JP3747838B2 - Guidance device - Google Patents

Description

【００２６】
但し、Ｃは光速、Ｎはパルス数、ｒは目標エコーの受信に対する送信パルス（近傍パルスと言う）と当該目標エコー間の距離である。近傍パルスでは、水平偏波で送信していた場合、上記の式でＮが偶数である時、水平偏波送信と識別し、Ｎが奇数である時、垂直偏波送信と識別する。
【００２７】
このような構成をとることによって、予め測距モードで取得した目標初期距離信号を、次の測速モードで検出した目標Ｔの目標速度信号により距離計算を実施することで偏波及び距離の誤認識を防ぎ、高速移動目標に対し検出、追尾を継続することが可能となり、リアクションタイムが向上する。この一連の処理を追加することにより、高速移動目標への誘導が可能となる。
【００２８】
実施の形態２．
図２はこの発明の実施の形態２を示す構成図である。実施の形態１の構成である図１に対して新規部分は、ＰＲＩ補正器１７である。１７は距離計算器１６からの目標距離信号により目標からの反射波の受信時にエクリプスが発生しないよう局発器２へＰＲＩ補正信号を出力するＰＲＩ補正器である。その他の構成は実施の形態１と同等である。なお、誘導装置１が送信パルスを送信するタイミングと目標からの反射波のパルスが誘導装置１に戻ってく受信するタイミングが重なることにより目標の反射波が受信できなくなる事象をエクリプスという。
【００２９】
次にこの発明の動作を図２と図６と図８に基づいて説明する。図２の構成図のうちＰＲＩ補正器１７以外は、実施の形態１の動作と同等である。図６は運用図を示すもので、（ｂ）のシーケンスについて、１は誘導装置、Ｍは誘導装置１を搭載した飛しょう体、Ｔは目標、Ｃはクラッタ例えば海である。誘導装置１を搭載した飛しょう体Ｍが位置Ｐ２以降の時、誘導装置１は図８の測速モードの偏波切換タイミングに従って送受信する。この時、ＰＲＩ補正器１７はエクリプスを防ぐため距離計算器１６からの目標距離信号を受けて送信パルスのＰＲＩを補正する。ＰＲＩ補正器１７は例えば、エクリプスが発生しない目標距離を基準距離と仮定した場合、目標距離が基準距離に比べて遠距離の場合はＰＲＩを長くし、近距離の場合はＰＲＩを短くするように補正する。
この一連の処理によって、図６（ｂ）に示すように誘導装置１を搭載した飛しょう体Ｍを、検出した目標Ｔへと誘導する。
【００３０】
このような構成をとることによって、実施の形態１では目標Ｔとの相対距離に応じてエクリプスが発生してしまう可能性があるが、ＰＲＩを補正することによってエクリプスを防ぎ、更に高速移動目標への高精度な誘導が可能となる。
【００３１】
実施の形態３．
図３はこの発明の実施の形態３を示す構成図である。従来の構成である図５に対して新規部分は、目標速度検出器１４、目標速度補正器１５、距離計算器１６及び母機１８である。１４は受信器８からのΣビデオ信号を受けて目標速度を検出し目標速度信号を出力する目標速度検出器である。１５は目標速度検出器１４からの目標速度信号を受けて偏波信号処理器９からのΣ信号とΔ信号を補正する目標速度補正器である。１６は内部又は外部からの目標初期距離信号と目標速度検出器１４からの目標速度信号により目標距離を算出し目標距離信号を出力する距離計算器であり、母機からの目標初期距離信号がインターフェースを介して入力される。１８は目標初期距離信号を出力する母機である、。その他の構成は従来と同等である。
【００３２】
次にこの発明の動作を図３と図６と図８に基づいて説明する。図３の構成図のうち目標速度検出器１４、目標速度補正器１５、距離計算器１６及び母機１８以外は、従来の動作と同等である。図６は運用図を示すもので、（ｃ），（ｄ）のシーケンスについて、１は誘導装置、Ｍは誘導装置１を搭載した飛しょう体、１８は母機、Ｔは目標、Ｃはクラッタ例えば海であり、（ｃ）は誘導装置１を搭載した飛しょう体Ｍのシーケンス、（ｄ）は母機１８のシーケンスである。また、図８は偏波切換タイミングチャートを示すもので、リアクションタイムを速くするためＰＲＩを短縮させたＰＲＦを使用する測速モードの偏波切換タイミングである。
【００３３】
誘導装置１を搭載した飛しょう体Ｍが位置Ｐ０の時、母機１８は目標Ｔを検出し追尾を開始する。誘導装置１を搭載した飛しょう体Ｍが位置Ｐ１の時、目標速度検出器１４は受信器８からの図８（ｂ）に示すΣビデオ信号を受けて目標速度を検出し目標速度信号を出力する。また、目標速度補正器１５は目標速度検出器１４からの目標速度信号を受けて偏波信号処理器９からの図８（ｄ）に示すΣ信号とΔ信号を補正し、目標検出器１０にて速度補正後のΣ信号を受けて目標Ｔを検出する。
【００３４】
誘導装置１を搭載した飛しょう体Ｍが位置Ｐ２以降の時、距離計算器１６は目標速度検出器１４からの目標速度信号と目標検出時に得られた母機１８からの目標初期距離信号により目標距離を算出し目標距離信号を出力し、この目標距離信号により偏波制御器５では目標からの受信信号が水平偏波送信に対する垂直偏波受信信号と水平偏波受信信号であるか垂直偏波送信に対する垂直偏波受信信号と水平偏波受信信号であるかを識別し図８（ｃ）に示す送信偏波信号を出力する。この一連の処理によって、図６（ｃ）に示すように誘導装置１を搭載した飛しょう体Ｍを、検出した目標Ｔへと誘導する。
【００３５】
このような構成をとることによって、測速モードのみの誘導装置においても母機１８より目標初期距離信号を取得し、目標Ｔの目標速度信号により距離計算を実施することで偏波及び距離の誤認識を防ぎ、高速移動目標に対し検出、追尾を継続することが可能となり、リアクションタイムが向上する。この一連の処理を追加することにより、実施の形態１と同様、高速移動目標への誘導が可能となる。
【００３６】
実施の形態４．
図４はこの発明の実施の形態４を示す誘導装置の構成図である。実施の形態３の構成である図３に対して新規部分は、ＰＲＩ補正器１７である。１７は距離計算器１６からの目標距離信号により目標からの反射波の受信時にエクリプスが発生しないよう局発器２へＰＲＩ補正信号を出力するＰＲＩ補正器である。その他の構成は実施の形態３と同等である。
【００３７】
次にこの発明の動作を図４と図６と図８に基づいて説明する。図４の構成図のうちＰＲＩ補正器１７以外は、実施の形態３の動作と同等である。図６は運用図を示すもので、（ｃ），（ｄ）のシーケンスについて、１は誘導装置、Ｍは誘導装置１を搭載した飛しょう体、１８は母機、Ｔは目標、Ｃはクラッタ例えば海である。誘導装置１を搭載した飛しょう体Ｍが位置Ｐ２以降の時、誘導装置１は図８の測速モードの偏波切換タイミングに従って送受信する。ここで、実施の形態３では目標からの反射波の受信時にエクリプスが発生してしまう可能性があるため、ＰＲＩ補正器１７にて距離計算器１６より出力された目標距離信号を用いて送信パルスのＰＲＩを補正する。これにより、図６（ｂ）に示すように誘導装置１を搭載した飛しょう体Ｍを、検出した目標Ｔへと誘導する。
【００３８】
このような構成をとることによって、実施の形態３では目標Ｔとの相対距離に応じてエクリプスが発生してしまう可能性があるが、ＰＲＩを補正することによってエクリプスを防ぎ、実施の形態２と同様、更に高速移動目標への高精度な誘導が可能となる。
【００３９】
【発明の効果】
この発明は、測距モードと測速モードを切換えるモード制御信号を出力するモード制御手段と、上記モード制御手段のモード制御信号により測距モードに対応した第１のＰＲＩ（Pulse Repetition Interval）又は測速モードに対応した第２のＰＲＩ（第２のＰＲＩ＜第１のＰＲＩ）で送信信号を送信する送信手段と、測距モード又は測速モードに対応した送信信号に対する目標からの反射波を受信する受信手段とを備え、上記モード制御手段は上記測距モードにおいて取得される目標初期距離信号に基づき上記測距モードから測速モードに切換えるモード制御信号を出力するようにしたので、目標に対する誘導装置のリアクションタイムが向上するという効果がある。
【００４０】
