JP6721409B2 - Radar detection device, method and program - Google Patents

Description

The present disclosure relates to radar detection technology using signals of a plurality of systems.

As a radar detection technique using signals of a plurality of systems, a phase monopulse radar detection technique using a single transmission system and a plurality of reception systems, a phase monopulse radar detection technique using a plurality of transmission systems and a single reception system, and a phased array There are radar detection technologies and the like.

JP, 2012-063195, A JP, 2009-074839, A

Even in the radar detection technique using signals of a plurality of systems, it is considered necessary to distinguish the target of the radar detection target from the clutter that is not the radar detection target. Examples of the technique for distinguishing the target from the clutter include the techniques disclosed in Patent Documents 1 and 2.

In the technique disclosed in Patent Document 1, an intensity threshold value higher than the intensity of clutter that can be statistically considered is set, it is determined that the intensity of reception higher than the intensity threshold is due to the target, and the intensity of reception lower than the intensity threshold is due to clutter. Judge as something. However, it is desirable to detect the target even if the received intensity by the target is lower than the received intensity by the clutter.

In the technique disclosed in Patent Document 2, correlation processing is executed between a plurality of scans arranged in a time series, it is determined that the reception intensity systematically appearing in the time series is due to the target, and suddenly in the time series. It is determined that the received intensity appearing in the field is due to clutter. However, it is desirable to detect the target without performing the correlation processing between the plurality of scans arranged in time series.

Therefore, in order to solve the above problems, the present disclosure is a radar detection technique using signals of a plurality of systems, and even if the reception intensity by the target is lower than the reception intensity by the clutter, and a plurality of scans arranged in time series are provided. The purpose is to distinguish a target from clutter without performing correlation processing between them.

In order to achieve the above object, it is determined that the spectrum of the signal with a small variation in the intensity peak position in each system is due to the target, while the spectrum of the signal with a large variation in the intensity peak position in each system is due to the clutter. It was decided to judge.

Specifically, the present disclosure is a radar detection device that uses signals of a plurality of systems, and a spectrum calculation unit that calculates a spectrum of a signal of each system, and a spectrum calculation unit of each system calculated by the spectrum calculation unit. Intensity peak position detection unit for detecting the intensity peak position of the spectrum of the signal, comparing the intensity peak position of the spectrum of the signal of each system detected by the intensity peak position detection unit, the intensity peak position in each system A spectrum of a signal having a small variation of the target is determined, and an intensity peak position comparison unit that determines a spectrum of the signal having a large variation of the intensity peak position in each of the systems is a clutter. It is a radar detection device that does.

Further, the present disclosure is a radar detection method using signals of a plurality of systems, a spectrum calculation step of calculating a spectrum of a signal of each system, and a spectrum of a signal of each system calculated in the spectrum calculation step. Intensity peak position detection step of detecting the intensity peak position of the, comparing the intensity peak position of the spectrum of the signal of each of the system detected in the intensity peak position detection step, the dispersion of the intensity peak position in each system An intensity peak position comparison step of determining that a spectrum of a small signal is due to a target and determining a spectrum of a signal with a large variation in intensity peak position in each of the systems due to clutter, in order. It is a detection method.

Further, the present disclosure is a radar detection program using signals of a plurality of systems, a spectrum calculation step of calculating a spectrum of a signal of each system, and a spectrum of a signal of each system calculated in the spectrum calculation step. Intensity peak position detection step of detecting the intensity peak position of the, comparing the intensity peak position of the spectrum of the signal of each of the system detected in the intensity peak position detection step, the dispersion of the intensity peak position in each system A radar for causing a computer to sequentially execute the intensity peak position comparison step of determining a spectrum of a small signal as a target, and determining a spectrum of a signal having a large variation in intensity peak position in each system as a clutter. It is a detection program.

