed based on whether the output of the component to be diagnosed is within these reference signals.

Furthermore, as a reference signal for diagnosis,
The upper limit and the lower limit of the time width or the number of pulses are determined, and diagnosis is performed based on whether the output of the component to be diagnosed is within these reference signals.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. Hereinafter, a diagnostic device according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1A is a configuration block diagram of a radar system diagnosis apparatus according to the present embodiment. In FIG. 1A, 1 is a transmitting / receiving antenna, 2
Is a receiver, 3 is an A / D converter, 4 is pulse compression (PC)
Unit, 5 is a def router, 6 is a moving target identification unit (MTI),
7 is a pulse Doppler (PD) processing unit, 8 is a Doppler correlation unit, 9 is a constant false alarm probability (CFAR) function unit, 10 is a tracking processing unit, and 11 is a transmitter. Reference numeral 12 denotes a specific signal generation unit that generates a diagnosis input, and reference numeral 13 denotes a diagnosis processing unit that compares an output from an element to be diagnosed with a reference signal for diagnosis.
FIG. 1B is a timing chart for explaining the operation of the radar system diagnostic apparatus of the present invention. In the figure, 19 is the transmission interval of the radar pulse, 20 is the transmission signal,
21 is the time when the received signal goes blank due to the transmission time,
22 is a received signal. FIG. 2 is an operation configuration diagram for explaining operations of the specific signal generation unit 12 and the diagnosis processing unit 13, and FIG. 3 is a diagram showing signals of corresponding units. The symbol () added to the signal in FIG. 3 corresponds to the portion () in FIG.

The operation of the apparatus having the above configuration will be described. In the radar system, the radar reflected wave input to the receiver has a period 21 during which reception processing cannot be performed to transmit a radar transmission wave, as shown in FIG. In the diagnostic apparatus of the present embodiment, the specific chirp signal 12 (A), which is the same as the digitized transmission chirp signal as shown in FIG.
Enter At this time, all parts other than the transmission time are input at 0 level. Then, the chirp signal 15 is processed together with the received signal. The PC section 4 performs processing upon receiving the input digitized chirp signal 12 (A), and outputs the output signal 4 (B) to the diagnostic processing section 13.
Performs a failure judgment. In the diagnostic processing unit 13, first, the PC unit 4
The PC output signal 4 (B) processed in step (1) is extracted. After the pulse compression, the level measuring section 16 compares the level 16 (C) of the processed signal with the upper and lower limits of the reference level. Next, after the pulse compression, the distance measuring unit 17 compares the center 17 of the pulse, that is, the distance 17 (D) of the processed signal up to the start time of the response signal with the upper and lower limits of the reference distance. After the pulse compression, the pulse width measurement unit 1
At 8, the pulse width 18 (E) of the processed signal is compared with the upper and lower limits of the reference width. After performing these measurements, the diagnostic processing unit 13 returns to the PC unit 4 if all the measurements are normal.
Is determined to be normal.

By including the chirp signal 12 (A) and its response in the period up to the radar reception processing, there is no need to provide an extra diagnostic time other than transmission and reception. In addition, in order to diagnose whether or not the operation is normal, the upper limit and the lower limit of the level 16 (C), the upper limit and the lower limit of the distance 17 (D) measured in time, and the time Measured pulse width 18
Estimation is made by simple measurement as to whether or not it falls within the upper and lower limits of (E).

Next, diagnosis by extracting a differential router will be described. FIG. 4A is a connection diagram of the diagnostic circuit.
(B) is a corresponding signal explanatory diagram. In FIG. 4B, the direction of the arrow indicates the phase, and the length indicates the signal strength. The differential router is intended to remove interference waves. Therefore, if a signal of a constant intensity is obtained in each scan and a signal of a different intensity from the previous scan is obtained in the main scan, this signal is regarded as an interference wave and the same signal as in the previous scan is used as the main scan. Signal. In the case of FIG.
Assuming that the signal is an interference wave, the signal becomes the input signal of the (N + 2) th scan, and the result is as follows. FIG.
The time when the receiving process of (b) becomes blank, for example, P
At the time of the next transmission after the diagnosis of C, the differential router is diagnosed at a time 21 when the reception processing becomes blank. That is,
In this case, from the specific signal generation unit 12 in FIG. 4A, the signal 23 in FIG.
Enter (F). At this time, 0 is input to all parts other than the transmission time. Then, the signal 23 (F) is processed together with the received signal. After the input signal 23 (F) is processed by the differential router 5, the diagnosis processing unit 13 makes a failure determination. In the diagnosis processing unit 13, first, the reception signal extraction unit 14 in the transmission period extracts the signal 14 (G) processed by the differential router 5. After the differential router processing, the level measuring unit 24 compares the level 14 (G) of the processed signal with the reference level 14 (H). If the measurement is normal, the defrouter 5 determines that it is normal.

