JP3660152B2 - Mobile observation radar equipment - Google Patents

Description

【００４６】
図８はこの発明の実施の形態３による表示手段３８の表示画面の一例である。図において、４４は上記速度算出手段３７が求めた移動速度情報を表示する速度ベクトルである。これ以外の構成および動作は実施の形態２と同様であり説明を省略する。
【００４７】
以上のように、この実施の形態３によれば、方探手段１８からの移動物体２９の２つ以上の検出方向情報と、その２つ以上の検出方向情報の観測期間における移動プラットフォーム１の移動経路および移動速度とに基づいて当該移動物体２９の移動方向情報を生成する速度算出手段３７を設け、表示手段３８はこの移動速度を再生画像や移動物体の位置とともに表示するので、単にある瞬間の移動物体２９の位置を容易に把握できるのみに留まらず、今後どのように移動していくかについても容易に把握することができる効果がある。
【００４８】
【発明の効果】
以上のように、この発明によれば、送受信アンテナと、受信機と、遅延回路と、差分演算回路とからなる２系統の受信波処理経路と、このそれぞれの系統から出力される２つの検出信号の間の位相差に基づいて移動物体の観測方向を特定する方探手段とともに、移動プラットフォームの移動方向前方側に位置する送受信アンテナから上記送信機のパルスを出力してから上記遅延回路の遅延時間の後に出力されるパルスが上記移動プラットフォームの移動方向後方側に位置する送受信アンテナから出力されるように、上記観測信号の周期に同期して上記第一送受信アンテナと上記第二送受信アンテナとを上記送信機に択一的に接続する同期制御手段を備えたので、２つの送受信アンテナのみを用いて従来とは全く異なる観測制御によって移動物体を観測する２つの差分演算信号を生成することができる。
【００４９】
従って、この発明に係る移動観測用レーダ装置は、従来の移動観測用レーダ装置のように３つの送受信アンテナおよび３系統の受信波処理経路を用いることなく、この２つのパルスの散乱波に基づいて方探手段に移動物体の観測方向を特定させることができるので、簡易な構成にて、従来よりも格段なコストダウンや製造期間短縮などの効果を期待することができる効果がある。
【００５０】
この発明によれば、第一受信機と第一遅延回路との間に配設され、第一受信信号を圧縮する第一パルス圧縮手段と、第二受信機と第二遅延回路との間に配設され、第二受信信号を圧縮する第二パルス圧縮手段と、この第一パルス圧縮手段あるいは第二パルス圧縮手段により圧縮された受信信号が入力され、この信号に基づいて観測方向の画像を生成する画像生成手段と、この生成された画像と上記方探手段により観測された移動物体の位置とを重ねて表示する表示手段とを備えるので、この表示手段の表示に基づいて容易に移動物体の位置を把握することができる効果がある。
【００５１】
この発明によれば、方探手段の移動物体の２つ以上の検出方向情報と、その２つ以上の検出方向情報の観測期間における移動プラットフォームの移動経路および移動速度とに基づいて当該移動物体の移動方向情報を生成する速度算出手段を設け、表示手段はこの移動速度を生成画像や移動物体の位置とともに表示するので、単にある瞬間の移動物体の位置を容易に把握できるのみに留まらず、今後どのように移動していくかについても容易に把握することができる効果がある。
【図面の簡単な説明】
【図１】 この発明の実施の形態１による移動観測用レーダ装置の構成を示すブロック図である。
【図２】 この発明による移動物体の観測アルゴリズムを説明するためのジオメトリである。
【図３】 この発明の実施の形態２による移動観測用レーダ装置の構成を示すブロック図である。
【図４】 この発明の実施の形態２の高分解能処理を説明するためのジオメトリである。
【図５】 この発明の実施の形態２による表示手段の表示画面の一例である。
【図６】 この発明の実施の形態３による移動観測用レーダ装置の構成を示すブロック図である。
【図７】 この発明の実施の形態３の速度算出手段の速度算出処理を説明するためのジオメトリである。
【図８】 この発明の実施の形態３による表示手段の表示画面の一例である。
【図９】 従来の移動観測用レーダ装置の構成図である。
【図１０】 従来の移動観測用レーダ装置の動作を説明するためのジオメトリである。
【符号の説明】
１ 移動プラットフォーム、２ 第一送受信アンテナ、３ 第二送受信アンテナ、４ 送信機、６ 第一受信機、９ 第一遅延回路、１０ 第一差分演算回路、１２ 第二受信機、１５ 第二遅延回路、１６ 第二差分演算回路、１８ 方探手段、２１ 同期制御手段、２９ 移動物体、３２ 第一パルス圧縮手段、３３ 第二パルス圧縮手段、３４ 画像生成手段、３５，３８ 表示手段、３７ 速度算出手段。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mobile observation radar device that is arranged on a mobile platform such as an aircraft or a satellite and detects a moving object that moves on the surface of the earth or the sea surface. In particular, the observation direction of the moving object can be specified. The present invention relates to an improved mobile observation radar device.
