JP3016326B2 - Monopulse radar device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monopulse radar device.

[0002]

2. Description of the Related Art FIG. 19 shows a conventional monopulse radar device. In the figure, 1 is an antenna that radiates a transmission wave in a space in a specific direction and receives a reflected wave, 2 is a beam controller that controls the beam direction of the antenna, 3
Is an exciter that generates a transmission wave, 4 is a circulator that supplies a signal from the transmission section to the antenna, and a circulator that supplies a reception signal to the reception detection section, 5 is a receiver that converts the reception signal into a digital video reception signal, 6a Is a range bin number calculator for determining a target distance from the digital video reception signal output from the receiver 5; 6b is a Doppler bin number calculator for determining a target speed from the digital video reception signal output from the receiver 5; Is a target detector having the range bin number calculator 6a and the Doppler bin number calculator 6b, 7a is a distance error detector for calculating a range error from the digital video reception signal output from the receiver 5, 7b is output from the receiver 5 A velocity error detector 7c for calculating a Doppler error from the digital video reception signal of A conventional angle error detector for calculating an angle error which is a real part of a monopulse ratio from a monopulse sum channel and a monopulse difference channel of a signal. A conventional tracking error detector having a detector 7c;
Reference numeral 8 processes target information obtained by signal processing, sends a control signal to the exciter 3, sends beam pointing angle data to the beam controller 2, and sends a command to the target detector 6 by a pilot manually. RAM (Raid Assessment)
Mode) A conventional data processor for sending a transition instruction to processing, 9 is a conventional signal processor having the target detector 6, the conventional tracking error detector 7, and the conventional data processor 8;
Reference numeral 0 denotes a display for displaying target information output from the conventional data processor 8.

A conventional monopulse radar device is configured as described above. FIG. 20 is a flowchart showing the processing of the conventional monopulse radar apparatus. In the figure, 1
1 shows the execution of search processing, 12 is a processing of the target detector 6, the determination of whether the detected signal S in the state of the search process 11 has exceeded the threshold lambda _T, i.e., the target is to be tracked Indicates whether a detection has been made.
Reference numeral 13 indicates that when the determination in the above item 12 is No, the search process is continued and the feedback is again made to the above item 12 in the determination. Reference numeral 14 indicates that when the determination in the above 12 is Yes, the antenna beam is directed in the direction in which the target exists, and the single target tracking process using a monopulse is executed. Fifteen
Is obtained from the angle error θ _E , which is the real part of the monopulse ratio, obtained by signal processing in the conventional angle error detector 7c and the current beam pointing angle θ at the time of executing the single target tracking processing of the above 14. Indicates that the antenna beam is directed in the direction of θ + θ _E , which is the exact position at which exists. By this processing, the tracking state is maintained.

By the way, as shown in FIG. 21, for example, it is assumed that the antenna gain in the monopulse system is expressed as 32 for a monopulse sum channel and 33 for a monopulse difference channel. Here, the horizontal axis shows the angle deviation from the boresight axis, that is, the angle error, normalized by the beam width of the antenna beam (the unit is the beam width), and the vertical axis shows the antenna gain with the maximum value being 1 Shows the relative value of At this time, since the tracking processing is generally performed within the beam width indicated by 34, the antenna gain GΣ of the mono-pulse sum channel and the antenna gain GΔ of the mono-pulse difference channel are determined as shown in FIG. 35
The position θ _T of the single target 37 viewed from the reference axis 36,
And the current beam directivity angle θ as viewed from the reference axis 36, is expressed by the following approximate expression.

[0005]

(Equation 1)

[0006]

(Equation 2)

At this time, the conventional angle error detector 7c is used.
Angle error θ _E obtained in signal processing in
The received signal of the monopulse sum channel is Δ, the received signal of the monopulse difference channel is Δ, and the monopulse ratio is Δ / Σ.
And Re [] is obtained by the following equation, assuming that it indicates a real part in [].

[0008]

(Equation 3)

Returning to FIG. 20, reference numeral 28 denotes a transition to the RAM processing manually by the pilot. When there are a plurality of targets having different distances or velocities in the antenna beam, these targets can be separated, and again. When the pilot manually cancels the RAM processing, the processing returns to the normal single target tracking processing. Reference numeral 29 denotes a determination as to whether or not the target number n _T existing in the antenna beam, which is detected by the target detector 6 during the RAM processing in step 28, is 2 or more. Reference numeral 30 indicates that when the determination in the above 29 is Yes, the tracking processing is continued as a single target even when a plurality of targets exist in the antenna beam. Reference numeral 31 indicates that the tracking process is continued as a single target when the determination in the above 29 is No. Reference numeral 25 denotes a determination as to whether or not the currently performed tracking processing has been stopped (breaked) due to a decrease in the reception S / N ratio or a forced rejection by the pilot. 2
Reference numeral 7 indicates that when the determination in the above 25 is No, the single target tracking processing is continuously executed, and the feedback is performed to the above 15 processing. Reference numeral 26 indicates that when the determination in the above 25 is Yes, the tracking process is stopped and the search process is executed.

[0010]

In the processing of the conventional monopulse radar apparatus as described above, in order to separate a plurality of targets having different distances or velocities existing in an antenna beam, a manual RAM processing by a pilot is performed. A transition had to be made, increasing the load on the pilot. Also, when the RAM processing is stopped and the processing returns to the normal single target tracking processing, manual operation by the pilot is required.

Further, in the RAM processing, the processing time required for tracking is increased as compared with the normal single target tracking processing. Even when only a single target exists in the antenna beam, this is confirmed. Since there is no means, the RAM processing is performed, and the processing time is wasted.

By the way, the purpose of the RAM processing is to separate a plurality of targets having different distances or velocities within the antenna beam during the single target tracking processing. Although a plurality of separated targets are displayed on the display 10 for recognition, the individual targets are not actually tracked in the single target tracking process. As shown in FIG. 23, when the own device 35 is executing a single target tracking process using a monopulse radar, and two targets 39 and 40 having different distances or velocities are present in the antenna beam 38, The angle error θ _E calculated by the above-described conventional angle error detector 7c, that is, the angle error θ _E obtained by Expression 3 indicates the exact position if the target is single, but “Philipp
L. Bogler, Detecting the Pr
essence of TargetMultiplex
ity. IEEE Transactions on
Aerospace and Electronic
Systems, AES-22, 2 (Mar. 198).
6), 197-203. ", Etc., indicates the centroid which is the center of gravity of the two targets 39 and 40,
In addition, since the centroid position does not show an accurate value due to the difference between the target S / N ratios, single target tracking when a plurality of targets exist in the antenna beam has been unstable.

Accordingly, as shown in FIG. 24, when the two targets 39 and 40 in the antenna beam 38 gradually widen each other during the single target tracking, the own device 35 The beam continues to be directed in the direction of the centroids of the targets 39, 40, and finally, the two targets 39, 40
Are the two targets 41 and 42 outside the antenna beam 38, respectively.
The own machine 35 has stopped (breaked) the tracking processing.

In the processing of the conventional monopulse radar apparatus, when there are a plurality of targets having the same distance and the same speed in the antenna beam, it is impossible to separate them even by performing the RAM processing. In spite of the fact that the two targets 39 and 40 actually exist on 10, only one target is displayed as a false target in the direction of the centroid, and the tracking is unstable, and a mental load is imposed on the pilot. Was to give.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems. When a plurality of targets are present in an antenna beam, the presence of the targets is detected, RAM processing is automatically executed, and the distance difference, Alternatively, when a plurality of targets can be separated due to a speed difference, the separated targets are displayed on a display, and after a transition from a search process to a single target tracking process among the plurality of targets, tracking is performed until a RAM process is executed. The target that is closer to the target being tracked is set as a tracking target in the future, has a function of continuing stable tracking processing, and if there are two targets having the same distance and speed in the antenna beam, 1
It is an object of the present invention to obtain an apparatus having a process capable of separating a plurality of targets by obtaining angle information (angle error) of only the targets.

The second embodiment of the present invention has been made to solve the above-described problem. When a plurality of targets exist in an antenna beam, the presence is detected and the R target is automatically detected.
When a plurality of targets can be separated based on a distance difference or a speed difference by executing the AM process, the separated targets are displayed on a display, and a threat level is determined for the plurality of targets. It has a function to continue stable tracking processing with the target as a future tracking target, and when there are two targets having the same distance and speed in the antenna beam, angle information of only one target (angle error) The purpose of the present invention is to obtain a device having a process capable of separating a plurality of targets by obtaining a target.