Next, diagnosis is performed by extracting the MTI section.
FIG. 5A is a connection diagram of the diagnostic circuit, and FIG.
It is a corresponding signal explanatory view. In the explanatory diagram of FIG. 1B, for example, in the transmission period following the diagnosis of the differential router, the MTI unit is diagnosed at a time 21 when the reception processing becomes blank. In this case, a signal 25 (J) whose phase does not change and whose level is constant is input from the specific signal generator 12 shown in FIG. At this time, 0 is input to all parts other than the transmission time. Then, the signal 25 (J) is processed together with the received signal. The input signal 25 (J) is
After the processing in the MTI unit 6, the failure determination is performed in the diagnosis processing unit 13. The MTI removes the signal if there is no change in the phase of the signal between scans. Therefore, if normal,
The signal in FIG. 5B is a signal shown in FIG. 14K because there is no change in phase between N and (N + 1) scans.
In the diagnosis processing unit 13, first, in the reception signal extraction unit 14 in the transmission period, the signal 14 processed by the MTI unit 6 is output.
(K) is extracted. Then, the MTI-processed level measuring section 26 compares the level 14 (K) of the processed signal with the reference level 26 (L). If the measurement is normal, the MTI unit 6 determines that the measurement is normal.

Next, the diagnosis is performed by extracting only the PD processing unit. FIG. 6A is a connection diagram of the diagnostic circuit.
(B) is a corresponding signal explanatory diagram. At time 21 when the next reception processing becomes blank, the PD processing unit is diagnosed. In this case, the signal 27 (M) whose phase changes at a constant interval from the specific signal generating unit 12 shown in FIG. To enter. At this time, 0 is input to all parts other than the transmission time. The PD processing unit 7 performs processing based on the input signal 27 (M), and the result is sent to the diagnosis processing unit 13. In the diagnosis processing unit 13, first, in the reception signal extraction unit 14 in the transmission period, P
The signal 14 (N) processed by the D processing unit 7 is extracted. After the PD processing, the level measurement unit 28 compares the level 28 (P) of the processed signal with the reference level.
Next, after the PD processing, in the filter number measuring unit 29,
The n + 1-th filter number of the processed signal 29 (Q) is compared with the reference filter number. After performing these measurements, if all the measurements are normal, the PD processing unit 7 determines that they are normal.

Next, diagnosis is performed by extracting only the Doppler correlation section. FIG. 7A is a connection diagram of the diagnostic circuit.
(B) is a corresponding signal explanatory diagram. At the time 21 when the next reception processing becomes blank, the diagnosis of the Doppler correlation unit 8 is performed. In this case, the specific signal generator 12 shown in FIG.
Enter At this time, 0 is input to all parts other than the transmission time. After the input signal 30 (R) is processed by the Doppler correlation unit 8, the diagnosis processing unit 13 makes a failure determination. The Doppler correlation is a process of obtaining a correlation between scans from a filter number output from the PD. FIG. 7 (b)
In the case of (1), since both the N and (N + 1) scans are the n-th filter, a signal is output as having a correlation. The reception signal extraction unit 14 of the diagnosis processing unit 13 extracts the signal 14 (S) processed by the Doppler correlation unit 8. Then, after the Doppler correlation processing, in the filter number measuring unit 31,
The filter number of the processed signal is compared with the reference filter number. If the measurement is normal, the Doppler correlation unit 8 determines that the measurement is normal.