According to this configuration, since the intensity peak positions of the spectra of the signals of the respective systems are compared, even if the reception intensity by the target is lower than the reception intensity by the clutter, the target can be distinguished from the clutter. Then, since the scans of only one received signal are compared in time series in each system, it is possible to distinguish the target from the clutter without performing correlation processing between the plurality of scans arranged in time series. You can

Further, the present disclosure compares the peak intensities of the spectra of the signals of the respective systems that the intensity peak position comparison unit determines to be due to the target, and targets the spectra of the signals with small variations in the peak intensities of the respective systems. The radar detecting apparatus further includes a peak intensity comparing unit that determines that the spectrum of a signal having a large variation in peak intensity in each system is corrected to that due to clutter.

According to this configuration, in the spectrum of the signal in which the intensity peak positions in each system are almost the same, it is possible to more reliably distinguish the target from the clutter by confirming that the peak intensities in each system are almost the same. can do. On the other hand, even if it is the spectrum of the signal where the intensity peak positions in each system are almost the same, it is possible to prevent the clutter from being mistaken as a target by confirming that the peak intensities in each system are significantly different. can do.

Further, the present disclosure is the radar detecting apparatus, wherein the signals of the plurality of systems are signals of the plurality of systems in the phase monopulse system.

According to this configuration, the present disclosure can be applied to the phase monopulse system.

Further, the present disclosure is the radar detection apparatus, wherein the signals of the plurality of systems are signals of the plurality of systems in a phased array system.

According to this configuration, the present disclosure can be applied to the phased array method.

As described above, according to the present disclosure, in the radar detection technology that uses signals of a plurality of systems, even if the reception intensity of the target is lower than the reception intensity of the clutter, the correlation between the plurality of scans arranged in time series is obtained. The target can be distinguished from the clutter without performing any processing.

It is a figure which shows the apparatus structure of the phase monopulse radar detection apparatus of this indication. It is a figure which shows the process procedure of the phase monopulse radar detection method of this indication. It is a figure which shows the process procedure of the phase monopulse radar detection method of this indication. It is a figure which shows the spectrum of the beat signal for 1 scan of this indication. It is a figure which shows the spectrum (intensity vs. distance) of the beat signal of this indication. It is a figure which shows the spectrum (intensity vs. speed) of the beat signal of this indication. It is a figure which shows the apparatus structure of the phased array radar detection apparatus of this indication. It is a figure which shows the process sequence of the phased array radar detection method of this indication.

Embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below are examples of implementation of the present disclosure, and the present disclosure is not limited to the following embodiments.

A device configuration of the phase monopulse radar detection device of the present disclosure is shown in FIG. The processing procedure of the phase monopulse radar detection method of the present disclosure is shown in FIGS. 2 and 3.

The phase monopulse radar detection device R includes a transmission system Tx, reception systems Rx1 and Rx2, carrier signal generation unit 1, beat signal generation units 2-1, 2-2, A/D conversion units 3-1, 3-2, spectrum. The calculation units 4-1, 4-2, the phase difference calculation unit 5, the intensity peak position detection units 6-1, 6-2, the intensity peak position comparison unit 7, and the peak intensity comparison unit 8 are included. Here, the phase monopulse radar detection device R is installed with the phase monopulse radar detection program for executing the processing described in FIGS. 2 and 3. The phase monopulse radar detection program can be provided via a storage medium or a network.

The transmission system Tx modulates and transmits the carrier signal generated by the carrier signal generation unit 1. The reception systems Rx1 and Rx2 receive the reflected signal from the target or clutter. In this embodiment, the number of receiving systems is two, but as a modification, the number of receiving systems may be three or more.

The beat signal generation units 2-1 and 2-2 generate beat signals before A/D conversion between the reception signals in the reception systems Rx1 and Rx2 and the carrier signal generated by the carrier signal generation unit 1, respectively. To do. The A/D conversion units 3-1 and 3-2 receive the beat signals before A/D conversion in the reception systems Rx1 and Rx2 generated by the beat signal generation units 2-1 and 2-2, respectively. , Rx2 are converted into beat signals after A/D conversion (step S1). On the left side of FIG. 4, beat signals in each reception system are illustrated.