[0002]
[Prior art]
FIG. 9 is a configuration diagram of a conventional mobile observation radar device assumed based on “DETECTION LIMITS FOR SIDEWAYS LOOKING MTI RADARS” (White, RG et al., Proc. Of Radar 97, pp434-438, 1997.). . In the figure, 1 is a mobile platform, 45, 46 and 47 are transmission / reception antennas, 48 is a transmitter for generating an observation signal composed of pulse waves with a constant period, 49, 50 and 51 are receivers, 52 and 53, respectively. , 54 are switchers, 55, 56, and 57 are clutter tracking circuits, 58 and 59 are delay circuits, 60 and 61 are difference calculation circuits, and 62 is a search means.
[0003]
Next, the operation will be described.
The three switches 52, 53, 54 are operated to simultaneously connect the transmitter 48 to the three transmitting / receiving antennas 45, 46, 47, and the first pulse is emitted from the three transmitting / receiving antennas 45, 46, 47. . Then, the three switches 52, 53, 54 are operated to receive the scattered wave of the first pulse, and the clutter tracking process is performed.
[0004]
Further, when the mobile platform 1 moves half of the moving direction length of the transmission / reception antennas 45, 46, 47, the three switches 52, 53, 54 are operated again, and the three transmission / reception antennas 45, 46, 47 are operated. At the same time, the transmitter 48 is connected and the second pulse is emitted from the three transmitting / receiving antennas 45, 46, 47. Then, the three switches 52, 53, and 54 are operated to receive the scattered wave of the second pulse, and the clutter tracking process is performed.
[0005]
Next, since the received signal which is the scattered wave of the first pulse is delayed by the two delay circuits 58 and 59, the two difference calculation circuits 60 and 61 receive the delayed signal and the newly received scattered signal. The difference calculation with the signal based on the wave is performed. Then, if the object moves during the output of these two pulses, the echoes do not coincide with each other, so that a waveform corresponding to the moving speed of the moving object is output from the two difference calculation circuits.
[0006]
When the two difference signals are input in this way, the direction finding means 62 first calculates the phase difference between the two difference signals based on the waveforms, and then determines the observation direction based on the phase difference. Calculate.
[0007]
FIG. 10 shows a geometry for explaining the operation of such a conventional mobile observation radar apparatus. In the figure, 63 is the state of the three transmitting / receiving antennas 45, 46, 47 when the first pulse is output, and 64 is the three transmitting / receiving antennas 45, 46, 47, when receiving the scattered wave of the first pulse. The state of 47, 65 is the state of the three transmission / reception antennas 45, 46, 47 when the second pulse is output, and 66 is the three transmission / reception antennas 45, 46 when receiving the scattered wave of the second pulse. , 47 state. From the relationship between the transmission phase center at the time of pulse transmission and the reception phase center at the time of scattered wave reception, the transmission / reception phase centers of the transmission / reception antennas 45, 46, and 47 are moved while these two pulses are output. It can be regarded as not. Therefore, the phase difference between the signal waveforms generated as the difference calculation result of the two received signals can be regarded as a difference in distance between the transmitting / receiving phase center point of each of the transmitting / receiving antennas 45, 46, 47 and the moving object 29. Based on this phase difference, the squint angle θ in the observation direction of the moving object 29 can be specified.
[0008]
Therefore, with this configuration and operation, the conventional mobile observation radar device can specify the observation direction θ of the moving object 29 moving within the observation range regardless of the directivity characteristics of the transmission / reception antenna. .