Embodiment 3 of the present invention has been made in order to solve the above-described problems. When a plurality of targets exist in an antenna beam, the existence is detected, and R is automatically detected.
If the AM processing is executed and multiple targets can be separated by the distance difference or the speed difference, the separated targets are displayed on the display, and these multiple targets are tracked while present in the antenna beam. And the threat level is determined at the same time.
It has a function to continue stable tracking processing with the target as a future tracking target, and when there are two targets having the same distance and speed in the antenna beam, angle information of only one target (angle error) The purpose of the present invention is to obtain a device having a process capable of separating a plurality of targets by obtaining a target.

The fourth embodiment of the present invention has been made in order to solve the above-described problems, and makes use of the characteristics of high-speed scanning by using a phased array antenna, so that a certain antenna beam can be obtained even when tracking multiple targets. If there are multiple targets in the
If multiple targets can be separated by the distance difference or the speed difference by executing the M process, the separated targets are displayed on the display, and among these multiple targets, the search process is switched to the single target tracking process. Later, the target closer to the target tracked until the RAM processing is executed is set as a target to be tracked in the future, and has a function of continuing stable tracking processing. In addition, two targets having the same distance and speed in the antenna beam are used. Is present, the angle information (angle error) of the two targets is obtained,
It is an object of the present invention to obtain an apparatus having a process capable of executing a tracking process for the two targets.

The fifth embodiment of the present invention has been made to solve the above-described problem, and takes advantage of the characteristics of high-speed scanning by using a phased array antenna, so that a certain antenna beam can be obtained even when tracking multiple targets. If there are multiple targets in the
If a plurality of targets can be separated based on the distance difference or the speed difference by executing the M process, the separated targets are displayed on the display, and the threat level is determined for the plurality of targets. It has a function to continue stable tracking processing with the target as a future tracking target, and when there are two targets having the same distance and speed in the antenna beam, the angle information (angle error) of the two targets is obtained. It is another object of the present invention to obtain a device having a process capable of executing a tracking process for the two targets.

The sixth embodiment of the present invention has been made to solve the above-mentioned problem, and makes use of the characteristics of high-speed scanning by using a phased array antenna, so that a certain antenna beam can be obtained even when tracking multiple targets. If there are multiple targets in the
When the M processing is executed and the plurality of targets can be separated by the distance difference or the speed difference, the separated targets are displayed on the display, and the plurality of targets are tracked while present in the antenna beam. And the threat level is determined at the same time.
It has a function to continue stable tracking processing with the target as a future tracking target, and when there are two targets having the same distance and speed in the antenna beam, the angle information (angle error) of the two targets is obtained. It is another object of the present invention to obtain a device having a process capable of executing a tracking process for the two targets.

The seventh embodiment of the present invention has been made to solve the above-mentioned problem, and makes use of the characteristics of high-speed scanning by using a phased array antenna, so that a certain antenna beam can be obtained even when tracking multiple targets. If there are multiple targets in the
If a plurality of targets can be separated by the distance difference or the speed difference by executing the M process, the separated targets are displayed on the display, and all the separated targets are registered as new targets. Also has a function to perform time-division beam allocation and continue stable tracking processing,
Further, when two targets having the same distance and speed are present in the antenna beam, an apparatus having a process capable of obtaining angle information (angle error) of the two targets and performing a tracking process for the two targets The purpose is to get.

The eighth embodiment of the present invention has been made to solve the above-described problems. The eighth embodiment utilizes the characteristics of high-speed scanning by using a phased array antenna, and enables a certain antenna beam even at the time of multi-target tracking. If there are multiple targets in the
If a plurality of targets can be separated by the distance difference or the speed difference by executing the M processing, the separated targets are displayed on a display, and the separated targets are displayed while the separated targets are present in the antenna beam. Has a function of registering as a new target and allocating a time-division beam when moving out of the antenna beam, and having a function of continuing stable tracking processing. It is an object of the present invention to obtain an apparatus having a process capable of obtaining angle information (angle error) of two targets when two targets having the same speed are equal and performing a tracking process for the two targets.

[0023]

SUMMARY OF THE INVENTION A monopulse radar device according to the present invention has the following objects.
The imaginary part of the monopulse ratio, that is, the extent, necessary for determining the presence of a plurality of targets (two targets) in the antenna beam is calculated by the angle error detector in the tracking error detector in the conventional signal processor. A function is added, and a multiple target detector for determining the presence of multiple targets (two targets) in the antenna beam is newly added to the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Further, in the RAM processing, if a plurality of targets having different distances or velocities can be separated in the antenna beam, the search processing is shifted to the single target tracking processing, and then the RAM processing is performed.
Sends beam pointing angle data to the beam controller so that it can track the target closer to the target that was tracked until the processing was executed, and added a new processing gate centering on the target to be tracked to the target in the signal processor. When the function provided in the detector and the presence of a plurality of targets (two targets) which cannot be separated by the RAM processing in the antenna beam are recognized, the beam directional angle is deliberately shifted in the azimuth direction or the elevation direction. A function of controlling the beam directing angle so that angle information (angle error) of only the target can be obtained is added to the data processor in the signal processor.

Further, in another embodiment 2 of the monopulse radar apparatus according to the present invention, in order to achieve the above object, an angle error detector in a tracking error detector in a conventional signal processor includes: The imaginary part of the monopulse ratio required to determine the presence of multiple targets (two targets) in the antenna beam;
That is, a function of calculating an extent is added, and a multiple target detector for determining the presence of multiple targets (two targets) in the antenna beam is newly added to the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Further, when a plurality of targets having different distances or velocities can be separated in the antenna beam in the RAM processing, a function of performing a threat level determination on the plurality of targets is added to the data processor in the signal processor.
Further, a new process centering on a target for executing tracking by sending beam directing angle data to the beam controller so as to track one target with a high threat level determined by the data processor in the signal processor. The function of providing a gate in the target detector in the signal processor, and when the presence of a plurality of targets (two targets) that cannot be separated by the RAM processing in the antenna beam is recognized, the beam directional angle is set in the azimuth direction or the elevation direction. By intentionally shifting, a function of controlling the beam directivity angle so as to obtain angle information (angle error) of only one target is added to the data processor in the signal processor.

In another embodiment 3 of the monopulse radar device according to the present invention, in order to achieve the above object, an angle error detector in a tracking error detector in a conventional signal processor includes: The imaginary part of the monopulse ratio required to determine the presence of multiple targets (two targets) in the antenna beam;
That is, a function of calculating an extent is added, and a multiple target detector for determining the presence of multiple targets (two targets) in the antenna beam is newly added to the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Further, in the RAM process, when a plurality of targets having different distances or velocities can be separated in the antenna beam, a function of continuing the tracking process for the plurality of targets while the target is present in the antenna beam;
A function to judge the degree of threat. When multiple separated targets move outside the antenna beam, the beam directivity angle is controlled so that one target with a high degree of threat determined by the data processor in the signal processor can be tracked. And multiple targets that cannot be separated by RAM processing in the antenna beam (two targets)
When the existence of the target is recognized, the beam directing angle is intentionally shifted in the azimuth direction or the elevation direction to control the beam directing angle so that angle information (angle error) of only one target can be obtained. It is added to the data processor in the signal processor.

Further, in another embodiment 4 of the monopulse radar apparatus according to the present invention, in order to achieve the above object, a phased array antenna for realizing multi-target tracking processing utilizing the characteristics of high-speed scanning. The imaginary part of the monopulse ratio required to determine the presence of a plurality of targets (two targets) in the antenna beam, that is, the extent, is used for the angle error detector in the tracking error detector in the conventional signal processor. Is added, and a plurality of target detectors for determining the presence of a plurality of targets (two targets) in the antenna beam are newly added in the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Also, in the RAM processing, if a plurality of targets having different distances or velocities can be separated in the antenna beam, after transitioning from the search processing to the single target tracking processing, the target closer to the target tracked until the RAM processing is executed is executed. Function to send beam pointing angle data to the beam controller so that tracking can be performed, and to provide a new processing gate centering on the target to be tracked in the target detector in the signal processor, and RAM processing in the antenna beam If there is a plurality of targets (two targets) that cannot be separated due to the above, time-division is performed by intentionally shifting the beam directional angle in the azimuth direction or the elevation direction so that only one target exists in the antenna beam. The beam directing angle is set so that the target number is assigned to the beam and the angle information (angle error) of multiple targets is obtained. An additional function of controlling the data processor in the signal processor.