The spectrum calculation units 4-1 and 4-2 calculate the spectrums of the beat signals after A/D conversion in the reception systems Rx1 and Rx2 converted by the A/D conversion units 3-1 and 3-2, respectively ( Step S2). On the right side of FIG. 4, the spectrum of the beat signal for one scan in each reception system is illustrated as a function of the target distance and the target velocity.

In the subsequent processing, it is sufficient to use the spectrum of the beat signal for one scan illustrated on the right side of FIG. 4, and it is not necessary to use the spectrum of the received signals for a plurality of scans disclosed in Patent Document 2. .. In the embodiment, the spectrum intensity is calculated as a function of the target distance and the target velocity, but as a modification, the spectrum intensity is calculated as a function of other variables other than the target distance and velocity. Good.

The phase difference calculator 5 calculates the phase difference between the beat signals in the reception systems Rx1 and Rx2 calculated by the spectrum calculators 4-1 and 4-2, respectively. Then, the information on the phase difference between the beat signals in the reception systems Rx1 and Rx2 is output to the peak intensity comparison unit 8 (see step S12 described later). The intensity peak position detection units 6-1 and 6-2 detect the intensity peak positions of the spectrum of the beat signal in the reception systems Rx1 and Rx2 calculated by the spectrum calculation units 4-1 and 4-2, respectively (step S3). ).

FIG. 5 illustrates the spectrum of the beat signal for one scan in the reception systems Rx1 and Rx2 as a function of the target distance. The intensity peak position detector 6-1 detects the intensity peak positions D1-1,..., D1-5. The intensity peak position detector 6-2 detects intensity peak positions D2-1,..., D2-3.

FIG. 6 illustrates the spectrum of the beat signal for one scan in the reception systems Rx1 and Rx2 as a function of the speed of the target. The intensity peak position detector 6-1 detects intensity peak positions V1-1,..., V1-12. The intensity peak position detector 6-2 detects the intensity peak positions V2-1,..., V2-10.

The intensity peak position comparison unit 7 compares the intensity peak positions of the spectrums of the beat signals in the reception systems Rx1 and Rx2 detected by the intensity peak position detection units 6-1 and 6-2, respectively (step S4). Then, the spectrum of the beat signal in which the difference between the intensity peak positions in the reception systems Rx1 and Rx2 is smaller than the predetermined position threshold value (“small” in step S5) is determined to be due to the target (step S6). On the other hand, the spectrum of the beat signal in which the difference between the intensity peak positions in the reception systems Rx1 and Rx2 is larger than the predetermined position threshold value (“large” in step S5) is determined to be due to clutter (step S7).

Here, since the target is located in a dot shape when viewed from the phase monopulse radar detection device R, the received signals from the target in the plurality of reception systems Rx1 and Rx2 have a deterministic phase difference due to the direction of the target. It is considered to have spectral intensity peak positions that are only affected and have little deviation. On the other hand, since the clutter is uniformly distributed when viewed from the phase monopulse radar detection device R, the received signals from the clutter in the plurality of receiving systems Rx1 and Rx2 have a stochastic phase difference due to the distribution of the clutter. Since it is affected, it is considered that the spectrum intensity peak position is largely deviated.

In FIG. 5, the intensity peak position comparison unit 7 determines that the intensity peak positions D1-1 and D2-1 are almost deviated from each other and is determined to be due to the target. The intensity peak positions D1-3 and D2-2 are determined to be due to the target with almost no deviation. On the other hand, the intensity peak positions D1-2, D1-4, and D1-5 and the intensity peak position D2-3 are largely deviated, and it is determined that clutter has occurred.