[0009]
[Problems to be solved by the invention]
Since the conventional mobile observation radar apparatus is configured as described above, the scattered waves from the moving object 29 are extracted from the scattered waves received by the transmitting and receiving antennas 45, 46, and 47, and the extracted two In order to specify the observation direction of the moving object 29 based on the phase difference of the scattered wave from the moving object 29, it is necessary to provide three transmission / reception antennas 45, 46, and 47 (the antenna needs to be divided into three). In addition, three received wave processing paths, that is, three receivers 49, 50, 51, three clutter tracking circuits 55, 56, 57, two delay circuits 58, 59, two differential operation circuits 60, 61, etc. I needed it. As a result, the structure of the mobile observation radar device is complicated, the number of expensive parts used is increased, and fine adjustment work is required to match the reception characteristics of these three received wave processing paths. As a result, there were problems such as a significant increase in the production period.
[0010]
The present invention has been made in order to solve the above-described problems, and has a simple configuration without the need for three transmission / reception antennas and three reception wave processing paths. Another object of the present invention is to obtain a radar device for mobile observation that can be expected to have effects such as shortening the manufacturing period.
[0011]
[Means for Solving the Problems]
A mobile observation radar device according to the present invention is a mobile observation radar device that is arranged on a mobile platform and detects a moving object. The transmitter generates an observation signal composed of pulse waves at a constant period; and The observation signal is radiated as the first observation radio wave, the first transmission / reception antenna that receives the received scattered wave as the first scattered wave, and the first scattered wave is input, and the first received signal corresponding to this is output. A first receiver, a first delay circuit that delays the first received signal by an integral multiple of the period of the pulse wave, a first received signal that has been delayed, and a first input directly from the first receiver A first difference calculation circuit that executes a difference calculation with respect to one received signal and outputs the resulting difference signal as a first detection signal of a moving object; radiates the observed signal as a second observed radio wave; A second transmitting / receiving antenna that receives the scattered wave as a second scattered wave, a second receiver that receives the second scattered wave and outputs a second received signal in response thereto, The second delay circuit that delays the same time as the one delay circuit, the difference calculation between the delayed second received signal and the second received signal directly input from the second receiver, and the difference obtained thereby A second difference calculation circuit for outputting a signal as a second detection signal of the moving object, a direction finding means for specifying an observation direction of the moving object based on a phase difference between the first detection signal and the second detection signal, and The pulse wave output after the delay time after the pulse wave is output from the transmission / reception antenna located on the front side in the movement direction of the mobile platform is transmitted from the transmission / reception antenna located on the rear side in the movement direction of the mobile platform. The first transmission / reception antenna and the second transmission / reception antenna are alternatively connected to the transmitter in synchronization with the period of the observation signal, and based on the scattered waves of the two pulses. The direction finding means includes synchronization control means for specifying the observation direction of the moving object.
[0012]
A radar apparatus for mobile observation according to the present invention is provided between a first receiver and a first delay circuit, compresses a first received signal, a first pulse compression means, a second receiver, and a second delay A second pulse compression means for compressing the second received signal, and a received signal compressed by the first pulse compressing means or the second pulse compressing means, and is input based on this signal. Image generation means for generating an image in the observation direction, and display means for displaying the generated image and the position of the moving object observed by the direction finding means in an overlapping manner are provided.
[0013]
The radar device for mobile observation according to the present invention is based on two or more detection direction information of a moving object of the direction finding means, and a movement path and a movement speed of the mobile platform during the observation period of the two or more detection direction information. In addition, speed calculating means for generating moving direction information of the moving object is provided, and the display means displays the moving speed together with the generated image and the position of the moving object.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below.
Embodiment 1 FIG.
1 is a block diagram showing a configuration of a mobile observation radar apparatus according to Embodiment 1 of the present invention. In the figure, 1 is a mobile platform such as an aircraft or satellite, 2 is provided on one side of the mobile platform 1, and a first transmission / reception antenna 3 for transmitting and receiving radio waves is disposed adjacent to the first transmission / reception antenna 2. The second transmitting / receiving antenna for transmitting / receiving radio waves.
[0015]
Reference numeral 4 denotes a transmitter that generates an observation signal composed of a pulse wave with a constant period. Reference numeral 5 denotes a first changeover switch that alternately supplies the observation signal to the first transmission / reception antenna 2 and the second transmission / reception antenna 3.
[0016]
Reference numeral 6 denotes a first receiver that receives a first scattered wave received by the first transmission / reception antenna 2 and outputs a first reception signal corresponding to the first scattered wave. Reference numeral 7 denotes a first transmission / reception between the transmitter 4 and the first receiver 6. A first switch for switching the connection to the antenna 2, 8 is a first clutter tracking circuit that performs a clutter tracking process on the first received signal, and 9 is a pulse wave period of n times (n is an integer). The first delay circuit 10 delays the first reception signal directly input from the first clutter tracking circuit 8 from the first reception signal delayed by the first delay circuit 9, thereby A first difference calculation circuit 11 that outputs the obtained first difference signal, 11 is a first bypass signal line that directly connects the first difference calculation circuit 10 and the first clutter tracking circuit 8.