Further, in another embodiment 5 of the monopulse radar apparatus according to the present invention, in order to achieve the above object, a phased array antenna for realizing multi-target tracking processing utilizing the characteristics of high-speed scanning. The imaginary part of the monopulse ratio required to determine the presence of a plurality of targets (two targets) in the antenna beam, that is, the extent, is used for the angle error detector in the tracking error detector in the conventional signal processor. Is added, and a plurality of target detectors for determining the presence of a plurality of targets (two targets) in the antenna beam are newly added in the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Further, when a plurality of targets having different distances or velocities can be separated in the antenna beam in the RAM processing, a function of performing a threat level determination on the plurality of targets is added to the data processor in the signal processor. Further, a new processing gate centering on a target for executing tracking, by sending beam directing angle data to the beam controller so as to track one target with a high threat level determined by the data processor in the signal processor. Is provided in the target detector in the signal processor, and when the presence of a plurality of targets (two targets) that cannot be separated by the RAM processing in the antenna beam is recognized, the beam is set so that only one target exists in the antenna beam. By intentionally shifting the directional angle in the azimuth or elevation direction, beam allocation is performed in a time-division manner by the target number, and the beam directional angle is controlled so that angle information (angle errors) for multiple targets can be obtained. Is added to the data processor in the signal processor.

Further, in another embodiment 6 of the monopulse radar apparatus according to the present invention, in order to achieve the above object, a phased array antenna for realizing multi-target tracking processing utilizing the characteristics of high-speed scanning. The imaginary part of the monopulse ratio required to determine the presence of a plurality of targets (two targets) in the antenna beam, that is, the extent, is used for the angle error detector in the tracking error detector in the conventional signal processor. Is added, and a plurality of target detectors for determining the presence of a plurality of targets (two targets) in the antenna beam are newly added in the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Further, in the RAM processing, when a plurality of targets having different distances or velocities can be separated in the antenna beam, a function of continuing the tracking process for the plurality of targets as long as the target is present in the antenna beam. A function to determine the degree, when a plurality of separated targets move out of the antenna beam, the beam directing angle is controlled so that one target with a high degree of threat determined by the data processor in the signal processor can be tracked. If the function and the presence of a plurality of targets (two targets) that cannot be separated by the RAM processing are recognized in the antenna beam, the beam directing angle is changed in the azimuth direction or the elevation direction so that only one target exists in the antenna beam. By intentionally shifting, beam allocation in time division is performed for the target number, and angle information (angle error) for multiple targets is obtained. It is as an additional function of controlling the beam pointing angle data processor in the signal processor.

Further, in another embodiment 7 of the monopulse radar apparatus according to the present invention, in order to achieve the above object, a phased array antenna for realizing a multi-target tracking process utilizing the characteristics of high-speed scanning. The imaginary part of the monopulse ratio required to determine the presence of a plurality of targets (two targets) in the antenna beam, that is, the extent, is used for the angle error detector in the tracking error detector in the conventional signal processor. Is added, and a plurality of target detectors for determining the presence of a plurality of targets (two targets) in the antenna beam are newly added in the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Further, in the RAM processing, when a plurality of targets having different distances or velocities can be separated in the antenna beam, the plurality of targets are registered as new targets, and a function of allocating a time-division beam is provided. Multiple targets that cannot be separated by RAM processing (two targets)
When the existence of the target is recognized, the beam directing angle is intentionally shifted in the azimuth direction or the elevation direction so that only one target exists in the antenna beam, so that the time-division beam allocation is performed by the target number. Then, a function of controlling the beam directivity angle to obtain angle information (angle errors) of a plurality of targets is added to the data processor in the signal processor.

According to another embodiment 8 of the monopulse radar apparatus according to the present invention, in order to achieve the above object, a phased array antenna for realizing a multi-target tracking process utilizing the characteristics of high-speed scanning. The imaginary part of the monopulse ratio required to determine the presence of a plurality of targets (two targets) in the antenna beam, that is, the extent, is used for the angle error detector in the tracking error detector in the conventional signal processor. Is added, and a plurality of target detectors for determining the presence of a plurality of targets (two targets) in the antenna beam are newly added in the tracking error detector in the signal processor. Then, means for determining that a plurality of targets are present in the antenna beam is applied, and when the presence of a plurality of targets (two targets) is recognized in the antenna beam, the target in the signal processor is set to automatically execute RAM processing. The function of sending a transition command to the detector is added to the data processor in the signal processor. Further, in the RAM processing, when a plurality of targets having different distances or velocities can be separated in the antenna beam, a function of continuing the tracking process for the plurality of targets while the target is present in the antenna beam. When the target moves out of the antenna beam, the function of registering as a new target and allocating a time-division beam, and the existence of a plurality of targets (two targets) in the antenna beam that cannot be separated by the RAM processing were recognized. In this case, the beam directing angle is intentionally shifted in the azimuth direction or the elevation direction so that only one target is present in the antenna beam, so that the beam is allocated in a time-division manner by the target number, and the angles of a plurality of targets are determined. Added a function to control the beam pointing angle to obtain information (angle error) to the data processor in the signal processor That.

[0031]

According to one embodiment of the present invention, a plurality of target detectors are newly added to a tracking error detector in a signal processor at the time of single target tracking processing using a monopulse radar. By adding the function of calculating the extent to the angle error detector in the tracking error detector in the device, it can be determined that two targets exist in the antenna beam. Also, the output data from the multiple target detectors in the tracking error detector in the upper signal processor are processed by the data processor in the signal processor, and the transition to the RAM processing is performed by the target detector in the signal processor. By sending the instruction, the RAM processing can be automatically executed, and unnecessary transition to the RAM processing can be eliminated, thereby suppressing an increase in processing time. Furthermore, by controlling the beam directivity angle and setting a new processing gate, only one target can be tracked, and stable tracking processing can be continued as single target tracking. Multiple targets (2
Even if the target cannot be separated, by controlling the beam directional angle, an angle error can be obtained, though only one target, and stable tracking processing can be continued.

Further, in another embodiment 2 of the present invention, at the time of single target tracking processing using a monopulse radar, a plurality of target detectors are newly added to the tracking error detector in the signal processor, and the conventional signal By adding the function of calculating the extent to the angle error detector in the tracking error detector in the processor, it can be determined that two targets exist in the antenna beam. Further, output data from a plurality of target detectors in the tracking error detector in the signal processor is processed by a data processor in the signal processor, and RA is output to a target detector in the signal processor.
By sending the transition instruction to the M processing, the RAM processing can be automatically executed, and unnecessary transition to the RAM processing can be eliminated, thereby suppressing an increase in the processing time. Further, by the threat level judgment function added to the data processor in the signal processor, it is possible to determine one target to be tracked most among the separated targets. By controlling the beam directivity angle and setting a new processing gate, only one target can be tracked, and stable tracking processing can be continued as single target tracking. Multiple targets (2
Even if the target cannot be separated, by controlling the beam directional angle, an angle error can be obtained, though only one target, and stable tracking processing can be continued.

Further, in another embodiment 3 of the present invention, at the time of single target tracking processing using a monopulse radar, a plurality of target detectors are newly added to the tracking error detector in the signal processor, and the conventional signal By adding the function of calculating the extent to the angle error detector in the tracking error detector in the processor, it can be determined that two targets exist in the antenna beam. Further, output data from a plurality of target detectors in the tracking error detector in the signal processor is processed by a data processor in the signal processor, and RA is output to a target detector in the signal processor.
By sending the transition instruction to the M processing, the RAM processing can be automatically executed, and unnecessary transition to the RAM processing can be eliminated, thereby suppressing an increase in the processing time. Furthermore, the tracking processing function of a plurality of targets existing in the antenna beam added to the data processor in the signal processor and the control of the optimum beam directivity angle can recognize the movement of the plurality of targets and continue the stable tracking processing. . Then, even when a plurality of separated targets move out of the antenna beam, a single target to be tracked most is determined and the tracking process is executed by the threat level determination function performed simultaneously in the data processor in the signal processor. Can be. Multiple targets (2
Even if the target cannot be separated, by controlling the beam directional angle, an angle error can be obtained, though only one target, and stable tracking processing can be continued.

Further, in another embodiment 4 of the present invention, at the time of single target tracking processing using a monopulse radar, a plurality of target detectors are newly added to the tracking error detector in the signal processor, and the conventional signal By adding the function of calculating the extent to the angle error detector in the tracking error detector in the processor, it can be determined that two targets exist in the antenna beam. Then, output data from a plurality of target detectors in the tracking error detector in the signal processor is processed by a data processor in the signal processor, and R is output to a target detector in the signal processor.
By sending a transition instruction to AM processing, RAM is automatically
Processing can be executed, and unnecessary transition to RAM processing can be eliminated, thereby suppressing an increase in processing time. Further, by controlling the beam directivity angle and setting a new processing gate, only one target can be tracked, and stable tracking processing can be continued as single target tracking. Furthermore, by utilizing the characteristics of high-speed scanning using a phased array antenna, the same processing as in single-target tracking can be realized in multi-target tracking processing, and multiple targets (two targets) are separated by RAM processing. Even if it is not possible, by controlling the beam directivity angle, the angle error of the two targets can be obtained, and the stable tracking process can be continued for the two targets.

