JPH0690272B2 - Detecting device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention is, for example, the radar device Yasu
Related to detection devices such as canning sonar, especially fixed objects
It is possible to display the movement trajectory of a detected object such as a target or a moving target.
Regarding equipment that can. In the following, rotate the antenna
Radar detection signals are emitted in different directions in succession
By receiving the echo signals coming from each direction,
This echo signal was once written and stored in the image memory.
After that, read it out and supply it to the display unit,
An example is a radar device that displays the surroundings of a radar antenna.
Explaining.

[0002]

BACKGROUND OF THE INVENTION be described shows a conventional radar apparatus in FIG. That is, the receiver 1 receives and amplifies the detection of the one-beam echo signal that returns from each direction due to the detection pulse signals that are sequentially emitted in different directions by the rotation of the radar antenna (not shown). The one-beam received signal from the receiver 1 is A / D converted by the A / D converter 2 and temporarily stored in the buffer memory 3 in time series. The received signal (echo data) supplied from this buffer memory 3 is
The write data creation unit 4 converts the data into image display data.

The output data from the write data generator 4 is written in the frame memory 6 at the write address generated by the write address generator 5. The data written in the frame memory 6 is read based on the read address generated by the read address generation unit 7 according to the raster scan method. The read data is displayed as an image on a display such as a CRT (not shown).

The write address generator 5 generates a write address composed of rectangular coordinates (X, Y) based on the antenna direction, the course of the ship and a designated display mode. To do. This conversion is performed based on the following equation.

X = Xc + Rsinθ Y = Yc + Rcosθ (However, in the case of HU display, θ = θ _A , in the case of NU display,
θ = θ _A + θ _G , in the case of CU display, θ = θ _A + θ _G −θ
It becomes _C. ) Xc and Yc are the ship's position address on the frame memory, R is the distance from the ship's position, θ is the angle in the sweep direction from the Y axis (frame memory), and θ _A is the antenna relative angle with reference to the bow direction. , Θ _G is the course of the ship, θ
_C is a setting course.

In the above radar device, the write address generator 5 is configured to perform coordinate conversion from polar coordinates to Cartesian coordinates when the readout for display on the display is performed by the raster scan method. When the scan method is used, it is not necessary to perform the above coordinate conversion in the write address generator 5.

In the conventional radar apparatus described above, the mode setting unit (not shown) allows the north-up mode (hereinafter abbreviated as NU mode), head-up mode (hereinafter abbreviated as HU mode), and course-up. Three display modes such as a mode (hereinafter abbreviated as CU mode) can be selected.

In the NU mode, as shown in FIG. 4 , the area directly above the display screen always points north. In this case, the image of a fixed target such as a fixed buoy is always displayed in a fixed direction regardless of the direction of the bow, but when the direction of the bow is north, the bow line is in the direction indicated by the solid arrow, and If you change the direction to the east, the bow line will be displayed in the direction indicated by the dashed arrow.

In the HU mode, as shown in FIG. 5 , the portion directly above the display screen always points to the bow. In this case, the bow line is always displayed right above the display screen regardless of the direction of the bow, but if the bow direction is set to the north, a fixed image such as a fixed buoy will appear in the A ₁ direction, and When the direction is changed to the east, the fixed image is displayed in the A ₂ direction.

In the CU mode, as shown in FIG. 6 , the portion directly above the display screen always indicates a preset course of travel of a ship that is preset. In this case, the image of a fixed target such as a fixed buoy is always displayed in a fixed direction regardless of the bow direction.However, if the bow direction is north, the bow line is in the direction indicated by the phantom line, and If you change the direction to the east, the bow line will be displayed in the direction indicated by the dashed arrow.

As described above, in the NU mode and the CU mode, the fixed target is displayed in the fixed direction on the display screen, and the bow line is displayed in different directions on the display screen according to the direction.
In the HU mode, the bow line is displayed in a fixed direction on the display screen, and the fixed target is displayed in a different direction on the display screen according to the direction of the bow.