[0017]
Reference numeral 12 denotes a second receiver that receives a second scattered wave received by the second transmitting / receiving antenna 3 and outputs a second received signal corresponding to the second scattered wave. Reference numeral 13 denotes a second transmission / reception between the transmitter 4 and the second receiver 12. A second switch for switching the connection to the antenna 3, 14 is a second clutter tracking circuit that performs a clutter tracking process on the second received signal, and 15 is a delay of the second received signal by the same time as the first delay circuit 9. The second delay circuit 16 subtracts the second received signal directly input from the second clutter tracking circuit 14 from the second received signal delayed by the second delay circuit 15, and obtains a second differential signal obtained thereby. A second difference calculation circuit 17 for outputting the second difference calculation circuit 17 and a second bypass signal line for directly connecting the second difference calculation circuit 16 and the second clutter tracking circuit 14.
[0018]
Reference numeral 18 denotes a first difference signal and a second difference signal, and a direction finding means for specifying the observation direction of the moving object based on the phase difference between the two signal waveforms. A second changeover switch 20 is provided between the circuit 10 and the third changeover switch 20 is provided between the direction finding means 18 and the second difference calculation circuit 16. An observation signal is input to the second changeover switch 21. It is a synchronous control means for switching and controlling the first change-over switch 5, the second change-over switch 19 and the third change-over switch 20 in synchronization with a pulse wave for each fixed period of the observation signal.
[0019]
Next, the operation will be described.
Here, in order to simplify the explanation, the second transmitting / receiving antenna 3 is in the moving direction front in the direction in which the mobile platform 1 connects the disposing position of the first transmitting / receiving antenna 2 and the disposing position of the second transmitting / receiving antenna 3. An example of such movement will be described.
[0020]
First, in synchronization with the observation signal, the synchronization control means 21 sets the first changeover switch 5 so as to connect the transmitter 4 to the second transmission / reception antenna 3 and opens the second changeover switch 19 and the third changeover switch 20. Set to state. When the second switch 13 connects the transmitter 4 to the second transmission / reception antenna 3 in this state, an observation signal composed of a pulse wave output from the transmitter 4 is input to the second transmission / reception antenna 3, and the second transmission / reception antenna 3. A second observation radio wave (observation signal) is emitted from 3 to the external space, and a scattered wave due to the object of the second observation radio wave is input to the first transmission / reception antenna 2 and the second transmission / reception antenna 3.
[0021]
Thus, in a state where the scattered waves are input to the first transmission / reception antenna 2 and the second transmission / reception antenna 3, the first switch 7 and the second switch 13 are connected to the respective transmission / reception antennas 2 and 3, respectively. When 12 is connected, the two receivers 6 and 12 output reception signals.
[0022]
When the first reception signal is output from the first receiver 6 in this way, the first clutter tracking circuit 8 performs clutter tracking processing on the first reception signal, and the first delay circuit 9 The first received signal after the tracking process is delayed by n times the period of the pulse wave. Similarly to the output of the second received signal from the second receiver 12, the second clutter tracking circuit 14 performs a clutter tracking process on the second received signal, and the second delay circuit 15 performs the clutter tracking. The second received signal after processing is delayed by a time that is n times the period of the pulse wave.
[0023]
Next, the first control switch 5 is switched so that the synchronization control means 21 connects the transmitter 4 to the first transmission / reception antenna 2 in synchronization with the observation signal after a delay time after outputting the pulse, The second changeover switch 19 and the third changeover switch 20 are switched to the closed state. When the first switch 7 connects the transmitter 4 to the first transmission / reception antenna 2 in this state, the pulse output from the transmitter 4 is input to the first transmission / reception antenna 2, and the first transmission / reception antenna 2 moves to the external space. A first observation radio wave is emitted, and a scattered wave due to the object of the first observation radio wave is input to the first transmission / reception antenna 2 and the second transmission / reception antenna 3.
[0024]
Thus, in a state where the scattered waves are input to the first transmission / reception antenna 2 and the second transmission / reception antenna 3, the first switch 7 and the second switch 13 are connected to the respective transmission / reception antennas 2 and 3, respectively. When 12 is connected, the two receivers 6 and 12 output reception signals.