Further, in another embodiment 5 of the present invention, at the time of single target tracking processing using a monopulse radar, a plurality of target detectors are newly added to the tracking error detector in the signal processor, and the conventional signal By adding the function of calculating the extent to the angle error detector in the tracking error detector in the processor, it can be determined that two targets exist in the antenna beam. Further, output data from a plurality of target detectors in the tracking error detector in the signal processor is processed by a data processor in the signal processor, and RA is output to a target detector in the signal processor.
By sending the transition instruction to the M processing, the RAM processing can be automatically executed, and unnecessary transition to the RAM processing can be eliminated, thereby suppressing an increase in the processing time. Further, by the threat level judgment function added to the data processor in the signal processor, it is possible to determine one target to be tracked most among the separated targets. By controlling the beam directivity angle and setting a new processing gate, only one target can be tracked, and stable tracking processing can be continued as single target tracking. Also, by utilizing the characteristics of high-speed scanning using a phased array antenna, the same processing as in single target tracking can be realized even in multi-target tracking processing.
Even if it is not possible to separate the two angles, the angle error of the two targets is obtained by controlling the beam directivity angle.
A stable tracking process can be continued for the target.

Further, in another embodiment 6 of the present invention, at the time of single target tracking processing using a monopulse radar, a plurality of target detectors are newly added to the tracking error detector in the signal processor, and the conventional signal By adding the function of calculating the extent to the angle error detector in the tracking error detector in the processor, it can be determined that two targets exist in the antenna beam. Further, output data from a plurality of target detectors in the tracking error detector in the signal processor is processed by a data processor in the signal processor, and RA is output to a target detector in the signal processor.
By sending the transition instruction to the M processing, the RAM processing can be automatically executed, and unnecessary transition to the RAM processing can be eliminated, thereby suppressing an increase in the processing time. Furthermore, the tracking processing function of a plurality of targets existing in the antenna beam added to the data processor in the signal processor and the control of the optimum beam directivity angle can recognize the movement of the plurality of targets and continue the stable tracking processing. . Then, even when a plurality of separated targets move out of the antenna beam, a single target to be tracked most is determined and the tracking process is executed by the threat level determination function performed simultaneously in the data processor in the signal processor. Can be. Also, by utilizing the characteristics of high-speed scanning using a phased array antenna, the same processing as in single target tracking can be realized even in multi-target tracking processing.
Even if cannot be separated, by controlling the beam directivity angle, it is possible to obtain an angle error with only one target and to continue stable tracking processing.

Further, in another embodiment 7 of the present invention, at the time of single target tracking processing using a monopulse radar, a plurality of target detectors are newly added to the tracking error detector in the signal processor, and the conventional signal By adding the function of calculating the extent to the angle error detector in the tracking error detector in the processor, it can be determined that two targets exist in the antenna beam. Output data from a plurality of target detectors in the tracking error detector in the signal processor are processed by a data processor in the signal processor, and a transition instruction to the RAM processing is sent to the target detector in the signal processor. By sending the data, the RAM processing can be automatically executed, and an unnecessary transition to the RAM processing can be eliminated, thereby suppressing an increase in the processing time. In addition, by adding a function of registering the separated multiple targets as new targets and assigning a time-division beam to the new targets to the data processor in the signal processor, and controlling the beam directivity angle, Stable tracking processing can be continued as single target tracking for each of a plurality of targets existing in the antenna beam, and even when the target moves outside the antenna beam, it can be easily dealt with. Furthermore, by utilizing the characteristics of high-speed scanning using a phased array antenna, the same processing as in single-target tracking can be realized in multi-target tracking processing, and multiple targets (two targets) are separated by RAM processing. Even if you could not, by controlling the beam pointing angle,
Angle errors of two targets can be obtained, and stable tracking processing can be continued for the two targets.

In another embodiment 8 of the present invention, at the time of a single target tracking process using a monopulse radar,
By adding a new target detector to the tracking error detector in the signal processor and adding a function to calculate the extent to the angle error detector in the tracking error detector in the conventional signal processor, It can be determined that there are two targets in the beam. Output data from a plurality of target detectors in the tracking error detector in the signal processor are processed in a data processor in the signal processor, and RA is output to a target detector in the signal processor.
By sending the transition instruction to the M processing, the RAM processing can be automatically executed, and unnecessary transition to the RAM processing can be eliminated, thereby suppressing an increase in the processing time. Also,
The tracking processing function of a plurality of targets existing in the antenna beam added to the data processor in the signal processor and the control of the optimal beam directivity angle enable the recognition of the maneuvering of the plurality of targets, and the stable tracking processing can be continued. Further, since this processing is executed by one beam, the number of tracking targets in the multi-target tracking processing increases, but the time required for the tracking processing does not increase. In addition, multiple targets that have moved out of the antenna beam can be registered as new targets, time-division beams can be assigned to the new targets, and the high-speed scanning characteristics of the phased array antenna can easily track targets that have moved out of the antenna beam. Processing can be executed, and stable multi-target tracking processing can be realized. Furthermore, multiple targets (two targets) by RAM processing
Even if it is not possible to separate the two angles, the angle error of the two targets is obtained by controlling the beam directivity angle.
A stable tracking process can be continued for the target.

[0039]

【Example】

Embodiment 1 FIG. 1 shows an embodiment of the present invention. In the drawing, reference numerals 1 to 6, 7a, 7b, and 10 are exactly the same as those of the above-described conventional apparatus. 7c, the conventional angle error detector 7c calculates only the angle error, which is the real part of the monopulse ratio, from the monopulse sum channel and monopulse difference channel of the digital video reception signal output from the receiver 5, This is an angle error detector to which a function for calculating an extent, which is an imaginary part of a monopulse ratio, is newly added. Reference numeral 7d denotes an angle error calculated by the angle error detector 7c (in the case of a plurality of targets, the centroid which is their center of gravity) and an extent indicating the spread of the plurality of targets (it becomes 0 in the case of a single target). From "Philipp
L. Bogler, Detecting the P
response of Target Multipl
icity. IEEE Transactions o
n Aerospace and Electroni
c Systems, AES-22, 2 (Mar. 19).
86), 197-203. And the like, and detects a plurality of targets (two targets) existing in the azimuth direction or the elevation direction in the antenna beam. At this time, the centroid B and the extent C are: Where the two targets are located at θ ₁ and θ ₂ with respect to the reference axis, respectively.
Assume that the amplitudes of the reflected signals from the two targets are V ₁ and V _2, and that the antenna gains of the monopulse sum channel and the monopulse difference channel are expressed by Equations 1 and 2, respectively. I do. Also, Im
[] Indicates an imaginary part in [].

[0040]

(Equation 4)

[0041]

(Equation 5)

[0042]

(Equation 6)

Returning to FIG. 1, reference numeral 7 denotes a tracking error detector having a distance error detector 7a, a velocity error detector 7b, an angle error detector 7c, and a plurality of target detectors 7d, and 8 denotes a conventional data processor. In addition, the transition instruction to RAM processing is automatically
Added the function to send to the target detector in the signal processor,
In addition, among a plurality of targets existing in the antenna beam, after transitioning from the search process to the single target tracking process, the beam directing angle data which can track a target closer to the target tracked until the RAM process is executed is beamed. The function of sending to the controller, the function of providing a new processing gate centering on the target for performing tracking in the target detector in the signal processor, and the presence of a plurality of targets (two targets) in the antenna beam that cannot be separated by RAM processing Is detected, the beam directional angle is intentionally shifted in the azimuth direction or the elevation direction to obtain angle information of only one target (angle error).
This is a data processor to which the function of controlling the beam directivity angle is added so as to obtain the data. Reference numeral 9 denotes a signal processor having a target detector 6, a tracking error detector 7, and a data processor 8.