この発明によれば、測距モードで取得する目標初期距離信号と測速モードで検出する目標速度信号によって偏波及び距離の誤認識を防ぎ、目標に対する誘導装置のリアクションタイムが向上する。
【００４１】
この発明によれば、ＰＲＩを補正することによってエクリプスを防ぎ、更に高精度な誘導が可能となる。
【００４２】
この発明によれば、母機から得られる目標初期距離信号と測速モードで検出する目標速度信号によって偏波及び距離の誤認識を防ぎ、目標に対する誘導装置のリアクションタイムが向上する。
【図面の簡単な説明】
【図１】 この発明による誘導装置の実施の形態１を示す図である。
【図２】 この発明による誘導装置の実施の形態２を示す図である。
【図３】 この発明による誘導装置の実施の形態３を示す図である。
【図４】 この発明による誘導装置の実施の形態４を示す図である。
【図５】 従来の誘導装置を示す図である。
【図６】 誘導装置のシーケンスを示す図である。
【図７】 誘導装置の測距モード時における偏波切換タイミングチャートを示す図である。
【図８】 誘導装置の測速モード時における偏波切換タイミングチャートを示す図である。
【符号の説明】
１ 誘導装置、２ 局発器、３ 送信器、４ 送受切換器、５ 偏波制御器、６ 偏波共用アンテナ、７ 目標及びクラッタ、８ 受信器、９ 偏波信号処理器、１０ 目標検出器、１１ 追尾処理器、１２ ジンバル制御器、１３ モード制御器、１４ 目標速度検出器、１５目標速度補正器、１６ 距離計算器、１７ ＰＲＩ補正器、１８ 母機、Ｃ クラッタ、Ｍ 飛しょう体、Ｐ０ 飛しょう位置０、Ｐ１ 飛しょう位置１、Ｐ２ 飛しょう位置２、Ｔ 目標（高速艇）。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a guiding device that extracts and guides only a high-speed moving target buried in a non-target reflected wave such as clutter, for example, a target reflected wave such as a high-speed boat.
[0002]
[Prior art]
FIG. 5 shows a configuration of a conventional guidance device. 1 is a guidance device, 2 is a local oscillator that outputs a transmission frequency signal and a local signal by a PRI (Pulse Repetition Interval) set from the inside or outside, 3 is a transmitter that amplifies the transmission frequency signal and outputs a transmission signal, 4 is a transmission / reception switcher for switching between a transmission signal and a reception signal, 5 is a polarization switching signal for switching the polarization of the transmission signal vertically or horizontally, and the reflected wave from the target is horizontally polarized by receiving the internal timing. A polarization controller that outputs a transmission polarization signal that identifies whether a vertical polarization reception signal and a horizontal polarization reception signal for transmission or a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission; 6 radiates a transmission signal as a vertical or horizontal polarization in response to a polarization switching signal, receives reflected waves from the target and clutter on the vertical and horizontal polarization planes, and receives a vertical polarization reception signal for horizontal polarization transmission; Horizontal polarization Received signal, dual-polarized antenna that outputs sum (Σ) signal and difference (Δ) signal of vertically polarized wave received signal and horizontally polarized wave received signal for vertically polarized wave transmission, 7 is target and clutter, 8 is polarized wave Reception that receives the sum signal and difference signal from the common antenna 6, performs frequency conversion, amplification, and phase detection by the local signal from the local oscillator 2, and outputs a Σ (sum) video signal and a Δ (difference) video signal 9 and 9 receive the transmission polarization signal from the polarization controller 5 and the Σ video signal and Δ video signal from the receiver 8, perform correlation processing, and output the Σ signal and Δ signal with suppressed clutter. Polarization signal processor 10 is a target detector that detects a target using a Σ signal from polarization signal processor 9, and 11 performs tracking calculation using a Σ signal and a Δ signal with respect to the detection target, and a guide signal and an antenna swing Tracking processor for outputting an angle, 12 is a tracking processor 11 This is a gimbal controller that controls the angle of the polarization sharing antenna 6 in accordance with the antenna swing angle from.
