JP2002168946A - Range-finding radar system - Google Patents
Range-finding radar systemInfo
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- JP2002168946A JP2002168946A JP2000366383A JP2000366383A JP2002168946A JP 2002168946 A JP2002168946 A JP 2002168946A JP 2000366383 A JP2000366383 A JP 2000366383A JP 2000366383 A JP2000366383 A JP 2000366383A JP 2002168946 A JP2002168946 A JP 2002168946A
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- Prior art keywords
- distance
- frequency
- signal
- radio wave
- phase difference
- Prior art date
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、距離の測定可能な
電波方式のセンサ、すなわちレーダに関連し、特に、限
られた周波数帯域に適応し距離測定のための改善された
分解能を持つ測距レーダ装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio wave type sensor capable of measuring a distance, that is, a radar, and more particularly, to a distance measuring method adapted to a limited frequency band and having an improved resolution for distance measurement. The present invention relates to a radar device.
【０００２】[0002]
【従来の技術】図１４に各種レーダ方式のうち一般的な
ＦＭ−ＣＷ方式を用いた測距レーダ装置の従来構成例を
示す。2. Description of the Related Art FIG. 14 shows a conventional configuration example of a ranging radar apparatus using a general FM-CW system among various radar systems.
【０００３】図１４に示す測距レーダ装置は、いわゆる
ビート信号の周波数およびドップラシフト周波数から物
体との相対的な距離および速度を求めるものであり、送
信器１と、受信器２と、周波数計測器３とを備えてい
る。A distance measuring radar apparatus shown in FIG. 14 is for obtaining a relative distance and a speed to an object from a frequency of a so-called beat signal and a Doppler shift frequency, and includes a transmitter 1, a receiver 2, a frequency measurement Vessel 3.
【０００４】送信器１は、周波数変調器１１と、発振器
１２と、送信アンテナ１３とにより構成され、発振器１
２の信号を周波数変調器１１で周波数変調をして生成し
た送信信号により送信アンテナ１３から電波を放射する
ものである。受信器２は、受信アンテナ２１と、送信器
１の発振器１２および送信アンテナ１３間に介設される
方向性結合器２２と、ミキサ２３とにより構成され、上
記電波の放射方向からの到来電波を受信アンテナ２１で
受波して受信信号を得て、この受信信号と方向性結合器
２２から得られる上記送信信号の一部とを混合して出力
とするものである。周波数計測器３は、受信器２の出力
からビート信号の周波数を計測するものである。The transmitter 1 includes a frequency modulator 11, an oscillator 12, and a transmitting antenna 13, and the oscillator 1
The radio wave is radiated from the transmission antenna 13 by a transmission signal generated by frequency-modulating the signal 2 by the frequency modulator 11. The receiver 2 includes a receiving antenna 21, a directional coupler 22 provided between the oscillator 12 and the transmitting antenna 13 of the transmitter 1, and a mixer 23, and detects an incoming radio wave from the radiation direction of the radio wave. The reception signal is received by the reception antenna 21 to obtain a reception signal, and the reception signal and a part of the transmission signal obtained from the directional coupler 22 are mixed and output. The frequency measuring device 3 measures the frequency of the beat signal from the output of the receiver 2.
【０００５】上記構成の測距レーダ装置では、周波数変
調器１１から発せられた変調信号が発振器１２に入力さ
れ、そこから周波数変調された送信信号が出力され、こ
の送信信号により送信アンテナ１３から電波が放射す
る。このとき、電波の放射方向に物体が存在している
と、物体の存在位置で電波が反射して到来電波として受
信アンテナ２１で受波されて受信信号が得られる。この
受信信号は方向性結合器２２で分割された送信信号の一
部とミキサ２３で混合され、このミキサ２３の出力か
ら、ビート信号の周波数が周波数計測器３で計測され
る。In the ranging radar apparatus having the above configuration, a modulation signal emitted from the frequency modulator 11 is input to an oscillator 12, and a frequency-modulated transmission signal is output therefrom. Radiates. At this time, if an object exists in the direction in which the radio wave is emitted, the radio wave is reflected at the position where the object exists, and is received by the receiving antenna 21 as an incoming radio wave to obtain a reception signal. This reception signal is mixed with a part of the transmission signal divided by the directional coupler 22 by the mixer 23, and the frequency of the beat signal is measured by the frequency measurement device 3 from the output of the mixer 23.
【０００６】図１５にＦＭ−ＣＷ方式による相対的な距
離および速度の測定原理図を示す。ただし、図１５
（ａ）は物体との相対速度が０である場合における時間
軸に対する送受信信号およびビート信号の各周波数変動
の様子を示し、図１５（ｂ）は物体との相対速度がｖで
ある場合における時間軸に対する送受信信号およびビー
ト信号の各周波数変動の様子を示している。例えば、送
信信号の周波数は、周波数変調幅ΔＦ内で、一定に上昇
して一定に降下する三角波状に変動している。FIG. 15 shows a principle of measurement of relative distance and speed by the FM-CW method. However, FIG.
FIG. 15A shows the state of each frequency variation of the transmission / reception signal and the beat signal with respect to the time axis when the relative speed to the object is 0, and FIG. 15B shows the time when the relative speed to the object is v. The state of each frequency variation of the transmission / reception signal and the beat signal with respect to the axis is shown. For example, the frequency of the transmission signal fluctuates in a triangular waveform that rises constantly and falls constantly within the frequency modulation width ΔF.
【０００７】相対速度０の場合、放射された電波は測距
レーダ装置と物体との間の距離（Ｒとする）を往復する
ので、光速をＣとすると、電波の受波時点は電波の放射
時点から時間Ｔｄ＝２Ｒ／Ｃだけ遅れる。このため、図
１５（ａ）に示すように、受信器２の出力は、三角波状
の送受信信号の互いに隣接する各頂点間で周波数が０と
ｆｒとの範囲で変動し、反復する周波数ｆｒを持つビー
ト信号になる。When the relative speed is 0, the radiated radio wave reciprocates the distance (R) between the ranging radar device and the object. Therefore, if the speed of light is C, the time of reception of the radio wave is It is delayed by time Td = 2R / C from the time point. For this reason, as shown in FIG. 15A, the output of the receiver 2 has a frequency fluctuating between respective vertexes of a triangular wave transmission / reception signal adjacent to each other in a range of 0 and fr, and the frequency fr to be repeated is determined. It becomes a beat signal.
【０００８】これに対して、相対速度ｖの場合、受信信
号が周波数偏移を含んだものとなるので、図１５（ｂ）
に示すように、受信器２の出力は、ドップラシフト周波
数ｆｄの偏移により周波数ｆｒ±ｆｄを持つビート信号
に変化する。On the other hand, in the case of the relative velocity v, the received signal includes a frequency shift, and therefore, the signal shown in FIG.
As shown in (2), the output of the receiver 2 changes to a beat signal having a frequency fr ± fd due to the shift of the Doppler shift frequency fd.