The processing in the monopulse radar device configured as described above will be described based on a flowchart. In FIG. 2, steps 11 to 15, and 25 to 27 are exactly the same as those in the above-described conventional apparatus. 16 is the multiple target detector 7d
Shows a process of determining whether or not the target number n _T existing in the antenna beam is 2 or more. 17 is the data processor 8 when the judgment of the above 16 is Yes.
Sends a transition instruction to the RAM processing to the target detector 6 to indicate that the RAM processing is automatically executed. 18
Indicates a process of determining whether or not a plurality of targets existing in the antenna beam could be separated by distance or speed in the above process 17. In the case of 19, the judgment of the above 18 is Yes.
, A process of determining, from the separated targets, a transition from the search process to the single target tracking process and the one closer to the target tracked until the RAM process is executed is determined. 2
0 indicates that the single target tracking process is performed on the target determined to be tracked in the process of the above 19. 21
Indicates that directing the antenna beam in the direction of the angle error theta _E. 22 is the own machine 35 as shown in FIG.
Is the angle error (in this case, a centroid of two targets) θ _E obtained in the angle error detector 7c at the time of target tracking, and に of the beam width θ _BW of the antenna beam 38 at the current beam directivity angle θ. 23 indicates that the antenna beam is directed in the direction of the added angle, that is, θ + θ _E + θ _BW / 2, and 23 calculates the angle error of only the target 39 to know its position by the processing of 22. And then the process proceeds to the above-mentioned 21. Reference numeral 24 indicates that when the determination in the above 16 is No, the single target tracking process is continuously executed and the process proceeds to the process 21.

Embodiment 2 Next, another embodiment 2 of the present invention will be described. FIG. 4 shows the configuration of the device, and FIG. 5 shows the processing of the device. In FIG. 4, reference numerals 1 to 7 and 10 are exactly the same as those of the first embodiment. No. 8 adds a function of automatically sending a transition instruction to RAM processing to a target detector in a signal processor to a conventional data processor, and sets a threat among a plurality of targets existing in an antenna beam. A function to send beam directivity angle data to the beam controller so that one target with the highest determination as tracking can be tracked, and a function to provide a new processing gate centering on the target to be tracked in the target detector in the signal processor. , And RAM in the antenna beam
If the presence of a plurality of targets (two targets) that cannot be separated by the processing is recognized, the beam directional angle is intentionally shifted in the azimuth direction or the elevation direction,
This is a data processor having a function of controlling the beam directing angle so that angle information (angle error) of only one target can be obtained. Reference numeral 9 denotes a signal processor having a target detector 6, a tracking error detector 7, and the data processor 8. FIG.
In Examples 11 to 18 and 20 to 27, the first embodiment is used.
Is exactly the same as 43 means that the above 18 judgment is Y
When it is es, it shows a process of determining one target having the highest threat to its own device, such as a large range / range rate, among a plurality of separated targets.

Embodiment 3 Next, another embodiment 3 of the present invention will be described. FIG. 6 shows the configuration of the device, and FIG. 7 shows the processing of the device. In FIG. 6, reference numerals 1 to 7 and 10 are exactly the same as those of the apparatus of the first embodiment. 8 is a function for automatically sending a transition instruction to RAM processing to a conventional data processor to a target detector in a signal processor. If these targets can be separated, while these targets are present in the antenna beam, the function of continuing the tracking process using the output waveform in the RAM processing, the function of determining the threat level, and the separated targets When moving out of the antenna beam, a function of performing tracking processing for one target that is determined to be the highest threat, and RA
When the presence of a plurality of targets (two targets) that cannot be separated by the M processing is recognized, the beam information is intentionally shifted in the azimuth direction or the elevation direction to obtain angle information (angle error) of only one target. This is a data processor to which the function of controlling the beam directivity angle is added. Reference numeral 9 denotes a signal processor having a target detector 6, a tracking error detector 7, and the data processor 8.
In FIG. 7, 11 to 18 and 20 to 27 are completely the same as the processing of the first embodiment. Reference numeral 44 indicates that, when the determination in the above 18 is Yes, the tracking of a plurality of targets existing in the antenna beam is executed using the output waveform of the RAM processing. 43 is, for example, a range / range rate is large among a plurality of targets tracked in the process of 44.
The process of determining one target having the highest threat level to the own device is shown. Reference numeral 45 denotes a determination as to whether or not a plurality of targets existing in the antenna beam have moved out of the antenna beam. If the determination is Yes, the process proceeds to the process 20; if the determination is No, the process 27 is performed. Feedback to

Embodiment 4 Next, another embodiment 4 of the present invention will be described. FIG. 8 shows the configuration of the device, and FIG. 9 shows the processing of the device. In FIG. 8, reference numerals 3 to 7 and 10 are exactly the same as those of the apparatus of the first embodiment. Reference numeral 46 denotes a phased array antenna which radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave. Reference numeral 2 denotes a beam which controls the beam directivity of the phased array antenna 46 by controlling the phase of the phased array antenna module. It is a controller. 8 is a RAM which is automatically stored in a conventional data processor.
A function to send a transition instruction to the processing to the target detector in the signal processor is added, and in a plurality of targets existing in the antenna beam, after transition from the search processing to the single target tracking processing, the RAM A function to send beam pointing angle data to the beam controller so that the target closer to the target tracked until the processing is executed can be tracked, and a new processing gate centering on the target to be tracked can be set in the signal processor. When the function provided in the detector and the existence of a plurality of targets (two targets) that cannot be separated by the RAM processing in the antenna beam are recognized, the beam directing angle is set to the azimuth direction or the azimuth direction so that only one target exists in the antenna beam. By intentionally shifting in the elevation direction, beam allocation is performed in a time-division manner by the target number, and angle information (angle errors) of a plurality of targets can be obtained. Sea urchin is a data processor which adds a function of controlling the beam pointing angle. 9 is a target detector 6,
This is a signal processor having a tracking error detector 7 and a data processor 8. In FIG. 9, 11 to 27 correspond to the first embodiment.
The processing is exactly the same as that of the apparatus. 47 and 48 are processes utilizing the characteristics of the high-speed scanning of the phased array antenna. In the conventional antenna used in the first embodiment, there is a time loss due to beam scanning.
In 23, the beam was directed only to the target 39 in FIG. 3 to obtain the angle information. However, since the phased array antenna has such a characteristic that the time loss due to this beam scanning can be ignored, In the processing, the beam of the phased array antenna is directed also to the direction of the target 40 shown in FIG. 10, that is, the direction of θ + θ _E −θ _BW / 2.
Angle information of both targets 39 and 40 can be obtained.

Embodiment 5 Next, another embodiment 5 of the present invention will be described. FIG.
FIG. 12 shows the configuration of the apparatus, and FIG. 12 shows the processing of the apparatus. In FIG. 11, reference numerals 3 to 7 and 10 are exactly the same as those of the apparatus of the first embodiment. Reference numeral 46 denotes a phased array antenna which radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave. Reference numeral 2 denotes a beam which controls the beam directivity of the phased array antenna 46 by controlling the phase of the phased array antenna module. It is a controller. No. 8 adds a function of automatically sending a transition instruction to RAM processing to a target detector in a signal processor to a conventional data processor, and sets a threat among a plurality of targets existing in an antenna beam. A function to send beam directivity angle data to the beam controller so that one target with the highest determination as tracking can be tracked, and a function to provide a new processing gate centering on the target to be tracked in the target detector in the signal processor. If the presence of a plurality of targets (two targets) that cannot be separated by the RAM processing is recognized in the antenna beam, the beam directional angle is intended in the azimuth direction or the elevation direction so that only one target exists in the antenna beam. Beam allocation in a time-division manner by the target number, and beam pointing angles so that angle information (angle errors) of a plurality of targets can be obtained. A data processor which adds to control the functions. 9 is a target detector 6,
This is a signal processor having a tracking error detector 7 and the data processor 8. In FIG. 12, 11 to 18, and 20
27 are the same as the processing of the first embodiment. 43
Indicates a process of determining, from the separated targets, one target having the highest degree of threat to its own device, such as a large range / range rate, when the determination in the above 18 is Yes. 47 and 48 are processes that make use of the characteristics of the high-speed scanning of the phased array antenna, that is, the characteristics that can ignore the time loss due to the beam scanning, and adjust the direction of the target 40 shown in FIG. The beam is directed also in the direction of θ + θ _E −θ _BW / 2 so that angle information of both targets 39 and 40 can be obtained.

