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JP6901713B2 - Riders and signal processing methods in the riders - Google Patents
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JP6901713B2 - Riders and signal processing methods in the riders - Google Patents

Riders and signal processing methods in the riders Download PDF

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JP6901713B2
JP6901713B2 JP2016088724A JP2016088724A JP6901713B2 JP 6901713 B2 JP6901713 B2 JP 6901713B2 JP 2016088724 A JP2016088724 A JP 2016088724A JP 2016088724 A JP2016088724 A JP 2016088724A JP 6901713 B2 JP6901713 B2 JP 6901713B2
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reference signal
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distance
doppler
doppler shift
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JP2017198514A (en
JP2017198514A5 (en
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栄一 吉川
栄一 吉川
博史 及川
博史 及川
秋山　智浩
智浩 秋山
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Japan Aerospace Exploration Agency JAXA
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)

Description

本発明は、航空機や衛星、自動車などの様々な技術分野に用いられるライダ及びライダにおける信号処理方法に関するものである。 The present invention relates to a rider used in various technical fields such as an aircraft, a satellite, and an automobile, and a signal processing method in the rider .

これまでレーダにおいて、高ピーク電力・短時間パルス送信に対して、低ピーク電力・長時間パルス送信を利用した高効率化が成されてきた。これは、長時間パルスに対し任意の変調を施して広周波数帯域化した信号を送信し、対象物からの受信信号に対し距離推定信号処理を適用することで、高効率化（空間的に詳細な情報を高い信号対雑音比で得る）を実現するものである。 So far, radar has been improved in efficiency by using low-peak power and long-time pulse transmission as opposed to high-peak power and short-time pulse transmission. This improves efficiency (spatial details) by transmitting a signal with a wide frequency band by applying arbitrary modulation to a long-time pulse and applying distance estimation signal processing to the received signal from the object. Information can be obtained with a high signal-to-noise ratio).

距離推定信号処理方式としては、既知の送信信号（参照信号）の類似性に基づくパルス圧縮方式、参照信号の変調に基づき受信信号の周波数成分から距離推定を行うＦＭＣＷ （Ｆｒｅｑｕｅｎｃｙ Ｍｏｄｕｌａｔｉｏｎ Ｃｏｎｔｉｎｕｏｕｓ Ｗａｖｅ）方式、の二つが主に用いられてきた（特許文献１〜４、非特許文献１参照）。 The distance estimation signal processing method includes a pulse compression method based on the similarity of known transmission signals (reference signals), an FMCW (Frequency Modulation Continuous Wave) method that estimates the distance from the frequency component of the received signal based on the modulation of the reference signal, and (See Patent Documents 1 to 4 and Non-Patent Document 1).

米国特許８，９７４，３９０U.S. Pat. No. 8,974,390 米国特許８，５８１，７７８U.S. Pat. No. 8,581,778 米国特許７，３９１，３６２U.S. Pat. No. 7,391,362 米国特許７，１７０，４４０U.S. Patent 7,170,440

Ｍｅｒｒｉｌｌ Ｓｋｏｌｎｉｃ,"Ｒａｄｅｒ Ｈａｎｄｂｏｏｋ, Ｔｈｉｒｄ Ｅｄｉｔｉｏｎ"ＭｃＧｒａｗ−Ｈｉｌｌ, Ｃｈａｐｔｅｒ ８．Merrill Skolnic, "Rader Handbook, Third Edition" McGraw-Hill, Chapter 8.

この種のシステムにおいては、受信信号には対象物との間の相対速度に対応したドップラー周波数シフトが付加されるため、これにより参照信号との間に差異が生まれ、効率が劣化する問題がある。ドップラー周波数シフトは送信周波数に比例するため、光を送信するライダにおいては、上記高効率化技術の適用そのものが困難であった。 In this type of system, the received signal is added with a Doppler frequency shift corresponding to the relative speed to the object, which causes a difference from the reference signal, which causes a problem of inefficiency. .. Since the Doppler frequency shift is proportional to the transmission frequency, in a rider to transmit the light, the application itself of the high-efficiency technology is difficult.