【０００９】従来のＦＭ−ＣＷ方式では、ビート信号の
周波数ｆｒ，ｆｄを計測した上で、それら周波数ｆｒ，
ｆｄから、次式を用いた演算を通じて距離Ｒおよび相対
速度ｖが算出される。ただし、Ｔｍは周波数変調の周
期、ｆ０は変調の中心周波数である。In the conventional FM-CW system, after measuring the frequencies fr and fd of the beat signal, the frequencies fr and fd are measured.
The distance R and the relative speed v are calculated from fd through the calculation using the following equation. Here, Tm is the frequency modulation period, and f0 is the modulation center frequency.
【００１０】 Ｒ＝Ｃ×Ｔｍ×ｆｒ／(４×ΔＦ) ｖ＝Ｃ×ｆｄ／(２×ｆ０) 図１６に各種レーダ方式のうち２周波ＣＷ方式を用いた
測距レーダ装置の従来構成例を、図１７に２周波ＣＷ方
式による相対的な距離の測定原理図を示す。ただし、図
１７（ａ）は、時間軸に対する送信信号の周波数変動お
よびビート信号の時間波形を示し、図１７（ｂ）は位相
の分割（Ｎ分割）例を示す図である。R = C × Tm × fr / (4 × ΔF) v = C × fd / (2 × f0) FIG. 16 shows a conventional configuration example of a ranging radar apparatus using the two-frequency CW method among various radar methods. FIG. 17 shows a principle of measuring the relative distance by the two-frequency CW method. 17 (a) shows the frequency fluctuation of the transmission signal with respect to the time axis and the time waveform of the beat signal, and FIG. 17 (b) shows an example of phase division (N division).
【００１１】図１６に示す測距レーダ装置は、ビート信
号の位相差から物体との相対的な距離を求めるものであ
り、受信器２を図１４に示した測距レーダ装置と同様に
備えているほか、それとの相違点として、送信器１ｐ
と、位相差計測器４ｐとを備えている。The distance measuring radar apparatus shown in FIG. 16 is for obtaining a relative distance to an object from the phase difference of a beat signal, and includes a receiver 2 similarly to the distance measuring radar apparatus shown in FIG. In addition, the difference from that is that the transmitter 1p
And a phase difference measuring device 4p.
【００１２】送信器１ｐは、周波数変調器１１ｐと、発
振器１２と、送信アンテナ１３とにより構成され、図１
７（ａ）に示すように、発振器１２の信号を周波数変調
器１１ｐで周波数ｆ１，ｆ２に切り替える周波数変調を
して生成した送信信号により送信アンテナ１３から電波
を放射するものである。ここで、周波数ｆ１，ｆ２の周
波数変調により送信信号を生成すると、図１７（ａ）に
示す「ビート信号時間波形」のように、見かけ上、周波
数ｆ１の信号に対応するビート信号ｆｄ１と周波数ｆ２
の信号に対応するビート信号ｆｄ２とが得られることに
なる。The transmitter 1p is composed of a frequency modulator 11p, an oscillator 12, and a transmission antenna 13;
As shown in FIG. 7A, a radio wave is radiated from the transmission antenna 13 by a transmission signal generated by frequency-modulating the signal of the oscillator 12 to switch between the frequencies f1 and f2 by the frequency modulator 11p. Here, when the transmission signal is generated by frequency modulation of the frequencies f1 and f2, the beat signal fd1 and the frequency f2 apparently corresponding to the signal of the frequency f1 appear as in the “beat signal time waveform” shown in FIG.
And the beat signal fd2 corresponding to the above signal is obtained.
【００１３】位相差計測器４ｐは、周波数変調幅ΔＦの
両端周波数ｆ１，ｆ２の信号にそれぞれ対応する両ビー
ト信号ｆｄ１，ｆｄ２の位相差を計測するものである。The phase difference measuring device 4p measures the phase difference between the two beat signals fd1 and fd2 corresponding to the signals of the frequencies f1 and f2 at both ends of the frequency modulation width ΔF.
【００１４】上記構成の測距レーダ装置では、周波数変
調器１１ｐから発せられた変調信号が発振器１２に入力
され、そこから周波数変調された送信信号が出力され、
この送信信号により送信アンテナ１３から電波が放射す
る。このとき、電波の放射方向に物体が存在している
と、物体の存在位置で電波が反射して到来電波として受
信アンテナ２１で受波されて受信信号が得られる。この
受信信号は方向性結合器２２で分割された送信信号の一
部とミキサ２３で混合され、このミキサ２３の出力か
ら、ビート信号が位相差計測器４ｐで同期検波され、位
相差が計測される。In the ranging radar apparatus having the above-described configuration, a modulation signal emitted from the frequency modulator 11p is input to the oscillator 12, and a frequency-modulated transmission signal is output therefrom.
Radio waves are radiated from the transmission antenna 13 by this transmission signal. At this time, if an object exists in the direction in which the radio wave is emitted, the radio wave is reflected at the position where the object exists, and is received by the receiving antenna 21 as an incoming radio wave to obtain a reception signal. This received signal is mixed with a part of the transmission signal divided by the directional coupler 22 in the mixer 23, and from the output of the mixer 23, the beat signal is synchronously detected by the phase difference measuring device 4p, and the phase difference is measured. You.
【００１５】ここで、電波の受波時点が電波の放射時点
から時間Ｔｄ＝２Ｒ／Ｃだけ遅れるので、時間Ｔｄだけ
位相が回転し、相対速度に応じたドップラ周波数ｆｄ
１，ｆｄ２を持つビート信号が受信器２から出力され
る。Here, since the reception time of the radio wave is delayed from the emission time of the radio wave by the time Td = 2R / C, the phase is rotated by the time Td, and the Doppler frequency fd according to the relative speed is obtained.
A beat signal having 1 and fd2 is output from the receiver 2.
【００１６】従来の２周波ＣＷ方式では、周波数変調幅
ΔＦの両端周波数ｆ１，ｆ２の信号にそれぞれ対応する
両ビート信号ｆｄ１，ｆｄ２の位相差Δφを計測した上
で、次式を用いた演算を通じて距離Ｒが算出され、距離
Ｒは両ビート信号間の位相差Δφに比例して決定され
る。In the conventional two-frequency CW method, the phase difference Δφ between the beat signals fd1 and fd2 corresponding to the signals at both ends f1 and f2 of the frequency modulation width ΔF is measured, and the calculation is performed using the following equation. The distance R is calculated, and the distance R is determined in proportion to the phase difference Δφ between both beat signals.
【００１７】Ｒ＝Ｃ×Δφ／(４π×ΔＦ)R = C × Δφ / (4π × ΔF)
【００１８】[0018]
【発明が解決しようとする課題】ところが、従来のＦＭ
−ＣＷ方式では、接近した２つの物体を区別して認識で
きる距離、すなわち測定可能な距離分解能ΔＲは、周波
数計測区間内に１周期分の周波数差が必要となることか
ら、以下の式で表される。However, the conventional FM
In the -CW method, the distance at which two approaching objects can be distinguished and recognized, that is, the measurable distance resolution ΔR requires a frequency difference of one cycle in the frequency measurement section, and is expressed by the following equation. You.