[0003]
Next, the conventional operation will be described with reference to FIGS. 5, 6, and 7. FIG. FIG. 6 shows an operation diagram. In the sequence (a), 1 is a guidance device, M is a flying object equipped with the guidance device 1, T is a target, and C is a clutter, for example, the sea. FIG. 7 shows a polarization switching timing chart in the distance measuring mode.
[0004]
In FIG. 6, when the flying object M carrying the guidance device 1 is at the position P1, the transmission frequency signal output from the local oscillator 2 is amplified by the transmitter 3 and transmitted through the transmission / reception switch 4 as a transmission signal. A vertical or horizontal polarization is transmitted from the polarization sharing antenna 6 by the polarization switching signal shown in FIG. 7A from the polarization controller 5. The reflected wave from the target and the clutter 7 is received by the dual polarization antenna 6 on the vertical and horizontal polarization planes, and converted into a sum signal and a difference signal including amplitude and phase information. The receiver 8 frequency-converts, amplifies, and phase-detects the sum signal and difference signal from the dual-polarized antenna 6 using the local signal from the local oscillator 2, and the Σ video signal and Δ video signal shown in FIG. Convert to
[0005]
The polarization signal processor 9 receives the transmission polarization signal shown in FIG. 7C from the polarization controller 5 and the Σ video signal and Δ video signal from the receiver 8 to perform correlation processing, and performs clutter. The Σ signal and Δ signal shown in FIG. 7 (d) with C suppressed are output, and the target detector 10 detects the target T from the Σ signal from the polarization signal processor 9. When the flying object M carrying the guidance device 1 is at the position P2, the tracking processor 11 performs tracking calculation using the Σ signal and Δ signal with respect to the detection target T, and outputs the guidance signal and the antenna swing angle.
[0006]
The gimbal controller 12 controls the angle of the polarization sharing antenna 6 according to the antenna swing angle from the tracking processor 11. Through this series of processes, the flying object M carrying the guidance device 1 is guided to the detected target T.
[0007]
[Problems to be solved by the invention]
In the conventional induction device as described above, since transmission is performed by switching between vertical and horizontal polarization at a PRF (Pulse Repetition Frequency) that is received until a reflected wave returns after transmitting a transmission pulse, The flight reaction time was very slow.
[0008]
In addition, since speed detection and correction for the target are not performed, if the target speed is high even if the target is detected, the target is lost. For this reason, when the target as shown in FIG. 6 is moving at high speed, the flying object cannot be guided to the target.
[0009]
The present invention has been made to solve such a problem, and provides a guidance device that can improve the reaction time of a flying object with respect to a target.
[0010]
In addition, by improving the flying object's reaction time with respect to the target and performing speed detection and correction for the target, the target can be detected and tracked as the observation time for the high-speed moving target is shortened. It is used to guide the flying object to the high speed moving target.
[0011]
[Means for Solving the Problems]
A guidance device according to a first aspect of the present invention is a mode control means for outputting a mode control signal for switching between a distance measurement mode and a speed measurement mode, and a distance control mode is set by a mode control signal of the mode control means by a mode control signal of the mode control means Corresponding to the first PRI (Pulse Repetition Interval) corresponding to the first PRI (Pulse Repetition Interval) or the second PRI corresponding to the speed measurement mode (second PRI <first PRI), the distance measurement mode or the speed measurement mode A mode control signal for switching from the distance measurement mode to the speed measurement mode based on a target initial distance signal acquired in the distance measurement mode. Is provided.
[0012]
According to a second aspect of the present invention, there is provided a guidance device according to the first aspect, wherein a speed detection means for detecting a target speed in the speed measurement mode, a target initial distance signal acquired in the speed measurement mode, and a speed signal of the speed detection means. Distance calculating means for calculating the distance.
[0013]
The guidance device of the third invention receives the target distance signal from the distance calculator and outputs a PRI setting signal for setting the PRI corresponding to the distance measurement mode and the speed measurement mode, and operates in the speed measurement mode and in the distance measurement mode. Outputs a mode control signal to stop, a mode controller that switches between the distance measurement mode and the speed measurement mode, a local oscillator that outputs a transmission frequency signal and a local signal by PRI set from inside or outside, and transmission A transmitter that amplifies the frequency signal and outputs a transmission signal, a transmission / reception switch that switches between the transmission signal and the reception signal, a polarization switching signal that switches the polarization of the transmission signal vertically or horizontally, and outputs an internal timing or In response to the target distance signal from the distance calculator, whether the reflected wave from the target is a vertical polarization reception signal and horizontal polarization reception signal for horizontal polarization transmission or vertical polarization for vertical polarization transmission A polarization controller that outputs a transmission polarization signal that identifies whether the received signal is a received signal and a horizontally polarized wave reception signal, and radiates the transmission signal to the space as a vertical or horizontal polarization by means of a polarization switching signal. Receives reflected waves from the vertical and horizontal polarization planes, and the vertical and horizontal polarization reception signals for horizontal polarization transmission and the sum signal of the vertical and horizontal polarization reception signals for vertical polarization transmission A dual-polarized antenna that outputs a difference signal and a sum signal and a differential signal from the dual-polarized antenna, frequency conversion, amplification, phase detection by a local signal from a local oscillator, and a Σ video signal A receiver that outputs a Δ video signal, a transmission polarization signal from the polarization controller, a Σ video signal from the receiver, and a Δ video signal are subjected to correlation processing, and a Σ signal and a Δ signal with suppressed clutter. A polarization signal processor that outputs A target speed detector that detects the target speed by receiving the Σ video signal from the receiver by the mode control signal from the controller and outputs the target speed signal, and from the target speed detector by the mode control signal from the mode controller. A target speed corrector that receives the target speed signal from the polarization signal processor and corrects the Σ and Δ signals from the polarization signal processor, a target detector that detects the target by the Σ signal from the target speed corrector, and an internal or external The target calculator calculates the target distance based on the target initial distance signal and the target speed signal from the target speed detector, and outputs the target distance signal.The tracking calculation is performed using the Σ signal and the Δ signal with respect to the detected target. This is a guidance device equipped with a tracking processor that outputs the antenna swing angle and a gimbal controller that controls the angle of the polarization sharing antenna according to the antenna swing angle from the tracking processor. By having a distance measuring mode and a speed measuring mode for measuring the speed of the moving target, the reaction time for the target is improved. As a result, it has means for performing guidance to the high speed moving target.