一方、高ピーク電力・短時間パルス送信の場合には、光を送信するライダにおいては、パワーアンプやこれを冷却するシステムのサイズが大きくなり、かつ、重量も重くなり、更には消費電力が大きくなる、という問題がある。
以上のような事情に鑑み、本発明の目的は、小型化、軽量化及び低消費電力化を実現することができるライダ及びライダにおける信号処理方法を提供することにある。 On the other hand, in the case of high peak power and short pulse transmitted in lidar for transmitting light, the size of a system for cooling the power amplifiers and which becomes large, and the weight becomes heavier, more large power consumption There is a problem of becoming .
In view of the above circumstances, an object of the present invention is to provide a rider and a signal processing method in the rider that can realize miniaturization, weight reduction, and low power consumption.

上記目的を達成するため、本発明の一形態に係るライダは、低ピーク電力・長時間パルス（連続波含む）で、かつ、所定の変調が施されたパルス状のレーザ光からなる送信信号を対象物に送信する送信ユニットと、前記送信信号に応じた参照信号に所定のドップラー周波数シフトを施したドップラーシフト参照信号を作成するドップラーシフト参照信号作成部と、前記送信信号に対する前記対象物からの受信信号を受信する受信ユニットと、前記受信信号と前記参照信号及び前記ドップラーシフト参照信号との間で距離推定信号処理を実施する信号処理部とを具備する。 In order to achieve the above object, the rider according to one embodiment of the present invention transmits a transmission signal consisting of a pulsed laser beam having a low peak power, a long-time pulse (including a continuous wave), and a predetermined modulation. A transmission unit to transmit to an object, a Doppler shift reference signal creation unit that creates a Doppler shift reference signal obtained by subjecting a reference signal corresponding to the transmission signal to a predetermined Doppler frequency shift, and a Doppler shift reference signal creation unit for the transmission signal from the object. It includes a receiving unit that receives a received signal, and a signal processing unit that performs distance estimation signal processing between the received signal, the reference signal, and the Doppler shift reference signal .

本発明により、ライダにおいては低ピーク電力・長時間パルス送信を利用した高効率化が可能となり、システムの小型化、軽量化及び低消費電力化を実現することができる。 According to the present invention, it is possible to improve the efficiency of the rider by using low peak power and long-time pulse transmission, and it is possible to realize miniaturization, weight reduction, and low power consumption of the system .

本発明の一形態に係るライダでは、前記ドップラーシフト参照信号作成部は、前記参照信号に前記対象物との間の相対速度に基づき任意に設定した前記ドップラー周波数シフトを施したドップラーシフト参照信号を作成するものである。
本発明の一実施形態に係るライダでは、前記ドップラーシフト参照信号作成部は、１以上のドップラーシフト参照信号を作成するものである。２つ以上の異なるドップラーシフト参照信号を作成するものであってもよい。 In the rider according to one embodiment of the present invention, the Doppler shift reference signal creating unit applies the Doppler shift reference signal to which the Doppler frequency shift is arbitrarily set based on the relative velocity between the reference signal and the object. It is something to create.
In the rider according to the embodiment of the present invention, the Doppler shift reference signal creating unit creates one or more Doppler shift reference signals. It may create two or more different Doppler shift reference signals.

本発明の一形態に係るライダでは、前記信号処理部による独立した処理結果を用いて、任意の距離におけるドップラースペクトルとして、前記対象物の情報を出力するものである。 In the rider according to one embodiment of the present invention, the information of the object is output as a Doppler spectrum at an arbitrary distance by using the independent processing result by the signal processing unit.

本発明の一形態に係るライダにおける信号処理方法は、低ピーク電力・長時間パルス（連続波含む）で、かつ、所定の変調が施されたパルス状のレーザ光からなる送信信号を対象物に送信し、前記送信信号に応じた参照信号に所定のドップラー周波数シフトを施した複数のドップラーシフト参照信号を作成し、前記送信信号に対する対象物からの受信信号を受信し、前記受信信号と前記参照信号及び各前記ドップラーシフト参照信号との間で距離推定信号処理を実施し、前記実施された独立した処理結果を用いて前記対象物の情報を出力するものである。 The signal processing method in the rider according to one embodiment of the present invention uses a transmission signal consisting of a pulsed laser beam having a low peak power, a long-time pulse (including a continuous wave), and a predetermined modulation as an object. A plurality of Doppler shift reference signals are transmitted, the reference signal corresponding to the transmission signal is subjected to a predetermined Doppler frequency shift, the reception signal from the object with respect to the transmission signal is received, and the reception signal and the reference are received. Distance estimation signal processing is performed between the signal and each of the Doppler shift reference signals, and information on the object is output using the performed independent processing results.