【００１９】ΔＲ＝Ｃ／(２×ΔＦ) よって、これ以上に分解能を高めるためには、周波数変
調幅ΔＦを増大させるか、または複雑な信号処理を用い
る必要があり、それぞれ、必要な周波数帯域が増大す
る、または回路規模が増大するという問題があった。ΔR = C / (2 × ΔF) Therefore, in order to further increase the resolution, it is necessary to increase the frequency modulation width ΔF or use complicated signal processing. Or the circuit scale increases.
【００２０】一方、従来の２周波ＣＷ方式では、距離分
解能δＲは、位相分解能、すなわち位相差の識別可能な
位相の最小単位δφｍｉｎで制限され、また最大検知距
離Ｒｍａｘは位相差が２π（位相差検出方式によっては
π）以上になると、１回転以上の位相差を検出できない
ので距離を確定できなくなるため、各々以下の式で表さ
れる。On the other hand, in the conventional two-frequency CW method, the distance resolution δR is limited by the phase resolution, that is, the minimum unit δφmin of the phase that can be distinguished from the phase difference, and the maximum detection distance Rmax is 2π (phase difference If it exceeds π) depending on the detection method, the distance cannot be determined because a phase difference of one rotation or more cannot be detected.
【００２１】 ただし、Ｎは位相差計測器にて位相１回転内を識別可能
な位相の分割数（Ｎ＝２π／δφｍｉｎ）である。[0021] Here, N is the number of divided phases (N = 2π / δφmin) that can be identified within one phase rotation by the phase difference measuring device.
【００２２】よって、これ以上に分解能を高めるには、
信号処理の精度を上げる等して位相の分解能を高める必
要があり、やはり回路規模が増大する等の問題があっ
た。Therefore, in order to further increase the resolution,
It is necessary to increase the resolution of the phase by increasing the accuracy of the signal processing and the like, and there is a problem that the circuit scale also increases.
【００２３】本発明は上記の点に鑑みてなしたものであ
り、その目的とするところは、限られた周波数帯域の中
で細かい距離分解能を持つ測距レーダ装置を提供するこ
とにある。The present invention has been made in view of the above points, and an object of the present invention is to provide a ranging radar apparatus having a fine range resolution in a limited frequency band.
【００２４】[0024]
【課題を解決するための手段】上記課題を解決するため
の請求項１記載の発明の測距レーダ装置は、周波数変調
をして生成した送信信号により電波を放射する送信手段
と、前記電波の放射方向からの到来電波を受波して受信
信号を得て、この受信信号と前記送信信号の一部とを混
合して出力とする受信混合手段と、この受信混合手段の
出力からビート信号の周波数を計測する周波数計測手段
と、前記周波数変調の周波数変調幅の両端周波数にそれ
ぞれ対応する両周波数のビート信号間の位相差を計測す
る位相差計測手段と、これら周波数計測手段および位相
差計測手段により計測された周波数および位相差から、
前記送信手段により放射された電波を前記到来電波とし
て反射させる物体との距離を求める距離演算手段とを備
えることを特徴とする。According to a first aspect of the present invention, there is provided a distance measuring radar apparatus for transmitting a radio wave by using a transmission signal generated by performing frequency modulation; A reception mixing means for receiving a radio wave arriving from the radiation direction to obtain a reception signal, mixing the reception signal with a part of the transmission signal and outputting the mixed signal, and a beat signal from the output of the reception mixing means Frequency measuring means for measuring a frequency, phase difference measuring means for measuring a phase difference between beat signals of both frequencies respectively corresponding to both end frequencies of the frequency modulation width of the frequency modulation, and these frequency measuring means and phase difference measuring means From the frequency and phase difference measured by
Distance calculating means for calculating a distance from an object reflecting the radio wave radiated by the transmitting means as the arriving radio wave.
【００２５】請求項２記載の発明の測距レーダ装置は、
複数の周波数変調幅を持たせる周波数変調をして生成し
た送信信号により電波を放射する送信手段と、前記電波
の放射方向からの到来電波を受波して受信信号を得て、
この受信信号と前記送信信号の一部とを混合して出力と
する受信混合手段と、この受信混合手段の出力から、前
記複数の周波数変調幅のうち、一の周波数変調幅の両端
周波数の信号にそれぞれ対応する両ビート信号の位相差
と別の周波数変調幅の両端周波数の信号にそれぞれ対応
する両ビート信号の位相差とを計測する位相差計測手段
と、この位相差計測手段により計測された両位相差か
ら、前記送信手段により放射された電波を前記到来電波
として反射させる物体との距離を求める距離演算手段と
を備え、前記複数の周波数変調幅のうち、一の周波数変
調幅の両端周波数の差は、他の周波数変調幅の両端周波
数の差に対して、前記受信混合手段の位相分解能の分割
数倍以上に広く設定されていることを特徴とする。According to a second aspect of the present invention, there is provided a ranging radar apparatus.
Transmitting means for radiating radio waves with a transmission signal generated by performing frequency modulation having a plurality of frequency modulation widths, and receiving a radio wave arriving from a radiation direction of the radio waves to obtain a reception signal;
A reception mixing unit that mixes the reception signal and a part of the transmission signal to output a signal; and, based on an output of the reception mixing unit, a signal having both ends of one frequency modulation width among the plurality of frequency modulation widths. Phase difference measuring means for measuring the phase difference between the two beat signals respectively corresponding to the signals and the phase difference between the two beat signals respectively corresponding to the signals at both ends of the different frequency modulation width, and the phase difference measuring means Distance calculating means for calculating a distance from an object that reflects the radio wave radiated by the transmitting means as the arriving radio wave from the two phase differences, and the two-end frequency of one frequency modulation width among the plurality of frequency modulation widths. Is set to be wider than the difference between the frequencies at both ends of the other frequency modulation width by a number equal to or more than the division number of the phase resolution of the reception mixing means.
【００２６】請求項３記載の発明は、請求項１または２
記載の測距レーダ装置において、前記距離演算手段によ
り求められる距離の分解能が前記送信信号の周波数の波
長以下となるように、前記送信信号の周波数変調幅、周
波数差および前記受信混合手段の位相分解能の分割数が
設定されており、前記距離演算手段は、前記ビート信号
の絶対位相をさらに用いて前記距離を求めることを特徴
とする。The third aspect of the present invention is the first or second aspect.
In the ranging radar device described above, the frequency modulation width of the transmission signal, the frequency difference, and the phase resolution of the reception mixing means such that the resolution of the distance obtained by the distance calculation means is equal to or less than the wavelength of the frequency of the transmission signal. Is set, and the distance calculation means obtains the distance by further using the absolute phase of the beat signal.