[0014]
A guidance device according to a fourth aspect of the invention receives a target distance signal from a distance calculator and outputs a PRI setting signal for setting a PRI corresponding to the distance measurement mode and the speed measurement mode. Outputs a mode control signal to stop, a mode controller that switches between the distance measurement mode and the speed measurement mode, a local oscillator that outputs a transmission frequency signal and a local signal by PRI set from inside or outside, and transmission A transmitter that amplifies the frequency signal and outputs a transmission signal, a transmission / reception switch that switches between the transmission signal and the reception signal, a polarization switching signal that switches the polarization of the transmission signal vertically or horizontally, and outputs an internal timing or In response to the target distance signal from the distance calculator, the reflected wave from the target is a vertical polarization reception signal for horizontal polarization transmission and a horizontal polarization reception signal or vertical for vertical polarization transmission A polarization controller that outputs a transmission polarization signal that identifies whether it is a wave reception signal or a horizontal polarization reception signal, and radiates the transmission signal as a vertical or horizontal polarization to a space by a polarization switching signal. The reflected wave from the clutter is received by the vertical and horizontal polarization planes, and the sum of the vertical polarization reception signal and horizontal polarization reception signal for horizontal polarization transmission, and the vertical polarization reception signal and horizontal polarization reception signal for vertical polarization transmission. A dual-polarized antenna that outputs a signal and a difference signal, a sum signal and a differential signal from the dual-polarized antenna, and frequency conversion, amplification, and phase detection using a local signal from a local oscillator, and a Σ video signal And a Δ video signal receiver, a transmission polarization signal from the polarization controller, a Σ video signal and a Δ video signal from the receiver, a correlation process is performed and a clutter suppressed Σ signal and Δ A polarization signal processor that outputs signals A target speed detector that detects the target speed by receiving the Σ video signal from the receiver by the mode control signal from the mode controller and outputs the target speed signal, and the target speed detector by the mode control signal from the mode controller A target speed corrector that receives the target speed signal from the polarization signal processor and corrects the Σ and Δ signals from the polarization signal processor, a target detector that detects the target by the Σ signal from the target speed corrector, and an internal or external The distance calculator that calculates the target distance and outputs the target distance signal based on the target initial distance signal and the target speed signal from the target speed detector, receives the target distance information from the distance calculator, and receives the reflected wave from the target A PRI corrector that outputs a PRI correction signal to a local oscillator so that Eclipse does not sometimes occur, and a tracking calculation is performed by using a Σ signal and a Δ signal with respect to a detection target, and an induction signal and an antenna swing angle And a gimbal controller for controlling the angle of the dual-polarized antenna according to the antenna swing angle from the tracking processor. By adding the processing, it has means for carrying out highly accurate guidance to the high-speed moving target.
[0015]
A guidance device according to a fifth aspect of the present invention is a local oscillator that outputs a transmission frequency signal and a local signal by PRI set from the inside or outside, a transmitter that amplifies the transmission frequency signal and outputs a transmission signal, and a transmission signal. A transmission / reception switch for switching the received signal and a polarization switching signal for switching the polarization of the transmission signal vertically or horizontally, and receiving a target distance signal from the internal timing or distance calculator, a reflected wave from the target is generated. Polarization that outputs a transmission polarization signal that identifies whether it is a vertical polarization reception signal and horizontal polarization reception signal for horizontal polarization transmission or a vertical polarization reception signal and horizontal polarization reception signal for vertical polarization transmission A controller and a polarization switching signal radiate a transmission signal as a vertical or horizontal polarization in space, receive reflected waves from the target and clutter on the vertical and horizontal polarization planes, and receive a vertical polarization for horizontal polarization transmission Signal and horizontal polarization reception signal, a dual-polarization antenna that outputs a sum signal and a difference signal of a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission, and a sum signal and a difference from the polarization polarization antenna A receiver that receives the signal, performs frequency conversion, amplification, and phase detection by a local signal from the local oscillator and outputs a Σ video signal and a Δ video signal, and a transmission polarization signal and receiver from the polarization controller The Σ video signal and the Δ video signal from the receiver are subjected to correlation processing, the Σ signal and the Δ signal that suppress the clutter are output, and the target speed is determined by receiving the Σ video signal from the receiver. A target speed detector that detects and outputs a target speed signal; a target speed corrector that receives the target speed signal from the target speed detector and corrects the Σ and Δ signals from the polarization signal processor; and a target speed correction Target is detected by Σ signal from the instrument The target distance is calculated by outputting the target distance signal based on the I / F between the detector and the mother machine that outputs the target initial distance signal, the target initial distance signal from the inside or outside, and the target speed signal from the target speed detector. Tracking calculation is performed using a distance calculator, a Σ signal and a Δ signal for the detection target, and a guidance signal and an antenna swing angle are output, and a polarization is determined according to the antenna swing angle from the tracking processor. It is a guidance device equipped with a gimbal controller that controls the angle of the shared antenna, and it is operated only in the speed measurement mode that measures the speed of the moving target, but by obtaining the target initial distance signal from the mother machine, the reaction time for the target Will improve. As a result, like the third invention, there is a means for performing guidance to the high speed moving target.