It should be noted here that the peak intensities at the intensity peak positions D1-3 and D2-2 determined to be due to the target are the peak intensities at the intensity peak positions D1-2 and D2-3 determined to be due to clutter. Is lower than that.

In FIG. 6, the intensity peak position comparison unit 7 determines that the intensity peak positions V1-2 and V2-2 are almost the same and that the intensity peak positions are due to the target. On the other hand, the intensity peak positions V1-1, V1-3,..., V1-12 and the intensity peak positions V2-1, V2-3,. It is determined to be one.

It should be noted here that the peak intensities at the intensity peak positions V1-2 and V2-2 determined to be due to the target are the peak intensities at the intensity peak positions V1-1 and V2-1 determined to be due to clutter. Is lower than that.

The peak intensity comparison unit 8 compares the peak intensity of the spectrum of the beat signal in the reception systems Rx1 and Rx2 that the intensity peak position comparison unit 7 has determined to be due to the target (step S8). Then, the spectrum of the beat signal in which the difference between the peak intensities in the reception systems Rx1 and Rx2 is smaller than the predetermined intensity threshold (“small” in step S9) is again determined to be the target (step S10). On the other hand, the spectrum of the beat signal in which the difference between the peak intensities in the reception systems Rx1 and Rx2 is larger than the predetermined intensity threshold (“large” in step S9) is newly corrected to be due to clutter (step S11).

Here, in the peak intensity comparison process, in the spectrum of the received signal in which the intensity peak positions in the respective receiving systems Rx1 and Rx2 are not substantially deviated, the peak intensities in the respective receiving systems Rx1 and Rx2 are usually almost different. However, it is assumed that there are rare cases where they may differ greatly. In other words, in the peak intensity comparison process, it is premised that the reception systems Rx1 and Rx2 have almost the same performance, and that they detect not a wide-angle direction but a direction near the front.

In FIG. 5, the peak intensity comparison unit 8 makes a new determination that the peak intensities at the intensity peak positions D1-1 and D2-1 are almost the same and that they are due to the target. Then, the peak intensities at the intensity peak positions D1-3 and D2-2 are almost the same, and it is determined again that the peak intensities depend on the target. In FIG. 6, the peak intensities at the intensity peak positions V1-2 and V2-2 are almost the same, and it is determined again that the peak intensities are due to the target. Here, if the peak intensities at the intensity peak positions D1-*, D2-* or the intensity peak positions V1-*, V2-* (where * indicates an arbitrary number of the intensity peak) are significantly different, It will be newly corrected with clutter.

The peak intensity comparison unit 8 detects the direction of the target based on the phase difference between the beat signals in the reception systems Rx1 and Rx2 in the spectrums of the beat signals in the reception systems Rx1 and Rx2 that are determined to be due to the target again (step S12). ).

In the present embodiment, the present disclosure is applied to a phase monopulse radar detection technique that uses a single transmission system Tx and a plurality of reception systems Rx1 and Rx2. In general, the present disclosure can be applied to any radar detection technique that uses signals of a plurality of systems. Specifically, the present disclosure can be applied to a phase monopulse radar detection technique, a phased array radar detection technique, and the like that use a plurality of transmission systems and a single reception system.

In the phase monopulse radar detection technique using a plurality of transmission systems and a single reception system, the present disclosure is applied by performing frequency division multiplexing, time division multiplexing, or code division multiplexing.

A device configuration of the phased array radar detection device of the present disclosure is shown in FIG. 7. FIG. 8 shows a processing procedure of the phased array radar detection method of the present disclosure.

The phased array radar detection device R includes a transmission system Tx, a reception system Rx1,..., RxN, a carrier signal generation unit 1, a beat signal generation unit 2-1,..., 2-N, and an A/D conversion unit 3. -1,..., 3-N, spectrum calculation unit 4-1,..., 4-N, intensity peak position detection unit 6-1,... 6-N, intensity peak position comparison unit 7, peak The intensity comparison unit 8 and the direction detection unit 9 are included. Here, the phased array radar detection device R is installed with a phased array radar detection program for executing the processing described in FIG.