本発明により、小型化・軽量化・低消費電力化を実現することができる。 According to the present invention, it is possible to realize miniaturization, weight reduction, and low power consumption.

本発明の一実施形態に係るライダの構成を示すブロック図である。It is a block diagram which shows the structure of the rider which concerns on one Embodiment of this invention. 高ピーク電力・短時間パルス及び低ピーク電力・長時間パルスの例を示すグラフである。It is a graph which shows the example of high peak power / short time pulse and low peak power / long time pulse. 受信強度の距離プロファイルの一例を示すグラフである。It is a graph which shows an example of the distance profile of the reception intensity. 受信電力の速度プロファイルの一例を示すグラフである。It is a graph which shows an example of the speed profile of the received power.

以下、図面を参照しながら、本発明の実施形態を説明する。
図１は、本発明の一実施形態に係るライダの構成を示すブロック図である。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a rider according to an embodiment of the present invention.

図１に示すように、ライダ１は、典型的には、パルス状のレーザ光（送信信号）を遠距離にある対象物２、例えば風等の粒子状散乱体に向けて照射し、粒子状散乱体からの散乱光を受信する。ライダ１は、受信した受信信号に基づき、遠距離にある対象物２までの距離やその対象物２の性質（例えば、反射強度、相対速度など）に関する情報３を出力する。なお、対象物２としては、風等の粒子状散乱体の他、航空機等の単一の物体、或いは複数の航空機などであってもよい。
ライダ１は、送信ユニット１０と、記憶部２０と、ドップラーシフト参照信号作成部３０と、受信ユニット４０と、信号処理部５０と、出力部６０とを有する。 As shown in FIG. 1, the rider 1 typically irradiates a pulsed laser beam (transmitted signal) toward an object 2 at a long distance, for example, a particulate scatterer such as wind, in the form of particles. Receives scattered light from the scatterer. Based on the received signal, the rider 1 outputs information 3 regarding the distance to the object 2 at a long distance and the properties of the object 2 (for example, reflection intensity, relative velocity, etc.). The object 2 may be a single object such as an aircraft, a plurality of aircraft, or the like, in addition to a particulate scatterer such as wind.
The rider 1 includes a transmission unit 10, a storage unit 20, a Doppler shift reference signal creation unit 30, a reception unit 40, a signal processing unit 50, and an output unit 60.

送信ユニット１０は、パルス状のレーザ光からなる送信信号を送信する。例えば、送信ユニット１０は、光変調器において、外部共振器型レーザダイオード（ＥＣＬＤ）より出力された長時間パルスを、パルス圧縮方式の場合には発信器が発信したチャープ信号で変調し、その信号を増幅器及び望遠鏡を介して送信する。なお、このようなパルスに対する所定の変調は、ＡＭ変調、ＦＭ変調、位相変調などのいずれであっても構わない。例えば、ＦＭＣＷ （Ｆｒｅｑｕｅｎｃｙ Ｍｏｄｕｌａｔｉｏｎ Ｃｏｎｔｉｎｕｏｕｓ Ｗａｖｅ）方式などを用いることができる。 The transmission unit 10 transmits a transmission signal composed of a pulsed laser beam. For example, in the optical modulator, the transmission unit 10 modulates a long-time pulse output from an external resonator type laser diode (ECLD) with a chirp signal transmitted by the transmitter in the case of the pulse compression method, and the signal is used. Is transmitted via an amplifier and a telescope. The predetermined modulation for such a pulse may be any of AM modulation, FM modulation, phase modulation and the like. For example, an FMCW (Frequency Modulation Continuous Wave) method or the like can be used.