[0016]
A guidance device according to a sixth aspect of the invention includes a local oscillator that outputs a transmission frequency signal and a local signal by PRI set from the inside or the outside, a transmitter that amplifies the transmission frequency signal and outputs a transmission signal, and a transmission signal. A transmission / reception switch for switching the received signal and a polarization switching signal for switching the polarization of the transmission signal vertically or horizontally, and receiving a target distance signal from the internal timing or distance calculator, a reflected wave from the target is generated. Polarization that outputs a transmission polarization signal that identifies whether it is a vertical polarization reception signal and horizontal polarization reception signal for horizontal polarization transmission or a vertical polarization reception signal and horizontal polarization reception signal for vertical polarization transmission A controller and a polarization switching signal radiate a transmission signal as a vertical or horizontal polarization in space, receive reflected waves from the target and clutter on the vertical and horizontal polarization planes, and receive a vertical polarization for horizontal polarization transmission Signal and horizontal polarization reception signal, a dual-polarization antenna that outputs a sum signal and a difference signal of a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission, and a sum signal and a difference from the polarization polarization antenna A receiver that receives the signal, performs frequency conversion, amplification, and phase detection by a local signal from the local oscillator and outputs a Σ video signal and a Δ video signal, and a transmission polarization signal and receiver from the polarization controller The Σ video signal and the Δ video signal from the receiver are subjected to correlation processing, the Σ signal and the Δ signal that suppress the clutter are output, and the target speed is determined by receiving the Σ video signal from the receiver. A target speed detector that detects and outputs a target speed signal; a target speed corrector that receives the target speed signal from the target speed detector and corrects the Σ and Δ signals from the polarization signal processor; and a target speed correction Target is detected by Σ signal from the instrument The target distance signal is calculated by calculating the target distance based on the interface (I / F) between the detector and the mother machine that outputs the target initial distance signal, the target initial distance signal from the inside or outside, and the target speed signal from the target speed detector. And a Σ signal for the PRI corrector detection target that receives the target distance information from the distance calculator and outputs a PRI correction signal to the local oscillator so that no Eclipse occurs when receiving a reflected wave from the target And Δ signal to perform tracking calculation and output a guidance signal and antenna swing angle, and a gimbal controller that controls the angle of the dual-polarized antenna according to the antenna swing angle from the tracking processor As with the second invention, there is a means for performing high-precision guidance to a high-speed movement target by adding an Eclipse prevention process to the fifth invention. The
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a guidance device showing Embodiment 1 of the present invention. The new parts with respect to FIG. 5, which is a conventional configuration, are a mode controller 13, a target speed detector 14, a target speed corrector 15, and a distance calculator 16. A mode 13 receives a target distance signal from the distance calculator 16 and outputs a PRI setting signal for setting a PRI corresponding to the distance measurement mode and the speed measurement mode, and operates in the speed measurement mode and stops in the distance measurement mode. It is a mode controller that switches between a ranging mode and a speed measuring mode by outputting a control signal. Reference numeral 14 denotes a target speed detector that receives a Σ video signal from the receiver 8 in response to a mode control signal from the mode controller 13, detects a target speed, and outputs a target speed signal. A target speed corrector 15 receives the target speed signal from the target speed detector 14 in response to the mode control signal from the mode controller 13 and corrects the Σ signal and Δ signal from the polarization signal processor 9. Reference numeral 16 denotes a distance calculator that calculates a target distance based on a target initial distance signal from the inside or outside and a target speed signal from the target speed detector 14 and outputs a target distance signal. Other configurations are the same as the conventional one.
[0018]
Next, the operation of the present invention will be described with reference to FIG. 1, FIG. 6, FIG. 7, and FIG. 1 except for the mode controller 13, the target speed detector 14, the target speed corrector 15, and the distance calculator 16 in the configuration diagram of FIG. FIG. 6 shows an operation diagram. In the sequence (b), 1 is a guidance device, M is a flying object equipped with the guidance device 1, T is a target, and C is a clutter such as the sea.
[0019]
FIGS. 7 and 8 show polarization switching timing charts. FIG. 7 shows a ranging mode equivalent to the conventional operation using a PRF that receives a transmission pulse until a reflected wave returns after transmission. FIG. 8 shows the polarization switching timing in the speed measurement mode using the PRF in which the PRI is shortened in order to increase the reaction time.
[0020]
When the flying object M on which the guidance device 1 is mounted is at the position P1, the guidance device 1 searches for the target T by transmitting and receiving according to the polarization switching timing in the distance measurement mode of FIG. At this time, the guidance device 1 performs an operation equivalent to the conventional one. When the flying object M carrying the guidance device 1 is at the position P2, the target initial distance signal is acquired in the distance measurement mode, and the distance calculator 16 outputs the target distance signal to the mode controller 13 so that the distance measurement mode can be used. Transition to speed measurement mode.
[0021]
When the flying object M on which the guidance device 1 is mounted is after the position P2, the guidance device 1 performs transmission / reception according to the polarization switching timing in the speed measurement mode of FIG. At this time, the mode controller 13 outputs a PRI setting signal for setting the PRI corresponding to the speed measurement mode to the local oscillator 2, and outputs a mode control signal to the target speed detector 14 and the target speed corrector 15. In response to this mode control signal, the target speed detector 14 receives the Σ video signal shown in FIG. 8B from the receiver 8, detects the target speed, and outputs the target speed signal.
[0022]
The target speed corrector 15 performs speed correction after detecting the target in the speed measurement mode. The target speed corrector 15 receives the target speed signal from the target speed detector 14 in response to the target mode control signal, and converts the Σ signal and Δ signal shown in FIG. Correct the minute. When the target is moving, the true target distance can be expressed by “detected target distance” + “target movement amount”. Here, “detected target distance” is a Σ signal and Δ signal from the polarization signal processor 9, and “target movement amount” is a target speed signal from the target speed detector 14. .
[0023]
The distance calculator 16 calculates a target distance based on the target speed signal from the target speed detector 14 and the target initial distance signal acquired in the distance measurement mode, and outputs the target distance signal. The polarization controller 5 uses the target distance signal. FIG. 8 identifies whether the reception signal from the target is a vertical polarization reception signal and a horizontal polarization reception signal for horizontal polarization transmission or a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission. The transmission polarization signal shown in (c) is output. By this series of processes, the flying object M on which the guidance device 1 is mounted is guided to the detected target T as shown in FIG.
[0024]
The polarization controller 5 determines whether the reception signal from the target is a vertical polarization reception signal and a horizontal polarization reception signal for horizontal polarization transmission or a vertical polarization reception signal and a horizontal polarization reception for vertical polarization transmission. Identify whether it is a signal.
For example, as shown in FIG. 6, when the distance R between the guidance device 1 at the position P1 and the target T is known, the following equation can be used to determine when the received signal just received is the transmitted signal.
[0025]
[Expression 1]

[0026]
However, C is the speed of light, N is the number of pulses, and r is a distance between a transmission pulse (referred to as a near pulse) and reception of the target echo in response to reception of the target echo. In the case of the near pulse, when transmitting with horizontal polarization, when N is an even number in the above equation, it is identified as horizontal polarization transmission, and when N is an odd number, it is identified as vertical polarization transmission.