[0025]
When the first reception signal is output from the first receiver 6 in this way, the first clutter tracking circuit 8 performs clutter tracking processing on the first reception signal, and the first difference calculation circuit 10 The first difference signal between the first received signal delayed by the first delay circuit 9 and the first received signal newly output from the first clutter tracking circuit 8 is calculated to output a first difference signal. The difference signal is input to the direction finding means 18. Similarly, when the second received signal is output from the second receiver 12 in this way, the second clutter tracking circuit 14 performs a clutter tracking process on the second received signal, and the second difference calculation circuit 16 The second received signal delayed by the second delay circuit 15 and the second received signal newly output from the second clutter tracking circuit 14 are calculated to output a second difference signal. A two-difference signal is also input to the direction finding means 18.
[0026]
When the two first scattered waves input to the first transmission / reception antenna 2 consist only of scattered waves from a stationary object, the two first scattered waves have the same waveform, The result of the difference calculation is zero, and the first difference signal with no moving object is output. Conversely, when the two first scattered waves input to the first transmitting / receiving antenna 2 include a scattered wave from a moving object, a phase difference occurs in the echoes of the two scattered waves from the moving object. The result of the difference calculation between the two scattered waves is not zero. The same applies to the second differential signal.
[0027]
Therefore, if there is a moving object that moves within the observation range, the first differential signal and the second differential signal having a waveform based on the moving object are input to the direction finding means 18. Then, the direction finding means 18 compares the waveform of the first difference signal with the waveform of the second difference signal, and specifies the observation direction of the moving object based on the phase difference between the two signal waveforms.
[0028]
Further, by repeating this series of observation operations, it is possible to observe a moving object in a wide range including its observation direction as the mobile platform 1 moves.
[0029]
Next, an algorithm capable of specifying the observation direction along with the presence of the moving object by the above operation will be described. FIG. 2 is a geometry for explaining the moving object observation algorithm according to the present invention. In the figure, 22 is the state of the two transmitting / receiving antennas 2 and 3 when the first pulse is output (t = t1), and 23 is the state when receiving the scattered wave of the first pulse (t = t1). The state of the two transmitting / receiving antennas 2 and 3, 24 is the state of the two transmitting / receiving antennas 2 and 3 when the second pulse is output (t = t1 + n × PRI), and 25 is the scattered wave of the second pulse. This is the state of the two transmission / reception antennas 2 and 3 when receiving (t = t1 + n × PRI). Since the first pulse is transmitted from the second transmission / reception antenna 3, the electrical phase center of transmission / reception of the first transmission / reception antenna 2 is at the position 26 in FIG. The electrical phase center for transmission and reception is at position 27 in FIG. Since the second pulse is transmitted from the first transmission / reception antenna 2, the electrical phase center of transmission / reception of the first transmission / reception antenna 2 is also at the position 26 in FIG. The electrical phase center of 3 transmission / reception is at a position 27 in FIG. In the figure, it is assumed that the mobile platform 1 moves in parallel with the arrangement direction of the two transmission / reception antennas 2 and 3 and moves at the speed of the following formula (1). Where B is the baseline length that is the distance between the phase centers of the two transmitting and receiving antennas 2 and 3, u is the moving speed of the mobile platform 1, PRI × n is the interval between the two pulses, and θ is the observation of the moving direction. The squint angle of the direction.
[0030]
B / 2 = (u × PRI × n) sin θ (1)
[0031]
By controlling in this way, the two scattered waves from the moving object 29 are received by the first transmission / reception antenna 2 through the first path 30 and the second transmission / reception through the second path 31. The two scattered waves are received by the antenna 3 and can be regarded as equivalent to those observed with the respective transmitting and receiving antennas 2 and 3 fixed at the same position.
[0032]
Therefore, as shown in the figure, the distance of the first path 30 connecting the moving object 29 and the phase center point of the first transmitting / receiving antenna 2 is connected to the phase center point of the moving object 29 and the second transmitting / receiving antenna 2. When there is a difference between the distance of the second path 31 and the phase of the scattered wave (first scattered wave) received by the first transmitting / receiving antenna 2 by the path difference, the scattered wave received by the second transmitting / receiving antenna 3 ( A difference occurs in the phase of the second scattered wave), and the observation direction θ of the moving object 29 can be specified in the direction finding means 18 by substituting this phase difference into the following equation (2). Where ΔΦ is the phase difference between the two differential signals, and λ is the wavelength of the scattered wave.