By the way, in the above-mentioned items 1 to 4, the own ship is stopped.
You can ignore the amount of movement even if you are moving or moving
The explanation is based on the situation, but in the situation where the own ship is moving
Is fixed at a certain position (for example, the center of the figure)
Since it is displayed, it is relatively fixed according to the movement of own ship
The target will be displayed as if it were moving. like this
Is displayed in relative motion mode (hereinafter abbreviated as RM mode)
Is called). Of these, in RM / HU mode
Matches the actual view from the operator with the display screen
Then, the screen shows the scenery where the operator is riding
It is used a lot because it is done.

By the way, for example, the ship and the object to be detected (an island or
Phase with fixed targets such as buoys and moving targets such as other ships)
It is desired to display the movement loci of these detected objects in response to a request to know the approaching approach. Such a movement track of the detected object can be displayed by, for example, writing the present reception signal and the past reception signal in the frame memory 6 in an overlapping manner and giving the data to the display. . In order to execute such processing in the conventional radar device, the signal from the buffer memory 3 is used as the current signal and the signal from the frame memory 6 is used as the past signal, and the write data creation unit 4 performs signal processing, It is conceivable to write the processed signal in the frame memory 6 again.

[0014]

By the way, the above-described processing for displaying the movement locus of the detected object is, in the first place, the current reception signal given from the buffer memory 3 and the past reception already written in the frame memory 6. on the relationship between the use of the signal, RM · NU mode, although it is possible in case of RM · CU mode, in the case of RM · HU modes relatively frequently used, it is not possible.

That is, in the RM / NU mode and the RM / CU mode, for example, when the display is performed when the own ship is stopped, the bow line direction is constantly changed, and the antenna rotation to the frame memory 6 is performed once. Even if the minute writing data is updated every moment, the data indicating the fixed target is always written in the same position on the frame memory 6, so that the display position of the fixed target is fixed on the screen. However, in the RM / HU mode, for example, when the display is performed when the ship is stopped, if the bow line direction constantly changes, a fixed object is written when the echo signal captured by the antenna is written in the frame memory 6. Since the data indicating the target is also written in a different storage element on the frame memory 6 for each rotation of the antenna, the display position of the fixed target changes from moment to moment on the screen.

As described above, in the RM / HU mode, the frame
The write data to the memory is updated momentarily.
The current signal and past signal because the course is not taken into account when
Cannot be associated with and write to the same position
It was Therefore, in RM / HU mode
The motion locus could not be displayed.

[0017] The present invention has been made in view of such circumstances, purpose, in all display modes, even in a situation where the bow line of the ship varies constantly, the detection object (island or buoy
Trajectories of fixed targets such as and moving targets such as other ships)
Is displayed to confirm the relative position and approach of the object and the detected object.
It is to be able to recognize.

[0018]

The present invention has the following constitution in order to achieve such a problem.

The detection device of the present invention is mounted on a moving object.
And emits a detection signal in a wide range of directions and triggers this detection signal.
To display the situation in a wide range by receiving the echo signal
The receiver that receives the echo signal, and
The signal output from the signal processing means is based on a predetermined direction.
Is written in the memory element specified by the address determined by
Output from the first memory to be stored and the signal processing means described below.
Specify the signal with an address determined by the set display mode
Second memory for storing in each storage element and reception
Current received signal output from the unit and read from the first memory
By processing the past received signal that is output,
An image showing the movement trajectory of a detected object such as a fixed target or a moving target.
Signal processing means for obtaining a signal for display, and reading from the second memory
It is specially equipped with an indicator for displaying the signal to be projected.
Have signs.