送信ユニット１０は、典型的には図２に示すように、送信信号として低ピーク電力・長時間パルス（連続波含む）で、かつ、所定の変調が施された繰り返しパルス２０１を送信する。図２において、符号２０２は高ピーク電力・短時間パルスの一例を示している。航空機に搭載されるライダ１の場合には、例えば高ピーク電力・短時間パルスのピーク電力が数十Ｗ程度以上でパルス幅が１μｓｅｃ程度、パルスの繰り返し間隔が１００μｓｅｃ程度であるのに対して、低ピーク電力・長時間パルス（連続波含む）とは、典型的には、ピーク電力が１Ｗ程度でパルス幅が数十μｓｅｃ程度、パルスの繰り返し間隔が１００μｓｅｃ程度である。ただし、これらのピーク電力やパルス幅などは用途によって様々である。 As shown in FIG. 2, the transmission unit 10 typically transmits a repetitive pulse 201 having a low peak power, a long-time pulse (including a continuous wave), and a predetermined modulation as a transmission signal. In FIG. 2, reference numeral 202 indicates an example of a high peak power / short time pulse. In the case of the rider 1 mounted on an aircraft, for example, the peak power of a high peak power / short-time pulse is about several tens of watts or more, the pulse width is about 1 μsec, and the pulse repetition interval is about 100 μsec. The low peak power / long-time pulse (including continuous wave) typically means that the peak power is about 1 W, the pulse width is about several tens of μsec, and the pulse repetition interval is about 100 μsec. However, these peak powers and pulse widths vary depending on the application.

記憶部２０は、送信信号に応じた参照信号として、パルスに対する変調信号を保存する。 The storage unit 20 stores a modulated signal for the pulse as a reference signal corresponding to the transmission signal.

ドップラーシフト参照信号作成部３０は、記憶部２０に記憶された参照信号に所定のドップラー周波数シフトを施した複数のドップラーシフト参照信号を作成する。 The Doppler shift reference signal creation unit 30 creates a plurality of Doppler shift reference signals in which the reference signal stored in the storage unit 20 is subjected to a predetermined Doppler frequency shift.

ドップラーシフト参照信号作成部３０は、典型的には、参照信号に、対象物２との間の相対速度、例えば対象物２である粒子状散乱体に対して任意に設定した風速に応じたドップラー周波数シフトを施したドップラーシフト参照信号を作成する。 The Doppler shift reference signal generation unit 30 typically responds to the reference signal with a relative velocity to and from the object 2, for example, a wind speed arbitrarily set for the particulate scatterer which is the object 2. Create a frequency-shifted Doppler shift reference signal.

例えば、ドップラーシフト参照信号作成部３０は、参照信号に風速を１ｍ／ｓとしたときのドップラー周波数シフトを施したドップラーシフト参照信号、参照信号に２ｍ／ｓとしたときのドップラー周波数シフトを施したドップラーシフト参照信号、参照信号に３ｍ／ｓとしたときのドップラー周波数シフトを施したドップラーシフト参照信号などを作成する。このような風速値や作成するドップラーシフト参照信号の数は適宜設定すれば良い。また、この実施形態では、参照信号に風速に応じたドップラー周波数シフトを施すものであるが、風速以外の他のパラメータ、例えば航空機がこのライダ１を搭載する場合には任意に設定した航速に応じたドップラー周波数シフトを、参照信号に施すものであってもよい。更に、例えばこのような航速及び上記のような風速の両方を加味したものに応じたドップラー周波数シフトを、参照信号に施すものであってもよい。 For example, the Doppler shift reference signal creation unit 30 performs a Doppler shift reference signal in which the reference signal is subjected to a Doppler frequency shift when the wind speed is 1 m / s, and a Doppler frequency shift when the reference signal is 2 m / s. A Doppler shift reference signal, a Doppler shift reference signal to which the Doppler frequency shift is applied when the reference signal is set to 3 m / s, etc. are created. Such a wind speed value and the number of Doppler shift reference signals to be created may be set as appropriate. Further, in this embodiment, the reference signal is subjected to the Doppler frequency shift according to the wind speed, but other parameters other than the wind speed, for example, when the aircraft is equipped with this rider 1, according to an arbitrarily set cruising speed. The Doppler frequency shift may be applied to the reference signal. Further, for example, the reference signal may be subjected to a Doppler frequency shift according to the consideration of both such a navigation speed and the above-mentioned wind speed.