【００２７】請求項４記載の発明は、請求項１から３の
いずれかに記載の測距レーダ装置において、前記受信混
合手段は、前記送信信号の一部を、そのままの位相の第
１信号と９０度位相をシフトした第２信号とに分け、前
記第１信号と前記受信信号とを混合して第１ビート信号
を得るとともに、前記第２信号と前記受信信号とを混合
して第２ビート信号を得ることを特徴とする。According to a fourth aspect of the present invention, in the ranging radar apparatus according to any one of the first to third aspects, the reception mixing means converts a part of the transmission signal into a first signal having the same phase as the first signal. The first signal is mixed with the received signal to obtain a first beat signal, and the second signal is mixed with the received signal to form a second beat signal. It is characterized by obtaining a signal.
【００２８】請求項５記載の発明は、請求項１から３の
いずれかに記載の測距レーダ装置において、前記ビート
信号をこの最高周波数の２倍以上の速度でサンプリング
する手段を備えることを特徴とする。According to a fifth aspect of the present invention, in the ranging radar apparatus according to any one of the first to third aspects, a means for sampling the beat signal at a speed of twice or more the maximum frequency is provided. And
【００２９】請求項６記載の発明は、請求項１から５の
いずれかに記載の測距レーダ装置において、前記距離演
算手段により求められた距離に応じて、前記物体と衝突
しそうであるか否かの判定を行う判定手段を備え、この
判定手段による前記物体と衝突しそうであるという判定
結果は、車両の制動手段による衝突回避動作に利用され
ることを特徴とする。According to a sixth aspect of the present invention, in the ranging radar apparatus according to any one of the first to fifth aspects, it is determined whether or not the object is likely to collide with the object according to the distance obtained by the distance calculating means. And a determination result that the vehicle is likely to collide with the object by the determination unit is used for a collision avoidance operation by a braking unit of the vehicle.
【００３０】請求項７記載の発明は、請求項１から５の
いずれかに記載の測距レーダ装置において、前記距離演
算手段により求められた距離に応じて、前記物体と衝突
しそうであるか否かの判定を行う判定手段を備え、この
判定手段による前記物体と衝突しそうであるという判定
結果は、車両の操舵手段による衝突回避動作に利用され
ることを特徴とする。According to a seventh aspect of the present invention, in the ranging radar apparatus according to any one of the first to fifth aspects, it is determined whether the object is likely to collide with the object according to the distance obtained by the distance calculating means. A determination unit that determines that the object is likely to collide with the object is used for a collision avoidance operation by a steering unit of the vehicle.
【００３１】[0031]
【発明の実施の形態】図１は本発明に係る第１実施形態
の測距レーダ装置の構成図であり、この図を用いて以下
に第１実施形態の説明を行う。FIG. 1 is a configuration diagram of a distance measuring radar apparatus according to a first embodiment of the present invention. The first embodiment will be described below with reference to this drawing.
【００３２】図１に示す測距レーダ装置は、ビート信号
の周波数および位相差から、物体との距離を求めるもの
であり、送信器１と、受信器２と、周波数計測器３と、
位相差計測器４と、詳細距離演算部６とを備えている。The distance measuring radar device shown in FIG. 1 obtains the distance to an object from the frequency and phase difference of a beat signal. The distance measuring radar device includes a transmitter 1, a receiver 2, a frequency measuring device 3,
A phase difference measuring device 4 and a detailed distance calculation unit 6 are provided.
【００３３】送信器１は、周波数変調器１１と、発振器
１２と、送信アンテナ１３とにより構成され、発振器１
２の信号に対して周波数変調器１１で周波数変調をして
生成した送信信号により、送信アンテナ１３から電波を
放射するものである。The transmitter 1 is composed of a frequency modulator 11, an oscillator 12, and a transmission antenna 13.
Radio waves are radiated from the transmission antenna 13 by a transmission signal generated by frequency-modulating the signal No. 2 with the frequency modulator 11.
【００３４】受信器２は、受信アンテナ２１と、送信器
１の発振器１２および送信アンテナ１３間に介設される
方向性結合器２２と、ミキサ２３とにより構成され、上
記電波の放射方向からの到来電波を受信アンテナ２１で
受波して受信信号を得て、この受信信号と方向性結合器
２２から得られる上記送信信号の一部とを混合して出力
とするものである。The receiver 2 comprises a receiving antenna 21, a directional coupler 22 interposed between the oscillator 12 and the transmitting antenna 13 of the transmitter 1, and a mixer 23. An incoming radio wave is received by the receiving antenna 21 to obtain a received signal, and the received signal and a part of the transmission signal obtained from the directional coupler 22 are mixed and output.
【００３５】周波数計測器３は、受信器２の出力からビ
ート信号の周波数を計測するものであり、位相差計測器
４は、上記周波数変調の周波数変調幅ΔＦの両端周波数
にそれぞれ対応する両周波数のビート信号間の位相差を
計測するものである。The frequency measuring device 3 measures the frequency of the beat signal from the output of the receiver 2, and the phase difference measuring device 4 measures both frequencies corresponding to both ends of the frequency modulation width ΔF of the frequency modulation. The phase difference between the beat signals is measured.
【００３６】詳細距離演算部６は、周波数計測器３およ
び位相差計測器４により計測された周波数および位相差
から、送信器１により放射された電波を上記到来電波と
して反射させる物体との距離を求めるものである。The detailed distance calculation unit 6 calculates the distance between the frequency and the phase difference measured by the frequency measuring device 3 and the phase difference measuring device 4 to the object that reflects the radio wave radiated by the transmitter 1 as the arriving radio wave. Is what you want.
【００３７】上記構成の測距レーダ装置では、周波数変
調器１１から発せられた変調信号が発振器１２に入力さ
れ、そこから周波数変調された送信信号が出力され、こ
の送信信号により送信アンテナ１３から電波が放射す
る。このとき、電波の放射方向に物体が存在している
と、物体の存在位置で電波が反射して到来電波として受
信アンテナ２１で受波されて受信信号が得られる。この
受信信号は方向性結合器２２で分割された送信信号の一
部とミキサ２３で混合され、このミキサ２３の出力から
ビート信号が得られる。このビート信号の周波数が周波
数計測器３で計測される一方、周波数差が周波数変調幅
ΔＦとなる２周波数によるビート信号間の位相差Δφが
位相差計測器４で計測され、これら計測された周波数お
よび位相差から、分解能の細かい距離データが詳細距離
演算部６で求められる。In the ranging radar apparatus having the above-described configuration, the modulation signal emitted from the frequency modulator 11 is input to the oscillator 12, and the frequency-modulated transmission signal is output therefrom. Radiates. At this time, if an object exists in the direction in which the radio wave is emitted, the radio wave is reflected at the position where the object exists, and is received by the receiving antenna 21 as an incoming radio wave to obtain a reception signal. This received signal is mixed with a part of the transmission signal divided by the directional coupler 22 in the mixer 23, and a beat signal is obtained from the output of the mixer 23. While the frequency of this beat signal is measured by the frequency measuring device 3, the phase difference Δφ between the two beat signals whose frequency difference is the frequency modulation width ΔF is measured by the phase difference measuring device 4, and these measured frequencies are measured. The distance data with a fine resolution is obtained by the detailed distance calculation unit 6 from the phase difference.