, RxN, carrier signal generation unit 1, beat signal generation unit 2-1,..., 2-N, A/D conversion unit 3-1,... , 3-N, spectrum calculation units 4-1,..., 4-N and intensity peak position detection units 6-1,... 6-N are the transmission system Tx, the reception systems Rx1, Rx2 in FIG. , Carrier signal generator 1, beat signal generators 2-1, 2-2, A/D converters 3-1, 3-2, spectrum calculators 4-1, 4-2 and intensity peak position detector 6-. 1 and 6-2, respectively.

The intensity peak position comparison unit 7 compares the intensity peak positions of the spectrums of the beat signals in the reception systems Rx1,..., RxN detected by the intensity peak position detection units 6-1,. Then, it is determined that the spectrum of the beat signal in which the variations in the intensity peak positions in the reception systems Rx1,..., RxN are small is due to the target (see the upper part of FIG. 8). On the other hand, it is determined that the spectrum of the beat signal with large variations in the intensity peak positions in the reception systems Rx1,..., RxN is due to clutter (see the lower part of FIG. 8).

The peak intensity comparison unit 8 compares the peak intensity of the spectrum of the beat signal in the reception system Rx1,..., RxN determined by the intensity peak position comparison unit 7 with the target. Then, the spectrum of the beat signal in which the variations in the peak intensities in the receiving systems Rx1,..., RxN are small is again determined to be due to the target (see the upper part of FIG. 8). On the other hand, the spectrum of the beat signal having large variations in peak intensity in the reception systems Rx1,..., RxN is newly corrected to be due to clutter (see the lower part of FIG. 8).

The direction detection unit 9 detects the direction of the target based on the phases of the beat signals in the reception systems Rx1,..., RxN calculated by the spectrum calculation units 4-1,..., 4-N, respectively. The peak intensity comparison unit 8 outputs the direction of the target for the spectrum of the beat signal in the reception systems Rx1,..., RxN that are determined to be due to the target again.

Here, an evaluation method of the intensity peak position or variation in peak intensity in the reception systems Rx1,..., RxN will be described with reference to FIG. First, the differences described below are calculated.
Difference (1): Difference between intensity peak positions or peak intensities in the reception systems Rx1 and Rx2 (2): Intensity peak position or difference in intensity between the reception systems Rx1 and Rx3 Difference (3): Intensity in the reception systems Rx1 and Rx4 Difference in peak position or peak intensity (4): Difference in intensity peak position or peak intensity in receiving systems Rx2, Rx3 (5): Difference in intensity peak position or peak intensity in receiving systems Rx2, Rx4 (6): Difference in intensity peak position or peak intensity in the receiving system Rx3, Rx4

Next, one of the methods described below is adopted to evaluate the variation.
Method (1): The “minimum value” of the differences (1) to (6) is extracted, and when the minimum value is smaller than the predetermined threshold value, it is determined that the spectrum of the beat signal is due to the target, and the minimum value is smaller than the predetermined threshold value. When it is large, it is determined that the spectrum of the beat signal is due to clutter.
Method (2): The “maximum value” of the differences (1) to (6) is extracted, and when the maximum value is smaller than the predetermined threshold value, it is determined that the spectrum of the beat signal is due to the target, and the maximum value is greater than the predetermined threshold value. When it is large, it is determined that the spectrum of the beat signal is due to clutter.
Method (3): Calculate the “variance value” or “average value” of the differences (1) to (6), and if the variance value or average value is smaller than a predetermined threshold value, determine that the spectrum of the beat signal is due to the target. However, when the variance value or the average value is larger than the predetermined threshold value, it is determined that the spectrum of the beat signal is due to clutter.