受信ユニット４０は、送信信号に対する対象物２からの受信信号（散乱光）を受信する。例えば、受信ユニット４０は、望遠鏡を介して散乱光を入光し、上記の外部共振器型レーザダイオード（ＥＣＬＤ）の出力であるＬＯ（Ｌｏｃａｌ Ｏｓｃｉｌｌａｔｏｒ）信号と重畳して光電変換する。 The receiving unit 40 receives a received signal (scattered light) from the object 2 with respect to the transmitted signal. For example, the receiving unit 40 receives scattered light through a telescope, superimposes it on the LO (Local Oscillator) signal which is the output of the external resonator type laser diode (ECLD), and performs photoelectric conversion.

信号処理部５０は、光電変換された受信信号と記憶部２０に保存された参照信号及びドップラーシフト参照信号作成部３０により作成された各ドップラーシフト参照信号との間で距離推定信号処理を実施する。 The signal processing unit 50 performs distance estimation signal processing between the photoelectrically converted reception signal, the reference signal stored in the storage unit 20, and each Doppler shift reference signal created by the Doppler shift reference signal creating unit 30. ..

ここで、距離推定信号処理とは、受信信号が既知の信号（参照信号）パターンに基づいて形成されることを利用して、受信信号と参照信号又はドップラーシフト参照信号を入力に含む計算から、受信強度の距離プロファイルを算出することで距離推定を行うものである。非特許文献１に記載されたマッチドフィルタを例にとると、これは受信信号と参照信号（ドップラーシフト参照信号）との相互相関を計算する。
例えば、受信信号をｓｒｅｃ（ｔ）、参照信号（ドップラーシフト参照信号）をｓｒｅｆ（ｔ）とすると、相互相関Ｃ（τ）は以下のように算出する。
Ｃ（τ）＝∫ｓｒｅｆ（ｔ−τ）ｓｒｅｃ（ｔ）ｄｔ Here, the distance estimation signal processing is a calculation that includes a received signal and a reference signal or a Doppler shift reference signal as an input by utilizing the fact that the received signal is formed based on a known signal (reference signal) pattern. The distance is estimated by calculating the distance profile of the reception intensity. Taking the matched filter described in Non-Patent Document 1 as an example, it calculates the cross-correlation between the received signal and the reference signal (Doppler shift reference signal).
For example, assuming that the received signal is srec (t) and the reference signal (Doppler shift reference signal) is sref (t), the cross-correlation C (τ) is calculated as follows.
C (τ) = ∫s ref (t−τ) s rec (t) dt

相互相関の計算の結果、伝搬経路上の対象物２は、例えば図３に示すように、受信強度の距離プロファイル上相対距離に対応する位置に、対象物２からの受信強度を有し、かつ、参照信号の周波数帯域幅に逆比例する不確定性を有して現れる。ここで、図３は受信強度の距離プロファイルの一例であり、単一の対象物２が相対距離約７５ｍに存在した場合の例である。距離プロファイルは、典型的には、デルタ関数ではなく、図のような幅（不確定性）を持った関数で現れる。 As a result of the calculation of the cross-correlation, the object 2 on the propagation path has the reception intensity from the object 2 at the position corresponding to the relative distance on the distance profile of the reception intensity, as shown in FIG. 3, for example. , Appears with uncertainty that is inversely proportional to the frequency bandwidth of the reference signal. Here, FIG. 3 is an example of the distance profile of the reception intensity, and is an example when a single object 2 exists at a relative distance of about 75 m. The distance profile typically appears as a function with width (uncertainty) as shown, rather than as a delta function.

出力部６０は、得られた複数の独立サンプルを用いて、観測対象の情報（ドップラースペクトル）を任意の距離で出力する。ドップラースペクトルとは、例えば図４に示すように、任意の距離における、受信強度のドップラー速度プロファイルである。ここで、図４は受信電力の速度プロファイルの一例であり、対象物２の相対速度が０ｍ／ｓｅｃの場合の例を示している。なお、図４では速度が正の側しか表示していないが、通常速度の定義域は−ｘｘ〜ｘｘ ｍ/ｓｅｃのように正負に渡る。 The output unit 60 outputs the information (Doppler spectrum) of the observation target at an arbitrary distance by using the obtained plurality of independent samples. The Doppler spectrum is, for example, a Doppler velocity profile of reception intensity at an arbitrary distance, as shown in FIG. Here, FIG. 4 is an example of the speed profile of the received power, and shows an example when the relative speed of the object 2 is 0 m / sec. In FIG. 4, only the positive side of the speed is displayed, but the domain of the normal speed extends positive and negative as in -xx to xx m / sec.