Next, diagnosis is performed by extracting only the CFAR part. FIG. 8A is a connection diagram of the diagnostic circuit.
(B) is a corresponding signal explanatory diagram. Diagnosis of the CFAR unit 9 is performed at a time 21 when the next reception processing is blank. In this case, the specific signal generator 12 shown in FIG.
, A signal 32 (T) having a different level is input. After processing the input signal 32 (T) in the CFAR unit 9, the diagnosis processing unit 13 makes a failure determination. The CFAR unit calculates the (target + target) as shown in the 32nd (T) Nth scan and the N + 1th scan.
This is a process of extracting a target signal from a (noise) signal. CFA
The R section averages the signal levels of the input signal,
By subtracting the multiplied value from the input signal, only the target signal is extracted as shown in 14 (U). Further, since the value of K is set so that the signal detection rate becomes a certain value, if the number of hits of the signal becomes a prescribed value, the CFAR section is normal. In the diagnostic processing unit 13, first, the CFAR
The signal 14 (U) processed by the unit 9 is extracted. And
After the CFAR processing, the hit count measuring unit 33 compares the hit count of the processed signal with the reference hit count. If the measurement is normal, the CFAR unit 9 determines that the measurement is normal.

Next, diagnosis is performed by extracting only the tracking processing unit. FIG. 9A is a connection diagram of the diagnostic circuit.
(B) is a corresponding signal explanatory diagram. At time 21 when the next reception processing becomes blank, the diagnosis is performed, and FIG.
A signal (V) along an arbitrary motion model is input from the specific signal generation unit 12 in (a). At this time, 0 is input to all parts other than the transmission time. Input signal 34
(V), after processing by the tracking processing unit 10, the diagnosis processing unit 1
3 makes a failure determination. The tracking processing is to track a target from data obtained in each scan. Therefore, the target is tracked by inputting a signal in accordance with a certain motion model every scan, and the speed, position, and acceleration of the target can be obtained. In the diagnostic processing unit 13, a signal 14 (W) processed by the tracking processing unit 10 is extracted by the reception signal extraction unit 14 in the transmission period. After the tracking process, the speed measuring unit 35 compares the speed of the processed signal 14 (W) with the reference speed. Next, after the tracking processing, the position measurement unit 3
At 6, the position of the processed signal is compared with the reference position. After the tracking process, the acceleration measuring unit 37
The acceleration of the processed signal is compared with the reference acceleration. After performing these measurements, if all the measurements are normal, the tracking processing unit 10 determines that they are normal.

Embodiment 2 A case will be described where a function diagnosis of a radar system that processes a pulse train is performed separately from a radar that handles a single pulse. FIG. 10 is a connection diagram of the diagnostic circuit according to the present embodiment. FIG. 11 is a diagnostic connection diagram and a signal explanatory diagram in which a differential router is extracted. In the secondary radar system, the reflected wave input to the receiver has a time 47 during which no signal processing is performed, as shown in FIG. At this time, a constant pulse train is generated from the pulse train generator 45 shown in FIG.
The signal 50 (X) for shifting the pulse train at regular intervals is input to the pulse train shift unit 44 shown in FIG. The signal 50 (X) is input to the differential router 41, and after the processing in the differential router 41, the failure determination is performed in the diagnosis processing unit 38.

The def router process removes a response signal returned from a target in response to an interrogation signal from another radar. The pulse in FIG. 11B indicates the target position.
Therefore, the target position changes with the change in the number of questions. When a change in the target position occurs, the deflator removes the signal as a fruit state. For this reason, when the pulse of 50 (X) in FIG. 11B is input, if it is normal, no pulse is output. In the diagnostic processing unit 38, first, the signal extracting unit 49
, The signal processed by the differential router 41 is extracted. Then, after the processing by the differential router, the pulse train measuring unit 5
At 1, the presence or absence of a pulse train of the processed signal is measured.
If there is no pulse train, the def router 41 determines that it is normal.

Next, the function of the degarble is similarly diagnosed. FIG. 13A is a connection diagram of the diagnostic circuit.
(B) is a corresponding signal explanatory diagram. In this case, FIG.
Diagnosis is performed at a time 47 when the next signal processing shown in FIG. 2 is not performed. At this time, as shown in FIG. 13B, the pulse train generation unit 45 shown in FIG.
A pulse train with an s interval Xn (n: 2 to 15) is input. The signal 52 (Y) is input to the degarble 42, and after the processing in the degarble 42, the diagnosis processing unit 38 makes a failure determination. The degarble process is a process for avoiding setting the number of targets to two or more when two targets approach each other and pulse trains of response signals returned from the respective targets overlap each other. In the case of the signal 52 (Y) in FIG. 13B, the target number is 2 in the first question and the target number is 3 in the second question, but the target number is increased by performing the degarble processing. It will be 2. Similarly, if it is normal, the target number becomes 2 in the third question. In the diagnostic processing unit 38, first, the signal processed by the degarble 42 is extracted in the signal extraction unit 49. After the degarble processing, the pulse train number measuring unit 53 measures the number of pulse trains of the processed signal. And the number of pulse trains =
If it is 2, it is determined that the degarble 42 is normal.