【００３８】図２に図１の周波数計測器、位相差計測器
および詳細距離演算部に適用される距離測定方式の原理
図を示す。ただし、図２において、δＲ（＝Ｃ／(２×
ΔＦ)×(１／Ｎ)）は距離分解能、Ｒｍａｘ（＝Ｃ／(２
×ΔＦ)）は最大検知距離である。FIG. 2 shows a principle diagram of a distance measuring method applied to the frequency measuring device, the phase difference measuring device and the detailed distance calculating section of FIG. However, in FIG. 2, δR (= C / (2 ×
ΔF) × (1 / N)) is the distance resolution, Rmax (= C / (2
× ΔF)) is the maximum detection distance.
【００３９】図２（ａ），（ｂ）に示すように、従来の
ＦＭ−ＣＷ方式と同様に周波数計測器３により計測され
たビート信号の周波数ｆｒから、次式を用いた演算を通
じて物体との距離Ｒｆが算出される。As shown in FIGS. 2 (a) and 2 (b), an object is calculated from the frequency fr of the beat signal measured by the frequency measuring device 3 in the same manner as in the conventional FM-CW system through the calculation using the following equation. Is calculated.
【００４０】Ｒｆ＝Ｃ×Ｔｍ×ｆｒ／(４×ΔＦ) ここで、既述の如く、距離分解能ΔＲは周波数変調幅Δ
Ｆで制限され、ΔＲ＝Ｃ／(２×ΔＦ)の関係が成り立
つ。このため、ビート信号の周波数ｆｒから求めた距離
Ｒｆは、図２（ｂ）に示す「ビート信号スペクトル」の
ように、測距レーダ装置と物体との間の実際の距離Ｒｔ
ｒに対して、距離分解能ΔＲを最小単位とする離散的な
距離の中で最寄りの距離として検出される。Rf = C × Tm × fr / (4 × ΔF) Here, as described above, the distance resolution ΔR is the frequency modulation width Δ
F, and the relationship of ΔR = C / (2 × ΔF) holds. For this reason, the distance Rf obtained from the frequency fr of the beat signal is equal to the actual distance Rt between the ranging radar device and the object, as shown in the “beat signal spectrum” shown in FIG.
r is detected as the nearest distance among the discrete distances having the distance resolution ΔR as the minimum unit.
【００４１】一方、位相差計測器４により２周波ＣＷ方
式と同じ原理で計測された位相差Δφから、次式を用い
た演算を通じて距離Ｒφが算出される。On the other hand, the distance Rφ is calculated from the phase difference Δφ measured by the phase difference measuring device 4 according to the same principle as that of the two-frequency CW method through the calculation using the following equation.
【００４２】Ｒφ＝Ｃ／(２×ΔＦ)×(Δφ／２π) この距離Ｒφは、実際の距離Ｒｔｒを最大検知距離Ｒｍ
ａｘで割った余りの距離に対して、距離分解能δＲを最
小単位とする離散的な距離の中で最寄りの距離として検
出される。Rφ = C / (2 × ΔF) × (Δφ / 2π) This distance Rφ is obtained by dividing the actual distance Rtr by the maximum detection distance Rm.
With respect to the remaining distance divided by ax, the distance is detected as the nearest distance among discrete distances having the distance resolution δR as a minimum unit.
【００４３】そして、図２（ｃ）に示すように、詳細距
離演算部６により、距離Ｒｆと距離Ｒφとを足す演算を
通じて最終的な距離Ｒが求められる。これにより、ＦＭ
−ＣＷ方式での距離分解能に対して、Ｎ倍だけ細かく距
離を計測することができる。なお、距離Ｒｆは周波数計
測器３で求められる構成であればよいが、詳細距離演算
部６で求められる構成でもよく、同様に、距離Ｒφは位
相差計測器４で求められる構成であればよいが、詳細距
離演算部６で求められる構成でもよい。Then, as shown in FIG. 2 (c), the final distance R is obtained by the detailed distance calculation unit 6 through an operation of adding the distance Rf and the distance Rφ. By this, FM
The distance can be measured finely by N times the distance resolution in the -CW method. Note that the distance Rf may be a configuration obtained by the frequency measurement device 3, but may be a configuration obtained by the detailed distance calculation unit 6. Similarly, the distance Rφ may be a configuration obtained by the phase difference measurement device 4. However, a configuration obtained by the detailed distance calculation unit 6 may be used.
【００４４】図３は本発明に係る第２実施形態の測距レ
ーダ装置の構成図、図４は図３の位相差計測器および詳
細距離演算部に適用される距離測定方式の原理図であ
り、これらの図を用いて以下に第２実施形態の説明を行
う。FIG. 3 is a block diagram of a distance measuring radar apparatus according to a second embodiment of the present invention, and FIG. 4 is a principle diagram of a distance measuring method applied to the phase difference measuring device and the detailed distance calculating section of FIG. The second embodiment will be described below with reference to these drawings.
【００４５】図３に示す測距レーダ装置は、ビート信号
の位相差から、物体との距離を求めるものであり、受信
器２を第１実施形態と同様に備えているほか、第１実施
形態との相違点として、送信器１ａと、位相差計測器４
ａと、詳細距離演算部６ａとを備えている。The distance measuring radar apparatus shown in FIG. 3 obtains the distance to an object from the phase difference of a beat signal. The distance measuring radar apparatus includes a receiver 2 in the same manner as the first embodiment. Are different from the transmitter 1a and the phase difference measuring device 4
a and a detailed distance calculation unit 6a.
【００４６】送信器１ａは、周波数変調器１１ａと、発
振器１２と、送信アンテナ１３とにより構成され、図４
（ａ）に示すように、発振器１２の信号に対して、周波
数変調器１１ａで複数の周波数変調幅ΔＦ／Ｎ，ΔＦを
持たせる周波数変調をして生成した送信信号により、送
信アンテナ１３から電波を放射するものである。ここ
で、複数の周波数変調幅のうち、周波数変調幅ΔＦの両
端周波数ｆ１，ｆ３の差は、周波数変調幅ΔＦ／Ｎの両
端周波数ｆ１，ｆ２の差に対して、受信器２の位相分解
能の分割数倍（Ｎ倍）になっている。The transmitter 1a is composed of a frequency modulator 11a, an oscillator 12, and a transmission antenna 13.
As shown in (a), a transmission signal generated by subjecting a signal of an oscillator 12 to frequency modulation having a plurality of frequency modulation widths ΔF / N and ΔF by a frequency modulator 11 a generates a radio wave from a transmission antenna 13. It radiates. Here, of the plurality of frequency modulation widths, the difference between the two end frequencies f1 and f3 of the frequency modulation width ΔF is the phase resolution of the receiver 2 with respect to the difference between the two end frequencies f1 and f2 of the frequency modulation width ΔF / N. It is multiplied by the number of divisions (N times).