Embodiment 6 Next, another embodiment 6 of the present invention will be described. FIG.
FIG. 14 shows the configuration of the device, and FIG. 14 shows the processing of the device. In FIG. 13, reference numerals 1 to 7 and 10 are exactly the same as those of the apparatus of the first embodiment. Reference numeral 46 denotes a phased array antenna which radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave. Reference numeral 2 denotes a beam which controls the beam directivity of the phased array antenna 46 by controlling the phase of the phased array antenna module. It is a controller. 8 is a function of automatically sending a transition instruction to RAM processing to a conventional data processor to a target detector in a signal processor, and a plurality of targets having different distances or velocities in an antenna beam in RAM processing. If these targets can be separated, while these targets are present in the antenna beam, the function of continuing the tracking process using the output waveform in the RAM processing, the function of determining the threat level, and the separated targets When moving out of the antenna beam, a function of executing tracking processing for one target which is determined to be the highest threat, and when a plurality of targets (two targets) which cannot be separated by RAM processing are recognized in the antenna beam,
By intentionally shifting the beam directing angle in the azimuth direction or the elevation direction so that only one target exists in the antenna beam, time-division beam allocation is performed by the target number, and the angle information of a plurality of targets ( This is a data processor having a function of controlling the beam directivity angle so as to obtain an angle error. Reference numeral 9 denotes a signal processor having a target detector 6, a tracking error detector 7, and the data processor 8. In FIG. 14, 11 to 18 and 20 to 27 are completely the same as the processing of the first embodiment. 4
Reference numeral 4 indicates that when the determination in the above 18 is Yes, the tracking of a plurality of targets existing in the antenna beam is executed using the output waveform of the RAM processing. Reference numeral 43 denotes one of the plurality of targets tracked in the processing of the above step 44, which has the highest threat degree to its own device, such as a large range / range rate.
4 shows a process for determining a target. Reference numeral 45 denotes a determination as to whether or not a plurality of targets existing within the antenna beam have moved out of the antenna beam.
When the determination is No, the process is fed back to the process of 27. 47 and 48 are processes utilizing the characteristics of the high-speed scanning of the phased array antenna, that is, the characteristics that can ignore the time loss due to the beam scanning.
The direction of the target 40 shown in FIG. 10, that is, the antenna beam of the phased array antenna is also directed to the direction of θ + θ _E −θ _BW / 2 so that angle information of both the targets 39 and 40 can be obtained.

Embodiment 7 Next, another embodiment 7 of the present invention will be described. FIG.
FIG. 16 shows the configuration of the device, and FIG. 16 shows the processing of the device. In FIG. 15, reference numerals 3 to 7 and 10 are exactly the same as those of the apparatus of the first embodiment. Reference numeral 46 denotes a phased array antenna which radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave. Reference numeral 2 denotes a beam which controls the beam directivity of the phased array antenna 46 by controlling the phase of the phased array antenna module. It is a controller. Reference numeral 8 denotes a function for automatically transmitting a transition instruction to RAM processing to a target detector in a signal processor in a conventional data processor, and registering a separated target among a plurality of targets existing in an antenna beam as a new target. Then, time-division beam allocation is performed, a function of performing tracking processing for these new targets, and a function of transmitting beam pointing angle data for tracking a new target to the beam controller, and furthermore, a function within the antenna beam. Multiple targets that cannot be separated by RAM processing (2
If the presence of (target) is recognized, 1
By intentionally shifting the beam pointing angle in the azimuth direction or the elevation direction so that only the target exists, time-division beam allocation is performed for the target number, and angle information (angle error) for a plurality of targets is obtained. This is a data processor to which the function of controlling the beam directivity angle is added. 9 is a target detector 6, a tracking error detector 7
And a signal processor having the data processor 8. In FIG. 16, steps 16 to 18, 21 to 23, and 25 are completely the same as the processing of the first embodiment. Reference numeral 49 denotes an execution process of the multi-target tracking process. In the case of 50, the judgment of the above 18 is Yes.
, A process of registering as a new target and allocating a time-division beam so that tracking processing can be performed on a plurality of separated targets is shown. Reference numeral 51 indicates that the multi-target tracking process is performed on the target tracked from the beginning and the new target. Reference numeral 52 indicates that when the determination in the above 16 is No, the multi-target tracking process is continuously executed, and the process proceeds to the determination in the above 25. Reference numeral 53 indicates that, when the determination in the above 25 is No, the multi-target tracking process is continued and the feedback to the determination in the above 16 is performed again. 47 and 48 are processes that make use of the characteristics of the high-speed scanning of the phased array antenna, that is, the characteristics that can ignore the time loss due to the beam scanning, and adjust the direction of the target 40 shown in FIG. θ + θ
_The beam is directed also in the direction of _E− θ _BW / 2,
The angle information of both 0 is obtained.

Embodiment 8 Next, another embodiment 8 of the present invention will be described. FIG.
FIG. 18 shows the configuration of the apparatus, and FIG. 18 shows the processing of the apparatus. In FIG. 17, reference numerals 3 to 7 and 10 are exactly the same as those of the apparatus of the first embodiment. Reference numeral 46 denotes a phased array antenna which radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave. Reference numeral 2 denotes a beam which controls the beam directivity of the phased array antenna 46 by controlling the phase of the phased array antenna module. It is a controller. 8 is a function of automatically sending a transition instruction to RAM processing to a target detector in a signal processor to a conventional data processor, and using an output waveform in RAM processing to transmit antenna beams to a plurality of separated targets. The function to continue the tracking process while it is within, and when multiple separated targets move out of the antenna beam, register as a new target, allocate time-division beams, and Also has the function of executing tracking processing, the function of sending beam pointing angle data for tracking a new target to the beam controller, and the presence of multiple targets (two targets) in the antenna beam that cannot be separated by RAM processing. By intentionally shifting the beam pointing angle in the azimuth direction or the elevation direction so that only one target exists in the antenna beam, the beam can be time-divided. Ri rely performs target number fraction, a data processor in which an additional function of controlling the beam pointing angle so as to obtain the angular information of a plurality target (angle error). Reference numeral 9 denotes a signal processor having a target detector 6, a tracking error detector 7, and the data processor 8. In FIG. 18, steps 16 to 18, 21 to 23, and 25 are completely the same as the processing of the first embodiment. Reference numeral 49 denotes an execution process of the multi-target tracking process. Reference numeral 44 indicates that, when the determination in the above 18 is Yes, the tracking of a plurality of targets existing in the antenna beam is executed using the output waveform of the RAM processing. Reference numeral 45 denotes a determination as to whether or not a plurality of targets existing within the antenna beam have moved out of the antenna beam. If the determination is Yes, the process proceeds to Step 54, and the determination is No.
If this is the case, feedback is provided to the above processing of 44. 54
Shows a process of registering as a new target and allocating a time-division beam so that tracking processing can be performed on a plurality of targets that have moved out of the antenna beam. Numeral 30 indicates that the multi-target tracking process is performed on the target tracked from the beginning and the new target. 52 indicates that the above 16 judgment is No
, The multi-target tracking process is continuously executed, and
This indicates that the procedure proceeds to the determination of No. 5. 53, when the determination of the above 25 is No, the multi-target tracking process is continued and
6 indicates that feedback is provided. 47, 48
Is a process utilizing the characteristics of the high-speed scanning of the phased array antenna, that is, the characteristics that can ignore the time loss due to the beam scanning. The direction of the target 40 shown in FIG.
That is, the antenna beam of the phased array antenna is directed to the direction of θ + θ _E −θ _BW / 2, and the target 3
The angle information of both 9 and 40 can be obtained.

[0052]

Since the present invention is configured as described above, it has the following effects.

When a plurality of targets are present in the antenna beam, these can be detected, and the process can be automatically shifted to the RAM processing, so that the load on the pilot can be reduced. Also, RA
Since the M processing need not be executed frequently, the processing time does not increase unnecessarily.

When a plurality of targets existing in the antenna beam can be separated by the RAM processing, even in the situation shown in FIG. 24, the monopulse radar devices of the first and fourth embodiments track either one of the targets. Therefore, a stable single target tracking process can be continued without stopping (breaking) the tracking process, and the monopulse radar apparatuses according to the second and fifth embodiments can track one target having the highest threat level. In other words, a stable single target tracking process that can be said to be tactically appropriate can be continued. Examples 3 and 6
In the monopulse radar device, the plurality of targets existing in the antenna beam can be tracked, and when the plurality of targets move out of the antenna beam, a single target having a high threat level is tracked to stop (break). It is possible to continue stable single target tracking processing without performing.
Further, in the monopulse radar apparatus according to the seventh embodiment, it is possible to continue the stable multi-target tracking process by allocating the time-division beam to all the plurality of targets separated in the antenna beam. Become. In the monopulse radar device according to the eighth embodiment, a plurality of targets existing in an antenna beam are tracked by one beam,
As in the seventh embodiment, the stable multi-target tracking process can be continued without increasing the time required for the tracking process.

Further, even if there are a plurality of targets (two targets) that cannot be separated by the RAM processing in the antenna beam, the monopulse radar devices of the first to third embodiments have only one target by optimal beam pointing control. Is the goal information (location)
Can be obtained, and the monopulse radar apparatuses of the fourth to eighth embodiments can separate two targets and obtain target information (position). Therefore, an improvement in tracking accuracy can be expected, and an accurate target position can be shown on the display.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a monopulse radar device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating processing of the monopulse radar device according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating beam pointing in Embodiments 1 to 3 of the present invention.