[0033]
ΔΦ = (4π / λ) × Δr = (4πB / 2λ) sin θ (2)
[0034]
As described above, according to the first embodiment, the two systems including the transmission / reception antennas 2 and 3, the receivers 6 and 12, the delay circuits 9 and 15, and the difference calculation circuits 10 and 16 are provided. In addition to the direction finding means 18 for specifying the observation direction of the moving object 29 based on the phase difference between the received wave processing path and the two detection signals output from the respective systems, the moving platform 1 is moved forward in the moving direction. The pulse output after the delay time of each of the delay circuits 9 and 15 from the output of the pulse of the transmitter 4 from the second transmitting / receiving antenna 3 positioned at the second is located on the rear side in the moving direction of the mobile platform 1. Synchronous control for selectively connecting the first transmitting / receiving antenna 2 and the second transmitting / receiving antenna 3 to the transmitter 4 in synchronization with the period of the observation signal so as to be output from one transmitting / receiving antenna 2 Because with a stage 21, it is possible to generate two differential operation signal to observe the moving object 29 by completely different observation control the conventional by using only two transmit and receive antennas 2 and 3.
[0035]
Therefore, the mobile observation radar device according to the present invention is based on the scattered waves of these two pulses without using three transmission / reception antennas and three reception wave processing paths as in the conventional mobile observation radar device. Since the direction of observation of the moving object 29 can be specified by the direction finding means 18, it is possible to expect effects such as a significant cost reduction and a shortening of the manufacturing period compared with the related art with a simple configuration.
[0036]
Embodiment 2. FIG.
FIG. 3 is a block diagram showing the configuration of the mobile observation radar apparatus according to Embodiment 2 of the present invention. In the figure, 32 is disposed between the first receiver 6 and the first clutter tracking circuit 8 and compresses the first received signal using a chirp pulse obtained by linearly FM-modulating the pulse of the observation signal. Means 33 is disposed between the second receiver 12 and the second clutter tracking circuit 14 and compresses the second received signal using a chirp pulse obtained by linearly FM modulating the pulse of the observation signal. , 34 is well known as azimuth compression of a synthetic aperture radar, and the angle resolution of the received signal sequence of the second received signal output from the second pulse compression means 33 when observed while flying in a linear orbit. An image generating means 35 for improving the capability and generating an image in the observation direction based on the improved signal, thereby providing a high resolution resolution in the range direction and the azimuth direction. An image, a display means for displaying overlapping the position of the moving object 29 observed by isotropic probe means 18. Other configurations are the same as those of the first embodiment, and the same reference numerals are given and the description thereof is omitted.
[0037]
Next, the operation will be described.
When the first reception signal is output from the first receiver 6, the first pulse compression means 32 compresses the first reception signal using the chirp pulse. Similarly, when a second received signal is output from the second receiver 12, the second pulse compression means 33 compresses the second received signal using a chirp pulse. Therefore, the distance resolution capability in the Y-axis direction (range direction) in FIG. 4 can be made higher than the resolution determined by the pulse width of the observation signal pulse. In FIG. 4, the moving direction of the moving platform 1 is the X axis.
[0038]
In addition, the image generation unit 34 performs processing for further improving the angle resolution capability on the second reception signal whose distance resolution in the range direction is improved, and outputs this as an image in the observation direction.
[0039]
Then, the display means 35 displays the symbol of the movement target on the two-dimensionally high resolution image based on the observation direction information of the moving object 29 output from the direction finding means 18. FIG. 5 shows an example of this display. In the figure, 36 is a symbol of the movement target. Other operations are the same as those in the first embodiment, and a description thereof will be omitted.
[0040]
As described above, according to the second embodiment, the first pulse compression means 32 disposed between the first receiver 6 and the first delay circuit 9 and compresses the first received signal, and the second A second pulse compression unit 33 disposed between the receiver 12 and the second delay circuit 15 for compressing the second reception signal, and compressed by the first pulse compression unit 32 or the second pulse compression unit 33. Based on the received signal, the image generation means 34 for generating an image in the observation direction based on this signal, and the generated image and the position of the moving object 29 observed by the direction finding means 18 are displayed in an overlapping manner. Since the display means 35 is provided, there is an effect that the position of the moving object 29 can be easily grasped based on the display of the display means 35.