【００４７】位相差計測器４ａは、位相差計測器４１，
４２により構成され、図４（ｂ）に示すように、受信器
２の出力から、複数の周波数変調幅のうち、周波数変調
幅ΔＦ／Ｎの両端周波数ｆ１，ｆ２の信号にそれぞれ対
応する両ビート信号ｆｄ１，ｆｄ２の位相差Δφ１２
と、別の周波数変調幅ΔＦの両端周波数ｆ１，ｆ３の信
号にそれぞれ対応する両ビート信号ｆｄ１，ｆｄ３の位
相差とを、それぞれ例えば位相差計測器４１，４２で計
測するものである。The phase difference measuring device 4a includes a phase difference measuring device 41,
As shown in FIG. 4 (b), from the output of the receiver 2, the two beats corresponding to the signals of the frequencies f1 and f2 at both ends of the frequency modulation width ΔF / N among the plurality of frequency modulation widths. Phase difference Δφ12 between signals fd1 and fd2
The phase difference between the two beat signals fd1 and fd3 respectively corresponding to the signals of both ends frequencies f1 and f3 of another frequency modulation width ΔF is measured by, for example, the phase difference measuring devices 41 and 42, respectively.
【００４８】詳細距離演算部６ａは、位相差計測器４ａ
により計測された両位相差から、送信器１ａにより放射
された電波を到来電波として反射させる物体との距離を
求めるものである。The detailed distance calculator 6a is provided with a phase difference measuring device 4a.
The distance from the object that reflects the radio wave radiated by the transmitter 1a as the arriving radio wave is obtained from the two phase differences measured by the above.
【００４９】上記構成の測距レーダ装置では、周波数変
調器１１ａで複数組の周波数に変調が行われる。受信信
号は方向性結合器２２で分割された送信信号の一部とミ
キサ２３で混合され、このミキサ２３の出力から、複数
組の２周波数によるビート信号間の位相差が位相差計測
器４ａで計測され、位相差計測器４ａの両位相差計測器
４１，４２の結果を併せて演算することで分解能の細か
い距離が詳細距離演算部６ａで求められる。In the ranging radar apparatus having the above configuration, the frequency modulator 11a modulates a plurality of frequencies. The received signal is mixed with a part of the transmission signal divided by the directional coupler 22 in the mixer 23, and from the output of the mixer 23, the phase difference between beat signals of a plurality of sets of two frequencies is determined by the phase difference measuring device 4 a. The measured distance and the result of both phase difference measuring devices 41 and 42 of the phase difference measuring device 4a are also calculated to obtain a distance with a fine resolution in the detailed distance calculating section 6a.
【００５０】ここで、第２実施形態の距離測定方式の原
理を説明する。従来の２周波ＣＷ方式では、距離分解能
δＲは位相分解能δφｍｉｎで制限され、また最大検知
距離Ｒｍａｘは、位相差が２π（位相差検出方式によっ
てはπ）以上になると、１回転以上の位相差を検出でき
ないことから、距離を確定できなくなる。Here, the principle of the distance measuring method according to the second embodiment will be described. In the conventional two-frequency CW method, the distance resolution δR is limited by the phase resolution δφmin, and the maximum detection distance Rmax is a phase difference of one rotation or more when the phase difference is 2π (π depending on the phase difference detection method). Since it cannot be detected, the distance cannot be determined.
【００５１】そこで、第２実施形態の距離測定方式で
は、位相差計測器で識別可能な位相の分割数Ｎ（Ｎ＝２
π／δφｍｉｎ）に対して、周波数変調器１１ａによる
周波数ｆ１、ｆ２、ｆ３が ｆ２−ｆ１＝ΔＦ／Ｎ ｆ３−ｆ１＝ΔＦ を満足するように設定され、そして、送信信号の周波数
がｆ１とｆ２に関して求めた距離Ｒ１２、最大検知距離
Ｒｍａｘ１２、距離分解能δＲ１２、およびｆ１とｆ３
に関して求めた距離Ｒ１３、最大検知距離Ｒｍａｘ１
３、距離分解能δＲ１３は、２周波ＣＷ方式と同じ原理
で求められ、各々以下の式で与えられる。Therefore, in the distance measuring method according to the second embodiment, the number of divided phases N (N = 2) that can be identified by the phase difference measuring device
π / δφmin), the frequencies f1, f2, and f3 of the frequency modulator 11a are set so as to satisfy f2-f1 = ΔF / N f3-f1 = ΔF, and the frequencies of the transmission signals are f1 and f2. , The maximum detection distance Rmax12, the distance resolution δR12, and f1 and f3
R13 obtained with respect to the maximum detection distance Rmax1
3. The distance resolution δR13 is obtained based on the same principle as the two-frequency CW method, and is given by the following equations.
【００５２】 Ｒ１２＝Ｃ／(２×ΔＦ)×(Δφ１３／２π)×Ｎ δＲ１２＝Ｃ／(２×ΔＦ) Ｒｍａｘ１２＝Ｃ／(２×ΔＦ)×Ｎ Ｒ１３＝Ｃ／(２×ΔＦ)×(Δφ１２／２π) δＲ１３＝Ｃ／(２×ΔＦ)×(１／Ｎ) Ｒｍａｘ１３＝Ｃ／(２・ΔＦ)＝δＲ１２ すなわち、実際の距離Ｒｔｒを、周波数差ｆ１，ｆ２の
ビート信号の位相差測定によって距離分解能δＲ１２単
位でＮポイント分測定でき、さらに、周波数差ｆ１，ｆ
３のビート信号の位相差測定によって検出できる最大距
離Ｒｍａｘ１３（＝δＲ１２）で割った余りの距離に対
して、距離分解能δＲ１３を最小単位とする離散的な距
離の中で最寄りの距離として検出できる。R12 = C / (2 × ΔF) × (Δφ13 / 2π) × N δR12 = C / (2 × ΔF) Rmax12 = C / (2 × ΔF) × N R13 = C / (2 × ΔF) × (Δφ12 / 2π) δR13 = C / (2 × ΔF) × (1 / N) Rmax13 = C / (2 · ΔF) = δR12 That is, the actual distance Rtr is determined by the phase difference between the beat signals of the frequency differences f1 and f2. By measurement, N points can be measured in units of the distance resolution δR12, and furthermore, the frequency differences f1, f
With respect to a surplus distance divided by the maximum distance Rmax13 (= δR12) that can be detected by the phase difference measurement of the beat signal of No. 3, it can be detected as the nearest distance among discrete distances having the distance resolution δR13 as a minimum unit.
【００５３】第２実施形態では、図４（ｃ）に示すよう
に、詳細距離演算部６ａにより、距離Ｒ１２と距離Ｒ１
３とを足す演算を通じて最終的な距離Ｒが求められる。
これにより、２周波ＣＷ方式に対して、細かい距離分解
能を維持したままＮ倍長距離まで距離計測することがで
きる。In the second embodiment, as shown in FIG. 4C, the distance R12 and the distance R1 are calculated by the detailed distance calculation unit 6a.
The final distance R is obtained through an operation of adding 3 to the distance.
As a result, it is possible to measure the distance up to N times as long as the two-frequency CW method while maintaining a fine distance resolution.