[0027]
By adopting such a configuration, the target initial distance signal acquired in the distance measurement mode in advance is subjected to distance calculation using the target speed signal of the target T detected in the next speed measurement mode, thereby erroneously recognizing polarization and distance. This makes it possible to continue detection and tracking for a high-speed moving target, improving the reaction time. By adding this series of processes, it is possible to guide to a high speed moving target.
[0028]
Embodiment 2. FIG.
FIG. 2 is a block diagram showing Embodiment 2 of the present invention. A new part of FIG. 1 which is the configuration of the first embodiment is a PRI corrector 17. Reference numeral 17 denotes a PRI corrector that outputs a PRI correction signal to the local oscillator 2 so that Eclipse does not occur when a reflected wave from the target is received by the target distance signal from the distance calculator 16. Other configurations are the same as those of the first embodiment. An event in which the target reflected wave cannot be received due to the overlap of the timing at which the guidance device 1 transmits the transmission pulse and the timing at which the pulse of the reflected wave from the target returns to the guidance device 1 is referred to as Eclipse.
[0029]
Next, the operation of the present invention will be described with reference to FIG. 2, FIG. 6, and FIG. 2 is the same as the operation of the first embodiment except for the PRI corrector 17. FIG. 6 shows an operation diagram. In the sequence (b), 1 is a guidance device, M is a flying object equipped with the guidance device 1, T is a target, and C is a clutter such as the sea. When the flying object M on which the guidance device 1 is mounted is after the position P2, the guidance device 1 transmits and receives according to the polarization switching timing in the speed measurement mode of FIG. At this time, the PRI corrector 17 receives the target distance signal from the distance calculator 16 and corrects the PRI of the transmission pulse in order to prevent Eclipse. For example, when assuming that a target distance where no eclipse occurs is a reference distance, the PRI corrector 17 increases the PRI when the target distance is far compared to the reference distance, and shortens the PRI when the target distance is short. to correct.
By this series of processes, the flying object M on which the guidance device 1 is mounted is guided to the detected target T as shown in FIG.
[0030]
By adopting such a configuration, in the first embodiment, Eclipse may occur depending on the relative distance to the target T. However, by correcting the PRI, Eclipse is prevented, and further to a high-speed moving target. High-precision guidance is possible.
[0031]
Embodiment 3 FIG.
FIG. 3 is a block diagram showing Embodiment 3 of the present invention. The new parts with respect to FIG. 5, which is a conventional configuration, are a target speed detector 14, a target speed corrector 15, a distance calculator 16, and a mother machine 18. Reference numeral 14 denotes a target speed detector that receives the Σ video signal from the receiver 8 to detect a target speed and output a target speed signal. A target speed corrector 15 receives the target speed signal from the target speed detector 14 and corrects the Σ signal and the Δ signal from the polarization signal processor 9. A distance calculator 16 calculates a target distance based on a target initial distance signal from the inside or outside and a target speed signal from the target speed detector 14 and outputs a target distance signal. The target initial distance signal from the mother machine serves as an interface. Is input via. Reference numeral 18 denotes a mother machine that outputs a target initial distance signal. Other configurations are the same as the conventional one.
[0032]
Next, the operation of the present invention will be described with reference to FIG. 3, FIG. 6, and FIG. 3 except the target speed detector 14, the target speed corrector 15, the distance calculator 16, and the mother machine 18 are the same as those in the conventional operation. FIG. 6 shows an operation diagram. In the sequences (c) and (d), 1 is a guidance device, M is a flying object equipped with the guidance device 1, 18 is a mother machine, T is a target, and C is a clutter. It is the sea, (c) is the sequence of the flying object M on which the guidance device 1 is mounted, and (d) is the sequence of the mother machine 18. FIG. 8 shows a polarization switching timing chart, which shows the polarization switching timing in the speed measurement mode using the PRF in which the PRI is shortened in order to increase the reaction time.
[0033]
When the flying object M carrying the guidance device 1 is at the position P0, the mother machine 18 detects the target T and starts tracking. When the flying object M carrying the guidance device 1 is at the position P1, the target speed detector 14 receives the Σ video signal shown in FIG. 8B from the receiver 8 and detects the target speed and outputs the target speed signal. To do. The target speed corrector 15 receives the target speed signal from the target speed detector 14 and corrects the Σ signal and Δ signal shown in FIG. The target T is detected in response to the Σ signal after speed correction.
[0034]
When the flying object M carrying the guidance device 1 is at the position P2 or later, the distance calculator 16 uses the target speed signal from the target speed detector 14 and the target initial distance signal from the mother machine 18 obtained at the time of target detection. And the target distance signal is output, and based on this target distance signal, the polarization controller 5 determines whether the received signal from the target is a vertically polarized wave received signal and a horizontally polarized wave received signal with respect to the horizontally polarized wave transmission. 8 is discriminated whether it is a vertically polarized wave received signal or a horizontally polarized wave received signal, and a transmitted polarized signal shown in FIG. 8C is output. By this series of processes, the flying object M on which the guidance device 1 is mounted is guided to the detected target T as shown in FIG.
[0035]
By adopting such a configuration, the target initial distance signal is acquired from the mother machine 18 even in the guidance device only in the speed measurement mode, and the distance calculation is performed based on the target speed signal of the target T, thereby erroneously recognizing polarization and distance. Thus, detection and tracking can be continued for a high-speed moving target, and the reaction time is improved. By adding this series of processing, it is possible to guide to a high-speed movement target as in the first embodiment.
[0036]
Embodiment 4 FIG.
FIG. 4 is a configuration diagram of a guidance device showing Embodiment 4 of the present invention. A new part of FIG. 3 which is the configuration of the third embodiment is a PRI corrector 17. Reference numeral 17 denotes a PRI corrector that outputs a PRI correction signal to the local oscillator 2 so that Eclipse does not occur when a reflected wave from the target is received by the target distance signal from the distance calculator 16. Other configurations are the same as those of the third embodiment.