FIG. 4 is a diagram illustrating a monopulse radar device according to a second embodiment of the present invention.

FIG. 5 is a diagram illustrating a process of the monopulse radar device according to the second embodiment of the present invention.

FIG. 6 is a diagram illustrating a monopulse radar device according to a third embodiment of the present invention.

FIG. 7 is a diagram illustrating processing of a monopulse radar device according to a third embodiment of the present invention.

FIG. 8 is a diagram showing a monopulse radar device according to a fourth embodiment of the present invention.

FIG. 9 is a diagram illustrating a process of the monopulse radar device according to the fourth embodiment of the present invention.

FIG. 10 is a diagram showing beam pointing in Embodiments 4 to 8 of the present invention.

FIG. 11 is a diagram showing a monopulse radar device according to a fifth embodiment of the present invention.

FIG. 12 is a diagram illustrating a process of the monopulse radar device according to the fifth embodiment of the present invention.

FIG. 13 is a diagram showing a monopulse radar device according to Embodiment 6 of the present invention.

FIG. 14 is a diagram illustrating a process of the monopulse radar device according to the sixth embodiment of the present invention.

FIG. 15 is a diagram illustrating a monopulse radar device according to a seventh embodiment of the present invention.

FIG. 16 is a diagram illustrating processing of the monopulse radar device according to the seventh embodiment of the present invention.

FIG. 17 is a diagram showing a monopulse radar device according to Embodiment 8 of the present invention.

FIG. 18 is a diagram illustrating a process of the monopulse radar device according to the eighth embodiment of the present invention.

FIG. 19 is a diagram showing a conventional monopulse radar device.

FIG. 20 is a diagram showing processing of a conventional monopulse radar device.

FIG. 21 is a diagram illustrating antenna gains of a monopulse sum channel and a monopulse difference channel of a monopulse radar.

FIG. 22 is a diagram illustrating a case where a single target exists in an antenna beam.

FIG. 23 is a diagram illustrating a case where two targets exist in an antenna beam.

FIG. 24 is a diagram illustrating a flight example of two targets when two targets exist in the antenna beam.

[Explanation of symbols]

 Reference Signs List 1 antenna 2 beam controller 3 exciter 4 circulator 5 receiver 6 target detector 6a range bin number calculator 6b Doppler bin number calculator 7 tracking error detector 7a distance error detector 7b speed error detector 7c angle error detector 7d plural Target detector 8 Data processor 9 Signal processor 10 Display 46 Phased array antenna

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-71185 (JP, A) JP-A-2-99881 (JP, A) JP-A-2-122291 (JP, A) JP-A-3-112 220483 (JP, A) JP-A-2-21391 (JP, A) JP-A-58-113875 (JP, A) JP-A-56-51685 (JP, A) JP-A-53-12296 (JP, A) JP-A-60-233714 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S 7/02 G01S 13/44 G01S 13/66-13/72

Claims (8)