【００５４】図５，図６は測距レーダ装置の構成図、図
７は図５，図６に適用される距離測定方式の原理図であ
り、これらの図を用いて以下に本発明に係る第３実施形
態の測距レーダ装置について説明する。FIGS. 5 and 6 show the configuration of a distance measuring radar apparatus, and FIG. 7 shows the principle of the distance measuring method applied to FIGS. 5 and 6. Referring to these figures, the present invention will be described below. A ranging radar device according to a third embodiment will be described.
【００５５】図５に示す測距レーダ装置は、送信器１
と、受信器２と、周波数計測器３と、位相差計測器４と
を第１実施形態と同様に備えているほか、第１実施形態
との相違点として、絶対位相計測器５と、詳細距離演算
部６ｂとを備えている。一方、図６に示す測距レーダ装
置は、送信器１ａと、受信器２と、位相差計測器４ａと
を第２実施形態と同様に備えているほか、第２実施形態
との相違点として、絶対位相計測器５と、詳細距離演算
部６ｃとを備えている。The ranging radar device shown in FIG.
, A receiver 2, a frequency measuring device 3, and a phase difference measuring device 4 in the same manner as in the first embodiment, and the difference from the first embodiment is that an absolute phase measuring device 5, A distance calculation unit 6b. On the other hand, the ranging radar device shown in FIG. 6 includes a transmitter 1a, a receiver 2, and a phase difference measuring device 4a in the same manner as in the second embodiment, and differs from the second embodiment in that , An absolute phase measuring device 5 and a detailed distance calculating section 6c.
【００５６】絶対位相計測器５は、ビート信号の位相を
計測するものであり、詳細距離演算部６ｂ，６ｃは、ビ
ート信号の絶対位相をさらに用いて物体との距離を求め
る以外はそれぞれ詳細距離演算部６，６ａと同様に構成
される。The absolute phase measuring device 5 measures the phase of the beat signal, and the detailed distance calculating sections 6b and 6c respectively calculate the detailed distance except for obtaining the distance to the object by further using the absolute phase of the beat signal. The configuration is the same as that of the operation units 6 and 6a.
【００５７】ここで、絶対位相計測器５では、時間Ｔｄ
（＝２Ｒ／Ｃ）だけ遅れた受信信号と送信信号とがミキ
シングされた差分の位相φが計測されるため、逆算する
と微少な距離Ｒを求めることができる。Here, in the absolute phase measuring device 5, the time Td
Since the phase φ of the difference obtained by mixing the reception signal and the transmission signal delayed by (= 2R / C) is measured, a minute distance R can be obtained by performing an inverse calculation.
【００５８】 φ＝２πＦｃ×Ｔｄ ＝２πＦｃ×(２Ｒ／Ｃ) ∴Ｒ＝(Ｃ／２Ｆｃ)×(φ／２π) ＝(λ／２)×(φ／２π) (∵λ＝Ｃ／Ｆｃ) ただし、Ｆｃ、λは送信信号の周波数、波長である。Φ = 2πFc × Td = 2πFc × (2R / C) ∴R = (C / 2Fc) × (φ / 2π) = (λ / 2) × (φ / 2π) (∵λ = C / Fc) Here, Fc and λ are the frequency and wavelength of the transmission signal.
【００５９】絶対位相計測による距離分解能ｄＲ、最大
検知距離ｄＲｍａｘは、それぞれ位相分解能φｍｉｎ、
２πで制限され、識別可能な位相の分割数をｍ（ｍ＝２
π／φｍｉｎ）としたとき、次式で表される。The distance resolution dR and the maximum detection distance dRmax based on the absolute phase measurement are respectively the phase resolution φmin,
The number of identifiable phase divisions limited by 2π is m (m = 2
(π / φmin), it is expressed by the following equation.
【００６０】 従って、第１実施形態の距離測定方式では、距離分解能
δＲまで、第２実施形態の距離測定方式では、距離分解
能δＲ１３まで細かく距離測定が行えるため、絶対位相
測定による最大検知距離ｄＲｍａｘをその値となるよう
に（δＲ＝δＲ１３＝ｄＲｍａｘ）設定すると、距離分
解能ｄＲは、以下で与えられる。[0060] Therefore, in the distance measurement method of the first embodiment, the distance can be finely measured up to the distance resolution δR, and in the distance measurement method of the second embodiment, the distance can be finely measured up to the distance resolution δR13. Therefore, the maximum detection distance dRmax by the absolute phase measurement is set to the value. (ΔR = δR13 = dRmax), the distance resolution dR is given by:
【００６１】 ｄＲ＝ｄＲｍａｘ×(１／ｍ) ＝Ｃ／(２×ΔＦ)／(Ｎ×ｍ) すなわち、第３実施形態の距離測定方式では、従来のＦ
Ｍ‐ＣＷ方式または２周波ＣＷ方式の距離測定を、Ｎ×
ｍ倍までさらに細かく測定できるのである。DR = dRmax × (1 / m) = C / (2 × ΔF) / (N × m) That is, in the distance measuring method of the third embodiment, the conventional F
The distance measurement of the M-CW method or the dual frequency CW method is performed by N ×
It is possible to measure even more finely up to m times.
【００６２】図８は受信器の他の構成例を示す図、図９
は図８の受信器による位相シフト例を示す図であり、こ
れらの図を用いて以下に本発明に係る第４実施形態の測
距レーダ装置の受信器について説明する。FIG. 8 is a diagram showing another configuration example of the receiver, and FIG.
FIG. 9 is a diagram showing an example of a phase shift by the receiver of FIG. 8, and a receiver of a ranging radar apparatus according to a fourth embodiment of the present invention will be described below with reference to these drawings.
【００６３】第４実施形態の受信器２ａは、上記第１か
ら第３の各実施形態に適用可能なものであり、図８に示
すように、受信アンテナ２１と、方向性結合器２２とを
上記各実施形態と同様に備えているほか、これら各実施
形態との相違点として、ミキサ２３１，２３２と、π／
２位相シフタ２４とを備え、送信器（図８の例では送信
器１）の送信信号の一部を、そのままの位相の第１信号
と、π／２位相シフタ２４で９０度位相をシフトした第
２信号とに分け、第１信号と受信信号とをミキサ２３１
で混合してビート信号Ａを得るとともに、第２信号と受
信信号とをミキサ２３２で混合してビート信号Ｂを得る
ものである。The receiver 2a of the fourth embodiment is applicable to the first to third embodiments. As shown in FIG. 8, the receiver 2a includes a receiving antenna 21 and a directional coupler 22. In addition to being provided in the same manner as the above embodiments, the difference from these embodiments is that the mixers 231, 232 and π /
A two-phase shifter 24 is provided, and a part of the transmission signal of the transmitter (transmitter 1 in the example of FIG. 8) is shifted by 90 degrees by the π / 2 phase shifter 24 with the first signal of the same phase. The first signal and the received signal are divided into a second signal and a mixer 231.
To obtain a beat signal A, and to mix the second signal and the received signal by a mixer 232 to obtain a beat signal B.