[0037]
Next, the operation of the present invention will be described with reference to FIG. 4, FIG. 6, and FIG. Except for the PRI corrector 17 in the configuration diagram of FIG. 4, the operation is the same as that of the third embodiment. FIG. 6 shows an operation diagram. In the sequences (c) and (d), 1 is a guidance device, M is a flying object equipped with the guidance device 1, 18 is a mother machine, T is a target, and C is a clutter. It is the sea. When the flying object M on which the guidance device 1 is mounted is after the position P2, the guidance device 1 transmits and receives according to the polarization switching timing in the speed measurement mode of FIG. Here, in the third embodiment, since there is a possibility that Eclipse may occur when the reflected wave is received from the target, the transmission pulse is transmitted using the target distance signal output from the distance calculator 16 by the PRI corrector 17. The PRI is corrected. Thereby, as shown in FIG.6 (b), the flying body M carrying the guidance apparatus 1 is guide | induced to the detected target T. FIG.
[0038]
By adopting such a configuration, there is a possibility that Eclipse may occur according to the relative distance from the target T in the third embodiment. However, by correcting the PRI, Eclipse is prevented, and Similarly, it is possible to guide to a high-speed moving target with high accuracy.
[0039]
【The invention's effect】
The present invention includes a mode control means for outputting a mode control signal for switching between the distance measurement mode and the speed measurement mode, and a first PRI (Pulse Repetition Interval) or speed measurement mode corresponding to the distance measurement mode by the mode control signal of the mode control means. Transmitting means for transmitting a transmission signal with a second PRI corresponding to the second PRI (second PRI <first PRI), and receiving means for receiving a reflected wave from the target for the transmission signal corresponding to the distance measuring mode or the speed measuring mode And the mode control means outputs a mode control signal for switching from the distance measurement mode to the speed measurement mode based on the target initial distance signal acquired in the distance measurement mode. Has the effect of improving.
[0040]
According to the present invention, erroneous recognition of polarization and distance is prevented by the target initial distance signal acquired in the distance measurement mode and the target speed signal detected in the speed measurement mode, and the reaction time of the guidance device with respect to the target is improved.
[0041]
According to the present invention, correction of the PRI prevents Eclipse and enables more accurate guidance.
[0042]
According to this invention, erroneous recognition of polarization and distance is prevented by the target initial distance signal obtained from the mother machine and the target speed signal detected in the speed measurement mode, and the reaction time of the guidance device with respect to the target is improved.
[Brief description of the drawings]
FIG. 1 is a diagram showing a first embodiment of a guidance device according to the present invention.
FIG. 2 is a diagram showing a second embodiment of the guiding device according to the present invention.
FIG. 3 is a diagram showing a third embodiment of the guidance device according to the present invention.
FIG. 4 is a diagram showing a fourth embodiment of the guidance device according to the present invention.
FIG. 5 is a view showing a conventional guidance device.
FIG. 6 is a diagram illustrating a sequence of the guidance device.
FIG. 7 is a diagram showing a polarization switching timing chart when the guidance device is in a ranging mode.
FIG. 8 is a diagram showing a polarization switching timing chart in the speed measurement mode of the guidance device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Guidance device, 2 Local oscillator, 3 Transmitter, 4 Transmission / reception switch, 5 Polarization controller, 6 Polarization shared antenna, 7 Target and clutter, 8 Receiver, 9 Polarization signal processor, 10 Target detector , 11 Tracking processor, 12 Gimbal controller, 13 Mode controller, 14 Target speed detector, 15 Target speed corrector, 16 Distance calculator, 17 PRI corrector, 18 Mother machine, C clutter, M Flying object, P0 Flying position 0, P1 Flying position 1, P2 Flying position 2, T target (high speed boat).

Claims (4)

Upon receiving the target distance signal from the distance calculator, a PRI setting signal for setting the PRI (Pulse Repetition Interval) corresponding to the distance measuring mode for measuring the distance to the target and the speed measuring mode for measuring the speed of the moving target is output. A mode controller that switches between the distance measurement mode and the speed measurement mode by outputting a mode control signal that operates in the speed measurement mode and stops in the distance measurement mode;
A local oscillator that outputs a transmission frequency signal and a local signal by PRI set in the mode controller ;
A transmitter for amplifying the transmission frequency signal and outputting a transmission signal;
Outputs a polarization switching signal that switches the polarization of the transmitted signal vertically or horizontally, receives the target distance signal from the distance calculator, and the reflected wave from the target is a vertically polarized wave received signal and horizontally polarized wave for horizontally polarized wave transmission A polarization controller that outputs a transmission polarization signal that identifies whether it is a reception signal or a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission;
The transmission signal is radiated into the space as vertical or horizontal polarization by the polarization switching signal, and the reflected waves from the target and the clutter are received at the vertical and horizontal polarization planes. Polarization reception signal, a polarization sharing antenna that outputs a sum signal and a difference signal of a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission, and
Receives the sum signal and difference signal from the above-mentioned dual-polarized antenna, performs frequency conversion, amplification, and phase detection with a local signal from the local oscillator, and outputs a Σ (sum) video signal and a Δ (difference) video signal. A receiver,
A polarization signal processor that receives a transmission polarization signal from the polarization controller, a Σ video signal and a Δ video signal from a receiver, performs correlation processing, and outputs a Σ signal and a Δ signal in which clutter is suppressed; ,
A target speed detector that receives a Σ video signal from a receiver in response to a mode control signal from the mode controller, detects a target speed, and outputs a target speed signal;
A target speed corrector that receives a target speed signal from a target speed detector by a mode control signal from the mode controller and corrects a Σ signal and a Δ signal from the polarization signal processor;
A target detector for detecting a target by a Σ signal from the target speed corrector;
A distance calculator that calculates a target distance based on a target initial distance signal from the inside or outside and a target speed signal from a target speed detector and outputs a target distance signal;
A tracking processor that performs tracking calculation with a Σ signal and a Δ signal for a detection target, and outputs a guidance signal and an antenna swing angle;
A guidance apparatus comprising: a gimbal controller that controls the angle of a polarization-sharing antenna according to an antenna swing angle from a tracking processor. Upon receiving the target distance signal from the distance calculator, a PRI setting signal for setting the PRI (Pulse Repetition Interval) corresponding to the distance measuring mode for measuring the distance to the target and the speed measuring mode for measuring the speed of the moving target is output. A mode controller that switches between the distance measurement mode and the speed measurement mode by outputting a mode control signal that operates in the speed measurement mode and stops in the distance measurement mode;
A local oscillator that outputs a transmission frequency signal and a local signal by PRI set in the mode controller ;
A transmitter that amplifies a transmission frequency signal and outputs a transmission signal;