(57) [Claims] 1. An antenna for radiating a transmission wave in a space in a specific direction and receiving a reflected wave, a beam controller for controlling the beam directivity of the antenna, an exciter for generating a transmission wave, and A circulator that supplies a signal from a transmission unit and supplies a reception signal to a reception detection unit, a receiver that converts a reception signal into a digital video reception signal, a range bin number calculator that determines a target distance, and a target speed , A target detector having the range bin number calculator and the Doppler bin number calculator, a distance error detector for calculating a range error from the digital video reception signal, and a Doppler bin from the digital video reception signal. A velocity error detector for calculating an error, and a monopulse sum channel and a monopulse difference channel of the digital video reception signal. , An angle error detector that calculates an angle error that is the real part of the monopulse ratio and an extent that is an imaginary part of the monopulse ratio (expansion of a plurality of targets in the angular direction), and determines the existence of the plurality of targets in the antenna beam. A plurality of target detectors, a tracking error detector having the distance error detector, the velocity error detector, the angle error detector, and the plurality of target detectors; and processing the target information obtained by the signal processing to the exciter. When a control signal is transmitted and a plurality of targets are detected in the antenna beam, a RAM (Raid Ass) that separates the plurality of targets by a distance difference or a speed difference is used.
An instruction for transition to esessment mode processing is automatically sent to the target detector, and at the time of tracking a single target, of a plurality of targets detected in the antenna beam, after transition from search processing to single target tracking processing, RAM Sends the beam directing angle data for tracking the one closer to the target that was tracked until the processing was executed to the beam controller, and added a new processing gate centering on the target to be tracked in the signal processor. It has a function to be provided in the target detector, and when it is not possible to separate multiple targets in the antenna beam by RAM processing,
A data processor having a function of transmitting beam pointing angle data for obtaining angle information (angle error) of only one target to a beam controller; and a signal processor having the above-mentioned target detector, tracking error detector and data processor And a display for displaying target information output from the data processor. 2. An antenna for radiating a transmission wave in a space in a specific direction and receiving a reflected wave, a beam controller for controlling the beam directivity of the antenna, an exciter for generating a transmission wave, and A circulator that supplies a signal from a transmission unit and supplies a reception signal to a reception detection unit, a receiver that converts a reception signal into a digital video reception signal, a range bin number calculator that determines a target distance, and a target speed , A target detector having the range bin number calculator and the Doppler bin number calculator, a distance error detector for calculating a range error from the digital video reception signal, and a Doppler bin from the digital video reception signal. A velocity error detector for calculating an error, and a monopulse sum channel and a monopulse difference channel of the digital video reception signal. , An angle error detector that calculates an angle error that is the real part of the monopulse ratio and an extent that is an imaginary part of the monopulse ratio (expansion of a plurality of targets in the angular direction), and determines the existence of the plurality of targets in the antenna beam. A plurality of target detectors, a tracking error detector having the distance error detector, the velocity error detector, the angle error detector, and the plurality of target detectors; and processing the target information obtained by the signal processing to the exciter. When a control signal is sent and a plurality of targets are detected in the antenna beam, a transition command to the RAM processing is automatically sent to the target detector, and when tracking a single target, a plurality of targets detected in the antenna beam are output. Then, the beam directing angle data for tracking one target with the highest determination as a threat is sent to the beam controller, and a new processing game centering on the target to be tracked is performed. Is provided in the target detector in the signal processor, and when a plurality of targets in the antenna beam cannot be separated by the RAM processing, the angle information (angle error) of only one target can be obtained. A data processor having a function of transmitting beam pointing angle data to a beam controller; a signal processor having the target detector, the tracking error detector and a data processor; and target information output from the data processor. A monopulse radar device, comprising: 3. An antenna for radiating a transmission wave to a space in a specific direction and receiving a reflected wave, a beam controller for controlling the beam directivity of the antenna, an exciter for generating a transmission wave, and A circulator that supplies a signal from a transmission unit and supplies a reception signal to a reception detection unit, a receiver that converts a reception signal into a digital video reception signal, a range bin number calculator that determines a target distance, and a target speed , A target detector having the range bin number calculator and the Doppler bin number calculator, a distance error detector for calculating a range error from the digital video reception signal, and a Doppler bin from the digital video reception signal. A velocity error detector for calculating an error, and a monopulse sum channel and a monopulse difference channel of the digital video reception signal. , An angular error detector that calculates an angle error that is a real part of the monopulse ratio and an extant that is an imaginary part of the monopulse ratio (expansion of a plurality of targets in the angular direction), and determines the presence of a plurality of targets in the antenna beam. A plurality of target detectors, a tracking error detector having the distance error detector, the velocity error detector, the angle error detector, and the plurality of target detectors; and processing the target information obtained by the signal processing to the exciter. When a plurality of targets are detected in the antenna beam, a control command for RAM processing is automatically sent to the target detector.
Using the output waveform in the AM process, the function to continue the tracking process for a plurality of targets separated in the antenna beam while existing in the antenna beam, and at the same time, the threat level determination of the plurality of targets If a plurality of targets in the antenna beam cannot be separated by the RAM processing, beam pointing angle data that can obtain angle information (angle error) of only one target is sent to the beam controller. A data processor having a sending function; a signal processor having the target detector, the tracking error detector and the data processor; and a display for displaying target information output from the data processor. Characterized by a monopulse radar device. 4. A phased array antenna which radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave, and a phase control of a phased array antenna module,
A beam controller that controls the direction of the beam of the phased array antenna, an exciter that generates a transmission wave, a circulator that supplies a signal from a transmission unit to the phased array antenna, and supplies a reception signal to a reception detection unit, A receiver for converting a received signal into a digital video reception signal, a range bin number calculator for determining a target distance, a Doppler bin number calculator for determining a target speed, and the range bin number calculator and the Doppler bin number calculator A target error detector, a distance error detector for calculating a range error from the digital video reception signal, a velocity error detector for calculating a Doppler error from the digital video reception signal, and a monopulse sum channel of the digital video reception signal. From the monopulse difference channel, the angle pulse that is the real part of the monopulse ratio And an angular error detector for calculating an imaginary part of the monopulse ratio (expansion of a plurality of targets in the angular direction); a multi-target detector for determining the presence of a plurality of targets in the antenna beam; A tracking error detector having a detector, a velocity error detector, an angle error detector, and a plurality of target detectors, and processing target information obtained by signal processing, sending a control signal to the exciter, and providing a plurality of When a target is detected, a RAM (Ra) for separating a plurality of targets by a distance difference or a speed difference is used.
A transition instruction to id assessment mode) processing is automatically sent to the target detector, and when tracking a single target, among a plurality of targets detected in the antenna beam,
After the transition from the search process to the single target tracking process, the beam directing angle data for tracking the one closer to the target tracked until the RAM process is executed is sent to the beam controller,
And a function of providing a new processing gate centered on the target for performing tracking in the target detector in the signal processor.
If a plurality of targets in the antenna beam cannot be separated by the M processing, a data processor having a function of sending beam pointing angle data to the beam controller such that only one target exists in the antenna beam; A monopulse radar device comprising: a signal processor having a target detector, a tracking error detector, and a data processor; and a display for displaying target information output from the data processor. 5. A phased array antenna that radiates a transmission wave to a space in a specific direction instantaneously and receives a reflected wave, and a phase control of a phased array antenna module,
A beam controller that controls the direction of the beam of the phased array antenna, an exciter that generates a transmission wave, a circulator that supplies a signal from a transmission unit to the phased array antenna, and supplies a reception signal to a reception detection unit, A receiver for converting a received signal into a digital video reception signal, a range bin number calculator for determining a target distance, a Doppler bin number calculator for determining a target speed, and the range bin number calculator and the Doppler bin number calculator A target error detector, a distance error detector for calculating a range error from the digital video reception signal, a velocity error detector for calculating a Doppler error from the digital video reception signal, and a monopulse sum channel of the digital video reception signal. From the monopulse difference channel, the angle pulse that is the real part of the monopulse ratio An angular error detector for calculating an imaginary part of the monopulse ratio (expansion of a plurality of targets in the angular direction); a multi-target detector for determining the presence of a plurality of targets in an antenna beam; A tracking error detector having a detector, a velocity error detector, an angle error detector, and a plurality of target detectors, and processing target information obtained by signal processing, sending a control signal to the exciter, and setting a plurality of When a target is detected, a transition instruction to RAM processing is automatically sent to the target detector, and when tracking a single target, one of the multiple targets detected in the antenna beam that has the highest determination as a threat is selected. Send beam pointing angle data to track the target to the beam controller,
And a function of providing a new processing gate centered on the target for performing tracking in the target detector in the signal processor.
If a plurality of targets in the antenna beam cannot be separated by the M processing, a data processor having a function of sending beam pointing angle data to the beam controller such that only one target exists in the antenna beam; A monopulse radar device comprising: a signal processor having a target detector, a tracking error detector, and a data processor; and a display for displaying target information output from the data processor. 6. A phased array antenna that radiates a transmission wave to a space in a specific direction instantaneously and receives a reflected wave, and by controlling the phase of a phased array antenna module,
A beam controller that controls the direction of the beam of the phased array antenna, an exciter that generates a transmission wave, a circulator that supplies a signal from a transmission unit to the phased array antenna, and supplies a reception signal to a reception detection unit, A receiver for converting a received signal into a digital video reception signal, a range bin number calculator for determining a target distance, a Doppler bin number calculator for determining a target speed, and the range bin number calculator and the Doppler bin number calculator A target error detector, a distance error detector for calculating a range error from the digital video reception signal, a velocity error detector for calculating a Doppler error from the digital video reception signal, and a monopulse sum channel of the digital video reception signal. From the monopulse difference channel, the angle pulse that is the real part of the monopulse ratio An angular error detector for calculating an imaginary part of the monopulse ratio (expansion of a plurality of targets in the angular direction); a multi-target detector for determining the presence of a plurality of targets in an antenna beam; A tracking error detector having a detector, a velocity error detector, an angle error detector, and a plurality of target detectors, and processing target information obtained by signal processing, sending a control signal to the exciter, and setting a plurality of When a target is detected, a transition command to the RAM processing is automatically sent to the target detector, and at the time of tracking a single target, the output waveform from the RAM processing is used to target a plurality of targets separated in the antenna beam. R has a function to continue the tracking process while being in the antenna beam, and has a function to simultaneously determine the threat level of a plurality of targets.
A data processor having a function of transmitting beam pointing angle data to the beam controller such that only one target exists in the antenna beam when a plurality of targets in the antenna beam cannot be separated by the AM processing; A monopulse radar device comprising: a signal processor having a target detector, a tracking error detector, and a data processor; and a display for displaying target information output from the data processor. 7. A phased array antenna that radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave, and by controlling the phase of a phased array antenna module,
A beam controller that controls the direction of the beam of the phased array antenna, an exciter that generates a transmission wave, a circulator that supplies a signal from a transmission unit to the phased array antenna, and supplies a reception signal to a reception detection unit, A receiver for converting a received signal into a digital video reception signal, a range bin number calculator for determining a target distance, a Doppler bin number calculator for determining a target speed, and the range bin number calculator and the Doppler bin number calculator A target error detector, a distance error detector for calculating a range error from the digital video reception signal, a velocity error detector for calculating a Doppler error from the digital video reception signal, and a monopulse sum channel of the digital video reception signal. From the monopulse difference channel, the angle pulse that is the real part of the monopulse ratio An angular error detector that calculates an extent that is an imaginary part of the monopulse ratio; a multiple target detector that determines the presence of multiple targets in the antenna beam; A tracking error detector having a detector and a plurality of target detectors, processing target information obtained by signal processing, sending a control signal to the exciter, sending beam pointing angle data to the beam controller, Is automatically detected when RAM is detected.
A transition instruction to the processing is sent to the target detector, and at the time of multi-target tracking, a plurality of targets detected in the antenna beam using the output waveform in the RAM processing are registered as new targets, respectively. Also has a function of allocating a time-division beam and executing tracking, and when a plurality of targets in the antenna beam cannot be separated by the RAM processing,
A data processor having a function of transmitting beam pointing angle data such that only one target exists in the antenna beam to the beam controller; a signal processor having the target detector, the tracking error detector, and a data processor; A display for displaying target information output from the data processor. 8. A phased array antenna that radiates a transmission wave instantaneously into a space in a specific direction and receives a reflected wave, and by controlling the phase of a phased array antenna module,
A beam controller that controls the direction of the beam of the phased array antenna, an exciter that generates a transmission wave, a circulator that supplies a signal from a transmission unit to the phased array antenna, and supplies a reception signal to a reception detection unit, A receiver for converting a received signal into a digital video reception signal, a range bin number calculator for determining a target distance, a Doppler bin number calculator for determining a target speed, and the range bin number calculator and the Doppler bin number calculator A target error detector, a distance error detector for calculating a range error from the digital video reception signal, a velocity error detector for calculating a Doppler error from the digital video reception signal, and a monopulse sum channel of the digital video reception signal. From the monopulse difference channel, the angle pulse that is the real part of the monopulse ratio And an angular error detector for calculating the extent that is the imaginary part of the monopulse ratio, a multiple target detector for determining the presence of multiple targets in the antenna beam, the distance error detector, the velocity error detector, and the angular error. A tracking error detector having a detector and a plurality of target detectors, and processing target information obtained by signal processing and sending a control signal to the exciter, and automatically detecting R when a plurality of targets are detected.
A transition instruction to AM processing is sent to the target detector, and at the time of multi-target tracking, an output waveform from the RAM processing is used to exist in the antenna beam for a plurality of targets separated in the antenna beam. In the meantime, the tracking processing is continued, and when the target moves out of the antenna beam, it has a function to register it as a new target and allocate time-division beams, and separate multiple targets in the antenna beam by RAM processing If not, a data processor having a function of transmitting beam pointing angle data such that only one target exists in the antenna beam to the beam controller, and the target detector, the tracking error detector, and the data processor And a display for displaying target information output from the data processor.