[0041]
Therefore, according to the configuration of the second embodiment, it is possible to obtain a radar apparatus that can detect a moving target with an antenna having only two openings, measure the direction thereof, and display the position on a radar image.
[0042]
Embodiment 3 FIG.
FIG. 6 is a block diagram showing the configuration of the mobile observation radar apparatus according to Embodiment 3 of the present invention. In the figure, reference numeral 37 denotes speed calculation means for receiving observation direction information of the moving object 29 output from the direction finding means 18 and generates movement speed information of the moving object 29 based on a plurality of observation direction information, and 38 denotes a generated image. And the moving speed information of the moving object 29 is input together with the observation direction information of the moving object 29, the current position of the moving object 29 is displayed on the generated image, and the moving speed information is used as a vector from the current position as a base point. Display means for displaying.
[0043]
FIG. 7 is a geometry for explaining the speed calculation processing of the speed calculation means according to the third embodiment of the present invention. In the figure, the X axis is set parallel to the moving direction of the moving platform 1. In the figure, 39 is the position of the mobile platform 1 when the first observation is performed, 40 is the position of the mobile platform 1 when the second observation is performed, and 41 is the moving object when the first observation is performed. Reference numeral 29 denotes a position, 42 denotes the position of the moving object 29 when the second observation is performed, and 43 denotes a moving direction vector of the moving object 29 during the two observation periods.
[0044]
As shown in the figure, the squint angle in the observation direction of the moving object 29 obtained by the first observation is θ1, the distance between the moving platform 1 and the moving object 29 at the first observation is r1, and the second time. The squint angle in the observation direction of the moving object 29 obtained by the observation is θ2, the distance between the moving platform 1 and the moving object 29 at the second observation is r2, and the height of the moving platform 1 from the ground is h, If the center point of the coordinates is set on the ground surface in the vertical direction of the moving platform 1, the moving speed of the moving object 29 can be obtained from the following equations (3) to (5). In the following expression, T is the time between sending out these two pulses.
[0045]
[Expression 1]

[0046]
FIG. 8 is an example of a display screen of the display means 38 according to the third embodiment of the present invention. In the figure, 44 is a speed vector for displaying the moving speed information obtained by the speed calculating means 37. Other configurations and operations are the same as those in the second embodiment, and a description thereof will be omitted.
[0047]
As described above, according to the third embodiment, two or more detection direction information of the moving object 29 from the direction finding means 18 and the movement of the mobile platform 1 during the observation period of the two or more detection direction information. A speed calculating means 37 for generating the moving direction information of the moving object 29 based on the route and the moving speed is provided, and the display means 38 displays the moving speed together with the reproduced image and the position of the moving object. In addition to being able to easily grasp the position of the moving object 29, there is an effect that it is possible to easily grasp how to move in the future.
[0048]
【The invention's effect】
As described above, according to the present invention, two received wave processing paths including a transmission / reception antenna, a receiver, a delay circuit, and a difference calculation circuit, and two detection signals output from the respective systems. Together with direction finding means for identifying the observation direction of the moving object based on the phase difference between them, and the delay time of the delay circuit after the transmitter pulse is output from the transmission / reception antenna located in front of the moving platform in the movement direction. The first transmission / reception antenna and the second transmission / reception antenna are synchronized with the period of the observation signal so that the pulse output after the transmission platform is output from the transmission / reception antenna located on the rear side in the movement direction of the mobile platform. Since it has synchronization control means that is alternatively connected to the transmitter, it uses only two transmission / reception antennas to move the object by completely different observation control. It can generate two difference calculation signal observing.
[0049]
Therefore, the mobile observation radar device according to the present invention is based on the scattered waves of these two pulses without using three transmission / reception antennas and three reception wave processing paths as in the conventional mobile observation radar device. Since the direction finding means can specify the observation direction of the moving object, it is possible to expect effects such as a significant cost reduction and a shortening of the manufacturing period as compared with the conventional structure with a simple configuration.
[0050]
According to the present invention, the first pulse compression means that is disposed between the first receiver and the first delay circuit and compresses the first received signal, and between the second receiver and the second delay circuit. And a second pulse compression means for compressing the second received signal, and a received signal compressed by the first pulse compressing means or the second pulse compressing means, and an image in the observation direction is input based on this signal. Since the image generating means to be generated and the display means for displaying the generated image and the position of the moving object observed by the direction finding means in an overlapping manner, the moving object is easily obtained based on the display on the display means. There is an effect that the position of can be grasped.