Outputs a polarization switching signal that switches the polarization of the transmitted signal vertically or horizontally, receives the target distance signal from the distance calculator, and the reflected wave from the target is a vertically polarized wave received signal and horizontally polarized wave for horizontally polarized wave transmission A polarization controller that outputs a transmission polarization signal that identifies whether it is a reception signal or a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission;
The transmission signal is radiated into the space as vertical or horizontal polarization by the polarization switching signal, and the reflected waves from the target and the clutter are received at the vertical and horizontal polarization planes. Polarization reception signal, a polarization sharing antenna that outputs a sum signal and a difference signal of a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission, and
A receiver that receives the sum signal and the difference signal from the dual-polarized antenna, performs frequency conversion, amplification, and phase detection with a local signal from the local oscillator, and outputs a Σ video signal and a Δ video signal;
A polarization signal processor that receives a transmission polarization signal from the polarization controller, a Σ video signal and a Δ video signal from a receiver, performs correlation processing, and outputs a Σ signal and a Δ signal in which clutter is suppressed; ,
A target speed detector that receives a Σ video signal from a receiver in response to a mode control signal from the mode controller, detects a target speed, and outputs a target speed signal;
A target speed corrector that receives the target speed signal from the target speed detector by the mode control signal from the mode controller and corrects the Σ signal and the Δ signal from the polarization signal processor;
A target detector for detecting a target by a Σ signal from the target speed corrector;
A distance calculator that calculates a target distance based on a target initial distance signal from the inside or outside and a target speed signal from the target speed detector and outputs a target distance signal;
A PRI corrector that receives the target distance information from the distance calculator and outputs a PRI correction signal to the local oscillator so that no Eclipse occurs when receiving a reflected wave from the target;
A tracking processor that performs tracking calculation with a Σ signal and a Δ signal for a detection target, and outputs a guidance signal and an antenna swing angle;
A guidance device comprising: a gimbal controller that controls the angle of a polarization sharing antenna according to an antenna swing angle from the tracking processor. A local oscillator that outputs a transmission frequency signal and a local signal by a PRI (Pulse Repetition Interval) set from the inside or outside;
A transmitter that amplifies a transmission frequency signal and outputs a transmission signal;
A polarization switching signal that switches the polarization of the transmission signal vertically or horizontally is output. Upon receiving the target distance signal from the distance calculator, the reflected wave from the target and the vertical polarization reception signal for horizontal polarization transmission are A polarization controller that outputs a transmission polarization signal that identifies whether the signal is a wave reception signal or a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission,
The transmission signal is radiated into the space as vertical or horizontal polarization by the polarization switching signal, and the reflected waves from the target and the clutter are received at the vertical and horizontal polarization planes. Polarization reception signal, a polarization sharing antenna that outputs a sum signal and a difference signal of a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission, and
A receiver that receives the sum signal and the difference signal from the polarization sharing antenna, performs frequency conversion, amplification, and phase detection by the local signal from the local oscillator, and outputs a Σ video signal and a Δ video signal;
A polarization signal processor that receives a transmission polarization signal from the polarization controller, a Σ video signal and a Δ video signal from the receiver, performs correlation processing, and outputs a Σ signal and a Δ signal with suppressed clutter. When,
A target speed detector that receives the Σ video signal from the receiver and detects a target speed and outputs a target speed signal;
A target speed corrector that receives the target speed signal from the target speed detector and corrects the Σ and Δ signals from the polarization signal processor, and a target that detects the target by the Σ signal from the target speed corrector. A detector;
An interface (I / F) with the mother machine that outputs the target initial distance signal;
A distance calculator that calculates a target distance based on a target initial distance signal from the mother machine and a target speed signal from the target speed detector and outputs a target distance signal;
A tracking processor that performs tracking calculation with a Σ signal and a Δ signal for a detection target, and outputs a guidance signal and an antenna swing angle;
A guidance device comprising: a gimbal controller that controls the angle of a polarization sharing antenna according to an antenna swing angle from the tracking processor. A local oscillator that outputs a transmission frequency signal and a local signal by a PRI (Pulse Repetition Interval) set from the inside or outside;
A transmitter that amplifies a transmission frequency signal and outputs a transmission signal;
Outputs a polarization switching signal that switches the polarization of the transmitted signal vertically or horizontally, receives the target distance signal from the distance calculator, and the reflected wave from the target is a vertically polarized wave received signal and horizontally polarized wave for horizontally polarized wave transmission A polarization controller that outputs a transmission polarization signal that identifies whether it is a reception signal or a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission;
The transmission signal is radiated into the space as vertical or horizontal polarization by the polarization switching signal, and the reflected waves from the target and the clutter are received at the vertical and horizontal polarization planes. Polarization reception signal, a polarization sharing antenna that outputs a sum signal and a difference signal of a vertical polarization reception signal and a horizontal polarization reception signal for vertical polarization transmission, and
A receiver that receives the sum signal and the difference signal from the dual-polarized antenna, performs frequency conversion, amplification, and phase detection by a local signal from the local oscillator, and outputs a Σ video signal and a Δ video signal; A polarization signal processor that receives a transmission polarization signal from a wave controller and a Σ video signal and a Δ video signal from a receiver, performs correlation processing, and outputs a Σ signal and a Δ signal in which clutter is suppressed;
A target speed detector that receives a Σ video signal from the receiver and detects a target speed and outputs a target speed signal; and a Σ from the polarization signal processor that receives the target speed signal from the target speed detector A target speed corrector for correcting the signal and the Δ signal;
A target detector for detecting a target by a Σ signal from the target speed corrector;
An interface (I / F) with the mother machine that outputs the target initial distance signal;
A distance calculator that calculates a target distance based on a target initial distance signal from the mother machine and a target speed signal from the target speed detector and outputs a target distance signal;
A PRI corrector that receives target distance information from the distance calculator and outputs a PRI correction signal to the local oscillator so that no Eclipse occurs when receiving a reflected wave from the target ;
A tracking processor that performs tracking calculation with a Σ signal and a Δ signal for a detection target, and outputs a guidance signal and an antenna swing angle;
An induction device comprising: a gimbal controller that performs angle control of the dual-polarized antenna according to an antenna swing angle from the tracking processor.

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