このように本実施形態に係るライダ１では、上記の全ての参照信号及びドップラーシフト参照信号（それぞれが任意の速度に対応）による距離推定信号処理結果から、任意の距離を取り出すことで、図４に例示したドップラースペクトル（受信強度のドップラー速度プロファイル）が構成される。 As described above, in the rider 1 according to the present embodiment, an arbitrary distance is extracted from the distance estimation signal processing results of all the above reference signals and Doppler shift reference signals (each corresponding to an arbitrary speed), and FIG. The Doppler spectrum (Doppler velocity profile of reception intensity) illustrated in 1 is constructed.

本実施形態に係るライダ１では、受信信号には対象物２との間の相対速度、例えば風等の粒子状散乱体の風速に応じたドップラー周波数シフトを施したドップラーシフト参照信号を作成し、受信信号と参照信号だけでなくドップラーシフト参照信号との間でも距離推定信号処理を実施している。従って、ドップラー周波数シフトのレベルが大きくなっても低ピーク電力・長時間パルス送信を利用した高効率化が実現できる。よって、送信ユニットのパワーアンプやこれを冷却するシステムを小規模化できる。つまり、本実施形態に係るライダ１は、観測における空間情報の詳細さ及び信号対雑音比に関して高ピーク電力・短時間パルス送信と同等の性能を有した上で、小型化、軽量化及び低消費電力化を実現することができる In the rider 1 according to the present embodiment, a Doppler shift reference signal is created in which the received signal is subjected to a Doppler frequency shift according to the relative velocity between the object 2 and the object 2, for example, the wind velocity of a particulate scatterer such as wind. Distance estimation signal processing is performed not only between the received signal and the reference signal but also between the Doppler shift reference signal. Therefore, even if the level of the Doppler frequency shift becomes large, high efficiency can be realized by using low peak power and long-time pulse transmission. Therefore, the power amplifier of the transmission unit and the system for cooling the power amplifier can be reduced in size. That is, the rider 1 according to the present embodiment has the same performance as high peak power / short time pulse transmission in terms of detail of spatial information in observation and signal-to-noise ratio, and is downsized, lightened, and consumed. It is possible to realize electricity conversion

本技術に係るライダは、以下の示す様々な技術分野に適用可能である。
・航空機メーカ
航空機という搭載物に対してサイズ・重量・消費電力に厳しい制限があるプラットフォームにおいて、本技術を適用した小型・軽量・低消費電力のライダを搭載する。風速の検知結果等を用いて、気流の乱れの回避飛行や航空機制御による安定飛行等を実現する。小型化・軽量化・低消費電力化により、現時点での最新技術で想定されている大型の航空機だけでなく、中型以下の航空機への搭載が可能となり、適用範囲が広がる。 The rider related to this technology can be applied to various technical fields shown below.
-Aircraft manufacturer A compact, lightweight, low-power-consumption rider to which this technology is applied will be installed on a platform called an aircraft, which has strict restrictions on size, weight, and power consumption. By using the wind speed detection results, etc., it is possible to realize avoidance flight of airflow turbulence and stable flight by aircraft control. Due to miniaturization, weight reduction, and low power consumption, it can be installed not only in large aircraft envisioned by the latest technology at the present time, but also in medium-sized and smaller aircraft, expanding the scope of application.

・衛星メーカ
人工衛星という搭載物に対してサイズ・重量・消費電力に厳しい制限があるプラットフォームにおいて、本技術を適用した小型・軽量・低消費電力のライダを搭載する。風速や微小粒子の濃度等の地球環境計測を行い、気候変動に関する知見等の科学的貢献を行う。同ミッションを目的とした人工衛星のプラットフォームとしての要求を下げることが可能となる。
・自動車メーカ
航空機同様、本技術を適用した小型・軽量・低消費電力のライダを搭載することで、自動車運転の安全性を高めることが可能となる。 -Satellite maker On a platform called an artificial satellite, which has strict restrictions on size, weight, and power consumption, a compact, lightweight, and low power consumption rider that applies this technology will be installed. We will measure the global environment such as wind speed and concentration of fine particles, and make scientific contributions such as knowledge about climate change. It will be possible to reduce the demand for an artificial satellite platform for the purpose of this mission.
・ Similar to automobile manufacturers, it is possible to improve the safety of driving a car by installing a compact, lightweight, low power consumption rider that applies this technology.