The detection device of the present invention is mounted on a moving object.
And emits a detection signal in a wide range of directions and triggers this detection signal.
To display the situation in a wide range by receiving the echo signal
The receiver that receives the echo signal, and
The signal output from the signal processing means is based on a predetermined direction.
Is written in the memory element specified by the address determined by
The first memory to remember and the current reception output from the receiving unit
The signal and the past received signal read from the first memory
By processing the signal, the target object such as a fixed target or a moving target can be detected.
Signal processing for obtaining a signal for displaying an image showing the locus of movement of an intellectual object
Means and a signal stored in the first memory,
To the storage element specified by the address determined by the display mode
A second memory that stores each, and a memory that is read from the second memory
And a display for displaying a signal
It

The detection device of the present invention is mounted on a moving object.
The detection signals are sequentially emitted in different directions, and this detection signal
The echo signal caused by the
Receives an echo signal on a display of ambient conditions
The receiving unit and the received signal sent from the receiving unit once
Output from the buffer memory and the signal processing means below.
The specified signal with the address determined based on the predetermined direction.
A first memory to be stored in each storage element, and
The signal output from the signal processing means is changed to the set display mode.
Each storage element specified by the address determined by the mode
Output from the second memory to store and the buffer memory
The current reception signal and the past reception read from the first memory
Fixed target or moving object
Obtain a signal for image display that shows the movement trajectory of a detected object such as a target.
The signal read out from the second memory with the signal processing means
And a display for displaying.

The detection device of the present invention is mounted on a moving object.
The detection signals are sequentially emitted in different directions, and this detection signal
The echo signal caused by the
Receives an echo signal on a display of ambient conditions
The receiver and the echo signal sent from the receiver.
Output from the buffer memory and the signal processing means below.
The specified signal with an address determined based on the predetermined direction.
A first memory that stores the data in each storage element, and a memory
1st memo and the current received signal output from the buffer memory
Signal processing of past received signals read from the
By, the movement trajectory of the detected object such as fixed target or moving target
Signal processing means for obtaining an image display signal indicating
The signal stored in the memory is set in the set display mode.
The memory element specified by the address
Display the signals read from the two memories and the second memory
It is characterized in that it is provided with an indicator.

The detection device of the present invention is mounted on a moving object.
The detection signals are sequentially emitted in different directions, and this detection signal
The echo signal caused by the
Receives an echo signal on a display of ambient conditions
The receiver and the echo signal sent from the receiver.
Output from the buffer memory and the signal processing means below.
Signal, relative movement / north up mode or relative
Designated by the address determined in the exercise / course up mode
1st memory to store in each storage element and the following signal
The signal output from the processing means is used for relative motion / head up.
To the storage element specified by the address determined by the
Output from the second memory that stores each and the buffer memory
Present received signal and past read from the first memory
By processing the received signal with
Signals for image display showing the movement trajectory of detected objects such as animal markers
And a signal processing means for obtaining
And a display for displaying a signal
It

[0024]

[0025]

In the detecting apparatus of the present invention , since the signal output from the signal processing means is stored in the first memory at an address determined based on a predetermined direction, for example, north, the signal is received without being affected by the turning of the ship. The current received signal output from the unit and the past received signal output from the first memory can be associated with each other. Therefore, in the signal processing means, the fixed object
For image display that shows the locus of movement of objects such as targets and moving targets
Will be able to generate the signal. Signal output from this signal processing means, the second memory, so written to the storage element corresponding to the address determined by the display mode specified, the signal output from the second memory is designated on the display Display is made in display mode.

[0026]

EXAMPLES Hereinafter, the description based on <br/> embodiment shown in FIGS. 1 to 3 the details of the present invention. FIG. 1 shows a configuration block of an embodiment of a radar device as a detection device . In FIG. 1, the same reference numerals as those shown in FIG. 7 of the conventional example indicate the same parts and portions.