[0023]

As described above, according to the present invention, a radar is extracted and its diagnostic input equivalent to actual processing is given to compare with a simple reference signal and diagnosed. The configuration has an effect that it is possible to point out whether or not each element has a failure.

Furthermore, since the diagnosis input is performed during a period in which the reception processing of the radar is not hindered, there is an effect that it is not necessary to take extra time for the diagnosis.

[Brief description of the drawings]

FIG. 1 is a diagram showing a connection of a radar system diagnostic apparatus according to Embodiment 1 of the present invention.

FIG. 2 is a connection diagram of a diagnostic circuit of the PC according to the first embodiment.

FIG. 3 is an explanatory diagram of a signal for PC diagnosis according to the first embodiment.

FIG. 4 is an explanatory diagram corresponding to diagnostic connection of a differential router unit in the first embodiment.

FIG. 5 is a signal connection diagram corresponding to a diagnosis connection diagram of an MTI unit in the first embodiment.

FIG. 6 is a signal connection diagram corresponding to a diagnosis connection diagram of a PD unit according to the first embodiment.

FIG. 7 is a signal connection diagram corresponding to a diagnostic connection diagram of the Doppler correlation unit in the first embodiment.

FIG. 8 is a signal connection diagram corresponding to a diagnosis connection diagram of a CFAR unit according to the first embodiment.

FIG. 9 is a signal connection diagram corresponding to a diagnosis connection diagram of a tracking processing unit according to the first embodiment.

FIG. 10 is a diagram showing connection of a diagnostic device of a secondary radar system according to Embodiment 2 of the present invention.

FIG. 11 is a diagram illustrating a diagnosis connection diagram of a differential router according to the second embodiment and corresponding signals.

FIG. 12 is a diagram illustrating a reception pulse state of the secondary radar system.

FIG. 13 is a signal connection diagram corresponding to a degerble diagnostic connection diagram in the second embodiment.

FIG. 14 is a configuration block diagram of a conventional radar diagnosis device.

[Explanation of symbols]

1 transmitting / receiving antenna, 2 receiver, 3 A / D converter,
4 pulse compression (PC) unit, 5 deflector, 6 moving target detection unit (MTI), 7 pulse Doppler (PD)
Section, 8 Doppler correlation section, 9 constant false alarm probability (CFA
R) Function unit, 10 tracking processing unit, 11 transmitter, 12 specific signal generation unit, 13 diagnostic processing unit, 19 transmission interval, 20
Transmission signal, 21 time when reception processing goes blank due to transmission time, 22 reception signal, 38 diagnostic processing unit, 3
9 Interrogation mode judgment, 41 deflator, 42 degarble, 45 pulse train generator.

Claims (5)

[Claims] In a radar system, a component constituting a radar is extracted as an object to be diagnosed, a specific signal generating means for inputting a specific signal as a diagnostic input for a predetermined period, and a diagnostic signal based on the specific signal. The output of the component is
A radar system diagnostic device comprising diagnostic processing means for diagnosing by comparing with a reference signal. 2. The radar system diagnosis apparatus according to claim 1, wherein the predetermined period during which the diagnostic input is given is a period during which the radar system is in a transmission period. 3. A diagnostic input equivalent to a radar transmission signal,
2. The radar system diagnosis apparatus according to claim 1, wherein the radar system supplies a corresponding input signal in a reception state to a component to be diagnosed. 4. The method according to claim 1, wherein a level or width of an upper limit and a lower limit is determined as a reference signal for diagnosis, and the diagnosis is performed based on whether an output of a component to be diagnosed is within the reference signal. The radar system diagnostic device according to claim 1. 5. The method according to claim 1, wherein an upper limit and a lower limit of the time width or the number of pulses are determined as a reference signal for the diagnosis, and the diagnosis is performed based on whether the output of the component to be diagnosed is within the reference signal. The radar system diagnostic apparatus according to claim 1, wherein