・風資源調査
風力発電設備の設置場所選定のために、本技術を適用した小型・軽量・低消費電力のライダを利用する。小型化・軽量化・低消費電力化により運用が容易となることで、より優れた設置場所確保の実現及び調査費の削減が期待される。なお、風資源調査における風観測ライダの市場は欧州において大きい。
・大気汚染調査
風資源調査に同じである。
・空港の安全運航 -Wind resource survey To select the installation location of wind power generation equipment, use a compact, lightweight, low power consumption rider to which this technology is applied. By making it easier to operate due to miniaturization, weight reduction, and low power consumption, it is expected that a better installation location will be secured and survey costs will be reduced. The market for wind observation riders in wind resource surveys is large in Europe.
・ Air pollution survey Same as wind resource survey.
・ Safe operation at the airport

本技術を適用した小型・軽量・低消費電力のライダを地上設置し、得られた風データを空港の安全運航及び運航効率の向上のために利用する。大空港における運航効率の向上の手段の代表として新たな滑走路の建設が挙げられるが、風観測ライダの情報による運航効率の向上は、これに比して経済性のメリットが大きいという試算が出ており、国内外の大空港では既に設置が進んでいる。本技術はこの経済性のメリットを大幅に向上するものである。一方地方空港に目を向けると、風の影響が大きい空港が多いものの、現在のライダを設置運用することに負担が大きく、現状配備の計画はない。本技術によりもたらされる経済性のメリットは、地方空港への風観測ライダの配備を進めることが期待できる。 A compact, lightweight, low power consumption rider to which this technology is applied will be installed on the ground, and the obtained wind data will be used for safe operation of the airport and improvement of operational efficiency. Construction of a new runway is a typical means of improving operational efficiency at large airports, but it is estimated that improving operational efficiency based on wind observation rider information has a greater economic advantage than this. It is already being installed at large airports in Japan and overseas. This technology greatly improves this economic merit. On the other hand, looking at regional airports, although many airports are greatly affected by the wind, the burden of installing and operating the current rider is heavy, and there are currently no plans to deploy it. The economic merit brought about by this technology can be expected to promote the deployment of wind observation riders at regional airports.

本発明は、上記の実施形態に限定されず、様々に変形して実施が可能であり、その実施も本発明の技術思想の範囲内にある。
例えば、上記の実施形態では、複数のドップラーシフト参照信号を前提に説明したが、ドップラーシフト参照信号は１つであっても構わない。
更に、送信ユニットや受信ユニットの構成は上記の実施形態に限定されず、様々な形態が考えられる。例えば、送受信ユニットで望遠鏡等を共有しても良い。 The present invention is not limited to the above-described embodiment, and can be implemented in various modifications, and the implementation thereof is also within the scope of the technical idea of the present invention.
For example, in the above embodiment, a plurality of Doppler shift reference signals have been described, but the number of Doppler shift reference signals may be one.
Further, the configuration of the transmitting unit and the receiving unit is not limited to the above-described embodiment, and various forms can be considered. For example, the transmission / reception unit may share a telescope or the like.

１ ライダ
２ 対象物
３ 対象物の情報
１０ 送信ユニット
２０ 記憶部
３０ ドップラーシフト参照信号作成部
４０ 受信ユニット
５０ 信号処理部
６０ 出力部 1 Rider 2 Object 3 Object information 10 Transmission unit 20 Storage unit 30 Doppler shift Reference signal creation unit 40 Reception unit 50 Signal processing unit 60 Output unit

Claims (4)