The movement locus signal generation unit 4a, based on the current reception signal output from the buffer memory 3 and the past reception signal output from the movement locus signal processing memory 8a, detects an object (such as an island or a buoy). Of the fixed target and the moving target of another ship) are generated and output to the moving track signal processing memory 8a and the frame memory 6, respectively. The movement locus signal generation unit 4a
In, Ru can a signal indicating the movement trajectory, for example, as to sustain the display only a predetermined time. Further, in the movement locus signal generation unit 4a, of the signals output from the buffer memory 3, signals having a low signal level such as noise (for example, 0 to 4 when the maximum value is 10) are ignored. Only signals of high signal level (5 or more) such as reflected waves from islands or other ships are given to the movement locus signal processing memory 8a.

The movement locus signal processing memory 8a uses the RM / NU mode, RM / HU mode, RM /
Whichever it is designated CU mode, the output signal from the moving locus signal generating section 4a is always, RM · that provided by the second write address generator 9 N U mode or RM · C
It is written to the storage elements that will be designated by the write address determined by the U mode. On the other hand, in the frame memory 6, the output signal from the movement locus signal generation unit 4a is designated by the first write address generation unit 5 in the designated display mode ( RM.N.
U mode, RM · HU mode, RM · CU mode noise
Re or) written to the storage elements that will be designated by the write address determined by. The data written in the frame memory 6 is read based on the read address generated by the read address generation unit 7 according to the raster scan method. The read data is displayed as an image on a display such as a CRT (not shown).

In this way, the movement trajectory signal processing memory 8a
The write address for is always, for example, RM / NU mode or RM regardless of the specified display mode.
Since the write address is determined in the CU mode, the correspondence between the past signal from the movement trajectory signal processing memory 8a and the current signal from the buffer memory 3 can be accurately obtained even in the situation where the bow line direction constantly changes. . Therefore, even when the RM / HU mode is designated as the display mode, the movement locus signal generation unit 4a can generate a signal for image display including the movement locus of the detected object,
After all, in the RM / HU mode, even in a situation where the bow line direction constantly changes, it becomes possible to correctly display the change in the surrounding situation. In other words, the displacement of the detected object (fixed target such as island or buoy and moving target such as other ship) that is relatively displaced when the ship moves or the direction of the bow line of the ship changes. The situation can be displayed, and the relative position and approach of oneself and the detected object can be recognized .

In the above embodiment, the readout for display on the display is performed by the raster scan method, and both the first write address generating section and the second write address generating section perform coordinate conversion from polar coordinates to rectangular coordinates. Although the example in which the obtained address signal is given to the frame memory and the processing memory is given, it is also possible to carry out the reading for display on the display device by the spiral scan method. Even in the case of using the spiral scan method, it is not necessary for both the first write address generator and the second write address generator to perform coordinate conversion from polar coordinates to rectangular coordinates. The present invention is also suitable for scanning sonar.
Can be used. In addition, the movement gauge is
To store the signal output from the trace signal generator
However, the signal stored in the processing memory is stored.
You may ask.

[0031]

As described above, the detection device of the present invention
Then, RM / HU mode, RM / NU mode, RM / C
In all display modes of U mode, even if the bow line is
Even in a constantly changing situation, a detected object (such as an island or buoy)
Because ing as movement locus of Jobutsu moving target, such as target and other vessels) can be properly displayed, and relative to itself and the detection object
You will be able to recognize different positions and approaches.

The detection device of the present invention is particularly suitable for itself (example
When example, if the ship) performs display in a case where the case or its stopped (ship) is negligible the movement amount even if moved, it is more effective.

[Brief description of drawings]

FIG. 1 Implementation of a radar device as a detection device of the present invention
It is a block diagram of an example .

Is a data map showing the processing memory in FIG. 1;

FIG. 3 is a data map view of the frame memory in FIG. 1.

FIG. 4 is a schematic diagram showing a display image in a conventional RM / NU mode.

FIG. 5 is a schematic diagram showing a display image in a conventional RM / HU mode.

FIG. 6 is a schematic diagram showing a display image in a conventional RM / CU mode.