[0051]
According to the present invention, based on two or more detection direction information of the moving object of the direction finding means and the moving path and moving speed of the moving platform in the observation period of the two or more detection direction information, Since the speed calculation means that generates the movement direction information is provided, and the display means displays this movement speed together with the generated image and the position of the moving object, it is not only easy to grasp the position of the moving object at a certain moment. There is an effect that it is possible to easily grasp how to move.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a mobile observation radar apparatus according to Embodiment 1 of the present invention.
FIG. 2 is a geometry for explaining an observation algorithm of a moving object according to the present invention.
FIG. 3 is a block diagram showing a configuration of a mobile observation radar apparatus according to Embodiment 2 of the present invention.
FIG. 4 is a geometry for explaining high resolution processing according to Embodiment 2 of the present invention;
FIG. 5 is an example of a display screen of display means according to Embodiment 2 of the present invention.
FIG. 6 is a block diagram showing a configuration of a mobile observation radar apparatus according to Embodiment 3 of the present invention.
FIG. 7 is a geometry for explaining a speed calculation process of a speed calculation unit according to the third embodiment of the present invention.
FIG. 8 is an example of a display screen of display means according to Embodiment 3 of the present invention.
FIG. 9 is a configuration diagram of a conventional mobile observation radar device.
FIG. 10 is a geometry for explaining the operation of a conventional mobile observation radar device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Mobile platform, 2 1st transmission / reception antenna, 3nd transmission / reception antenna, 4 Transmitter, 6 1st receiver, 9 1st delay circuit, 10 1st difference calculation circuit, 12 2nd receiver, 15 2nd delay circuit , 16 Second difference calculation circuit, 18 way search means, 21 synchronization control means, 29 moving object, 32 first pulse compression means, 33 second pulse compression means, 34 image generation means, 35, 38 display means, 37 speed calculation means.

Claims (3)

In a mobile observation radar device that is arranged on a mobile platform and detects a moving object,
A transmitter that generates an observation signal consisting of a pulse wave with a constant period;
A first transmitting / receiving antenna that radiates the observed signal as a first observed radio wave and receives the received scattered wave as a first scattered wave;
A first receiver that receives the first scattered wave and outputs a first received signal according to the first scattered wave;
A first delay circuit for delaying the first received signal by an integral multiple of the period of the pulse wave;
A first difference that executes a difference calculation between the delayed first received signal and the first received signal directly input from the first receiver, and outputs the obtained difference signal as a first detection signal of the moving object An arithmetic circuit;
A second transmitting / receiving antenna that radiates the observed signal as a second observed radio wave and receives the received scattered wave as a second scattered wave;
A second receiver that receives the second scattered wave and outputs a second received signal according to the second scattered wave;
A second delay circuit that delays the second received signal by the same time as the first delay circuit, and a differential operation between the delayed second received signal and the second received signal directly input from the second receiver A second difference calculation circuit that outputs a difference signal obtained thereby as a second detection signal of the moving object;
Means for identifying the observation direction of the moving object based on the phase difference between the first detection signal and the second detection signal;
The pulse wave output after the delay time after the pulse wave is output from the transmission / reception antenna located on the front side in the movement direction of the mobile platform is output from the transmission / reception antenna located on the rear side in the movement direction of the mobile platform. As described above, the first transmission / reception antenna and the second transmission / reception antenna are selectively connected to the transmitter in synchronization with the period of the observation signal, and the exploration based on the scattered waves of the two pulses. A mobile observation radar apparatus, characterized in that the means comprises synchronization control means for specifying the observation direction of the moving object. A first pulse compression means disposed between the first receiver and the first delay circuit for compressing the first received signal;
A second pulse compression means disposed between the second receiver and the second delay circuit for compressing the second received signal;
The reception signal compressed by the first pulse compression means or the second pulse compression means is input, and an image generation means for generating an image in the observation direction based on the signal;
2. The mobile observation radar apparatus according to claim 1, further comprising display means for displaying the generated image and the position of the moving object observed by the direction finding means in an overlapping manner. The moving direction information of the moving object is generated based on two or more detection direction information of the moving object of the direction finding means and the moving path and moving speed of the moving platform in the observation period of the two or more detection direction information. Provide speed calculation means,
3. The radar apparatus for mobile observation according to claim 2, wherein the display means displays the moving speed together with the generated image and the position of the moving object.

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