In method (1), when the intensity peak position or the difference in peak intensity in a certain set of receiving systems is smaller than a predetermined threshold, even when the intensity peak position or the difference in peak intensity in another set of receiving systems is larger than a predetermined threshold. , It is determined that the spectrum of the beat signal is due to the target. In the method (2), when the intensity peak position or the difference between peak intensities in a certain set of receiving systems is larger than a predetermined threshold, even when the intensity peak position in the other set of receiving systems or the difference in peak intensity is smaller than a predetermined threshold , It is determined that the spectrum of the beat signal is due to clutter. In the method (3), as an intermediate idea between the methods (1) and (2), the spectrum of the beat signal is based on the target or clutter based on the intensity peak position or the variation of the peak intensity in a plurality of receiving systems. Determine if it is something.

The radar detection device, method, and program according to the present disclosure are radar detection techniques that use signals of a plurality of systems, even when the reception intensity by the target is lower than the reception intensity by the clutter, and during a plurality of scans arranged in time series. It is possible to distinguish the target from the clutter without executing the correlation processing in.

R: Phase monopulse radar detection device, phased array radar detection device Tx: Transmission system Rx1, Rx2, Rx3, Rx4, RxN: Reception system 1: Carrier signal generation unit 2-1, 2-2, 2-N: Beat signal generation Parts 3-1, 3-2, 3-N: A/D converters 4-1, 4-2, 4-N: Spectrum calculator 5: Phase difference calculators 6-1, 6-2, 6-N : Intensity peak position detection unit 7: intensity peak position comparison unit 8: peak intensity comparison unit 9: direction detection unit

Claims (6)

A radar detection device using signals of a plurality of systems,
A spectrum calculation unit that calculates the spectrum of the signal of each system,
An intensity peak position detection unit that detects the intensity peak position of the spectrum of the signal of each system calculated by the spectrum calculation unit,
The intensity peak position detecting unit compares the intensity peak positions of the spectra of the signals of the respective systems, and determines that the spectrum of the signals with small variations in the intensity peak positions of the respective systems is due to the target, An intensity peak position comparison unit that determines that the spectrum of a signal with a large variation in intensity peak position in the system of is due to clutter,
A radar detection device comprising: The intensity peak position comparison unit compares the peak intensities of the spectra of the signals of the respective systems determined to be due to the target, and determines that the spectrum of the signals with small variations in the peak intensity in the respective systems is due to the target, A peak intensity comparison unit that corrects a spectrum of a signal in which variation in peak intensity in each system is large due to clutter,
The radar detection device according to claim 1, further comprising: The radar detection device according to claim 1, wherein the signals of the plurality of systems are signals of the plurality of systems in a phase monopulse system. The radar detection device according to claim 1 or 2, wherein the signals of the plurality of systems are signals of the plurality of systems in a phased array system. A radar detection method using signals of a plurality of systems,
A spectrum calculation step for calculating the spectrum of the signal of each system,
An intensity peak position detecting step of detecting an intensity peak position of the spectrum of the signal of each system calculated in the spectrum calculating step;
Comparing the intensity peak position of the spectrum of the signal of each system detected in the intensity peak position detection step, it is determined that the spectrum of the signal with small dispersion of the intensity peak position in each system is due to the target, Intensity peak position comparison step to determine that the spectrum of the signal with a large variation in intensity peak position in the system of is due to clutter,
A radar detection method comprising: A radar detection program that uses signals from multiple systems,
A spectrum calculation step for calculating the spectrum of the signal of each system,
An intensity peak position detecting step of detecting an intensity peak position of the spectrum of the signal of each system calculated in the spectrum calculating step;
Comparing the intensity peak position of the spectrum of the signal of each system detected in the intensity peak position detection step, it is determined that the spectrum of the signal with small dispersion of the intensity peak position in each system is due to the target, Intensity peak position comparison step to determine that the spectrum of the signal with a large variation in intensity peak position in the system of is due to clutter,
Radar detection program that causes a computer to execute in sequence.

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