FIG. 7 is a configuration block diagram of a conventional radar device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 receiver 2 A / D conversion unit 3 buffer memory 4 write data creation unit (correlation means) 5 first write address generation unit 6 frame memory (second memory) 7 read address generation unit 8 processing memory (third memory) 9 Second write address generation unit 4a Movement locus signal generation unit (signal processing means) 8a Movement locus signal processing memory (first memory)

Claims (5)

[Claims] 1. A detection device, which is mounted on a moving object, emits a detection signal in a wide range direction, receives an echo signal resulting from the detection signal, and displays a situation in a wide range direction,
A receiving unit that receives an echo signal, a first memory that stores a signal that is output from the signal processing unit described below in a storage element that is designated by an address that is determined with reference to a predetermined azimuth, and is output from the signal processing unit described below. A second memory for respectively storing the signal in a storage element designated by an address determined by the set display mode, a current reception signal output from the reception unit, and a past reception signal read from the first memory are signaled. A signal processing unit for obtaining a signal for displaying an image showing a movement locus of a detected object such as a fixed target or a moving target by processing, and a display for displaying the signal read from the second memory, A detection device characterized by the above. 2. A detection device which is mounted on a moving object, emits a detection signal in a wide range direction, receives an echo signal resulting from the detection signal, and displays a situation in a wide range direction,
A receiving unit that receives an echo signal, a first memory that stores a signal output from the following signal processing unit in a storage element that is designated by an address that is determined with reference to a predetermined azimuth, and a current output from the receiving unit. Signal processing means for obtaining a signal for image display showing a movement locus of a detected object such as a fixed target or a moving target by performing signal processing on the received signal and the past received signal read from the first memory; A signal stored in one memory is stored in a storage element designated by an address determined by a set display mode;
A detection device comprising: a memory; and a display for displaying a signal read from the second memory. 3. An echo signal in a detection device which is mounted on a moving object, which sequentially emits detection signals in different directions, receives echo signals resulting from the detection signals, and displays ambient conditions in a wide range on a display. And a buffer memory for temporarily storing a reception signal transmitted from the reception unit, and a signal output from the signal processing means described below is stored in a storage element designated by an address determined based on a predetermined direction. A first memory for storing a signal, a second memory for storing a signal output from the following signal processing unit in a storage element designated by an address determined by a set display mode, and a current reception signal output from a buffer memory. An image showing a movement locus of a detected object such as a fixed target or a moving target by performing signal processing on the past reception signal read from the first memory and the past reception signal. A detection device comprising: a signal processing means for obtaining a signal for display; and a display device for displaying a signal read from the second memory. 4. An echo signal in a detection device, which is mounted on a moving object, sequentially emits detection signals in different directions, receives echo signals resulting from the detection signals, and displays ambient conditions in a wide range on a display. And a buffer memory for temporarily storing the echo signal sent from the receiving section, and a signal output from the following signal processing means are respectively stored in a storage element designated by an address determined based on a predetermined direction. By performing signal processing on the current reception signal output from the first memory and the buffer memory and the past reception signal read from the first memory, the movement locus of a detected object such as a fixed target or a moving target can be determined. The signal processing means for obtaining the signal for image display shown and the signal stored in the first memory are stored in the storage element designated by the address determined by the set display mode. A second memory for storing each and a second memory
A detection device for displaying a signal read from a memory. 5. An echo signal in a detection device, which is mounted on a moving object, emits detection signals in different directions in sequence, receives echo signals resulting from the detection signals, and displays ambient conditions in a wide range on a display. An address determined by a relative motion / north up mode or a relative motion / coarse up mode, and a signal output from the following signal processing means. A first memory for storing in each of the storage elements designated by, and a second memory for storing a signal output from the following signal processing means in each of the storage elements designated by an address determined in the relative motion / head-up mode. By subjecting the present received signal output from the buffer memory and the past received signal read from the first memory to signal processing A signal processing means for obtaining a signal for displaying an image showing a movement locus of a detected object such as a fixed target or a moving target, and a display for displaying the signal read from the second memory. Detection device.