所定の変調が施されたパルス状のレーザ光からなる送信信号を遠距離にある粒子状散乱体である対象物に送信する送信ユニットと、
前記送信信号に応じた参照信号にドップラー周波数シフトを施したドップラーシフト参照信号を作成するドップラーシフト参照信号作成部と、
前記送信信号に対する前記対象物からの受信信号を受信する受信ユニットと、
前記受信信号と前記参照信号及び前記ドップラーシフト参照信号との間で距離推定信号処理を実施し、前記対象物からの受信信号の受信強度に対して推定される前記対象物の距離の分布を示す距離プロファイルであって、前記参照信号及び前記ドップラーシフト参照信号ごとに独立したそれぞれの距離プロファイルを出力する信号処理部と、
独立した前記それぞれの距離プロファイルから任意距離に対する受信強度をそれぞれ取り出し、取り出されたそれぞれの前記受信強度に対するドップラー速度の分布である、前記任意距離における受信強度のドップラー速度プロファイルを出力する出力部と を具備するライダ。 A transmission unit that transmits a transmission signal consisting of a pulsed laser beam that has been subjected to predetermined modulation to an object that is a particulate scatterer at a long distance.
A Doppler shift reference signal creation unit that creates a Doppler shift reference signal in which a Doppler frequency shift is applied to a reference signal corresponding to the transmission signal, and a Doppler shift reference signal creation unit.
A receiving unit that receives a received signal from the object with respect to the transmitted signal, and
Distance estimation signal processing is performed between the received signal, the reference signal, and the Doppler shift reference signal, and the distribution of the estimated distance of the object with respect to the reception intensity of the received signal from the object is shown. A signal processing unit that outputs a distance profile that is independent for each of the reference signal and the Doppler shift reference signal.
An output unit that extracts the reception intensity for an arbitrary distance from each of the independent distance profiles and outputs a Doppler speed profile of the reception intensity at the arbitrary distance , which is the distribution of the Doppler speed for each of the extracted reception intensities. Rider to equip. 請求項１に記載のライダであって、
前記ドップラーシフト参照信号作成部は、前記参照信号に前記対象物との間の相対速度に基づき任意に設定した前記ドップラー周波数シフトを施したドップラーシフト参照信号を作成する
ライダ。 The rider according to claim 1.
The Doppler shift reference signal creating unit is a rider that creates a Doppler shift reference signal obtained by subjecting the reference signal to an arbitrarily set Doppler frequency shift based on the relative speed with the object. 請求項１又は２に記載のライダであって、
前記ドップラーシフト参照信号作成部は、２以上の異なるドップラーシフト参照信号を作成する
ライダ。 The rider according to claim 1 or 2.
The Doppler shift reference signal creation unit is a rider that creates two or more different Doppler shift reference signals. 所定の変調が施された送信信号を遠距離にある粒子状散乱体である対象物に送信し、
前記送信信号に応じた参照信号に所定のドップラー周波数シフトを施した複数のドップラーシフト参照信号を作成し、
前記送信信号に対する前記対象物からの受信信号を受信し、
前記受信信号と前記参照信号及び各前記ドップラーシフト参照信号との間で距離推定信号処理を実施し、前記対象物からの受信信号の受信強度に対して推定される前記対象物の距離の分布を示す距離プロファイルであって、前記参照信号及び前記ドップラーシフト参照信号ごとに独立したそれぞれの距離プロファイルを出力し、
独立した前記それぞれの距離プロファイルから任意距離に対する受信強度をそれぞれ取り出し、取り出されたそれぞれの前記受信強度に対するドップラー速度の分布である、前記任意距離における受信強度のドップラー速度プロファイルを出力する
ライダにおける信号処理方法。 A transmission signal with a predetermined modulation is transmitted to an object that is a particulate scatterer at a long distance,
A plurality of Doppler shift reference signals obtained by subjecting a reference signal corresponding to the transmission signal to a predetermined Doppler frequency shift are created.
Receive the received signal from the object with respect to the transmitted signal,
Distance estimation signal processing is performed between the received signal, the reference signal, and each Doppler shift reference signal, and the distribution of the estimated distance of the object with respect to the reception intensity of the received signal from the object is obtained. In the distance profile shown, each independent distance profile is output for each of the reference signal and the Doppler shift reference signal.
Signal processing in a rider that extracts the reception intensity for an arbitrary distance from each of the independent distance profiles and outputs the Doppler speed profile of the reception intensity at the arbitrary distance , which is the distribution of the Doppler speed for each of the extracted reception intensities. Method.
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