【００６４】上記構成の受信器２ａによれば、方向性結
合器２２で分割された送信信号の一部がそのままの位相
の信号と９０度位相がシフトした信号とに分けられ、そ
れぞれが個々に受信信号と混合されて出力されるので、
位相が互いに直交するビート信号Ａ，Ｂが得られる。こ
れにより、ビート信号Ａ，Ｂを直交座標上に展開するこ
とで、絶対位相または２信号間の位相差を求めることが
できる。According to the receiver 2a having the above-described configuration, a part of the transmission signal divided by the directional coupler 22 is divided into a signal having an intact phase and a signal having a phase shifted by 90 degrees, and each is individually. Since it is mixed with the received signal and output,
Beat signals A and B whose phases are orthogonal to each other are obtained. Thus, the absolute phase or the phase difference between the two signals can be obtained by developing the beat signals A and B on the orthogonal coordinates.
【００６５】図１０は受信器の他の構成例を示す図、図
１１は図１０のＡ／Ｄコンバータの分解能の例を示す図
であり、これらの図を用いて以下に本発明に係る第５実
施形態の測距レーダ装置の受信器について説明する。FIG. 10 is a diagram showing another example of the configuration of the receiver, and FIG. 11 is a diagram showing an example of the resolution of the A / D converter shown in FIG. A receiver of the ranging radar device according to the fifth embodiment will be described.
【００６６】第５実施形態の受信器２ｂは、上記第１か
ら第３の各実施形態に適用可能なものであり、図１０に
示すように、受信アンテナ２１と、方向性結合器２２
と、ミキサ２３とを上記各実施形態と同様に備えている
ほか、これら各実施形態との相違点として、Ａ／Ｄコン
バータ２５を備え、このＡ／Ｄコンバータ２５により、
ミキサ２３の出力から得られるビート信号をこの最高周
波数の２倍以上の速度でサンプリングするものである。The receiver 2b of the fifth embodiment is applicable to each of the above-described first to third embodiments. As shown in FIG. 10, a receiving antenna 21 and a directional coupler 22 are provided.
And a mixer 23 in the same manner as in the above-described embodiments, and a difference from these embodiments is that an A / D converter 25 is provided.
The beat signal obtained from the output of the mixer 23 is sampled at a speed of twice or more the maximum frequency.
【００６７】また、このようにビート信号をサンプリン
グする場合、各サンプリング時点の値を正確に読みとれ
るように、図１１の縦軸方向におけるＡ／Ｄコンバータ
２５の振幅分解能を設定する必要がある。つまり、位相
分解能に対する振幅の変化率が最も小さい地点（ｓｉｎ
値で位相がπ／２の地点等）において振幅値を識別する
ことができるようにするため、振幅のビット数Ｍに関し
て、以下の式を満たすようにＡ／Ｄコンバータ２５を設
計する必要がある。When sampling the beat signal in this manner, it is necessary to set the amplitude resolution of the A / D converter 25 in the direction of the vertical axis in FIG. 11 so that the value at each sampling time can be accurately read. That is, a point (sin) where the rate of change of the amplitude with respect to the phase resolution is the smallest
A / D converter 25 needs to be designed so that the following equation is satisfied with respect to the number of bits M of the amplitude so that the amplitude value can be identified at a point where the phase is π / 2 in the value. .
【００６８】 １／２M ≦１−ｓｉｎ(π／２−２π／ｎ) 上記構成の受信器２ｂによれば、ビート信号がこの最高
周波数の２倍以上の速度でサンプリングされるとともに
ビート信号の振幅が高精度に計測されるので、図１１の
時間軸（横軸）に沿った各点のように、サンプリングに
より得られたデータから、ビート信号の絶対位相または
位相差を２倍以上細かい精度で検出することができる。According to the receiver 2 b having the above configuration, the beat signal is sampled at a speed twice or more the maximum frequency, and the beat signal can be sampled at a rate equal to or less than 1/2 M ≦ 1−sin (π / 2−2π / n). Since the amplitude is measured with high precision, the absolute phase or the phase difference of the beat signal is more than twice as fine as the points along the time axis (horizontal axis) in FIG. Can be detected.
【００６９】図１２は測距レーダ装置の車両への適用例
を示す図であり、この図を用いて以下に本発明に係る第
６実施形態の測距レーダ装置について説明する。FIG. 12 is a diagram showing an example of application of a ranging radar apparatus to a vehicle. A ranging radar apparatus according to a sixth embodiment of the present invention will be described below with reference to FIG.
【００７０】上述した第１から第５の各実施形態の測距
レーダ装置は、車両に適用可能であり、図１２の例で
は、第１実施形態の測距レーダ装置を車両に適用してあ
る。この適用例では、詳細距離演算部６により求められ
た距離に応じて、物体としての例えば別の車両ないし建
物などと衝突しそうであるか否かの判定を行う判定部７
が設けられており、例えば、距離が所定長以下など、判
定部７による物体と衝突しそうであるという判定結果
は、車両の制動部８による衝突回避動作（アクセルまた
はブレーキなどを制御する制動信号の出力）に利用され
る。The ranging radar apparatus according to each of the first to fifth embodiments described above is applicable to a vehicle. In the example of FIG. 12, the ranging radar apparatus according to the first embodiment is applied to a vehicle. . In this application example, a determination unit 7 that determines whether or not it is likely to collide with another object, such as another vehicle or a building, according to the distance obtained by the detailed distance calculation unit 6.
The determination result that the determination unit 7 is likely to collide with the object, for example, when the distance is equal to or less than a predetermined length, is determined by the collision avoidance operation (the braking signal for controlling the accelerator or the brake, etc.) Output).
【００７１】この構成によれば、詳細距離演算部６によ
り求められた距離から物体と衝突しそうであるという判
定結果が得られると、制動部８による衝突回避動作によ
りその物体との衝突が回避されることになる。According to this configuration, when a determination result that a collision with an object is likely is obtained from the distance obtained by the detailed distance calculation unit 6, the collision with the object is avoided by the collision avoiding operation of the braking unit 8. Will be.
【００７２】図１３は測距レーダ装置の車両への適用例
を示す図であり、この図を用いて以下に本発明に係る第
７実施形態の測距レーダ装置について説明する。FIG. 13 is a diagram showing an example of application of a ranging radar apparatus to a vehicle, and a seventh embodiment of the ranging radar apparatus according to the present invention will be described below with reference to FIG.
【００７３】上述した第１から第５の各実施形態の測距
レーダ装置は、車両に適用可能であり、図１３の例で
は、第１実施形態の測距レーダ装置を車両に適用してあ
る。この適用例では、詳細距離演算部６により求められ
た距離に応じて、物体としての例えば別の車両ないし建
物などと衝突しそうであるか否かの判定を行う判定部７
が設けられており、例えば、距離が所定長以下など、判
定部７による物体と衝突しそうであるという判定結果
は、車両の操舵部９による衝突回避動作（ハンドルなど
を制御するための操舵信号）に利用される。The ranging radar apparatus according to each of the first to fifth embodiments described above is applicable to a vehicle. In the example of FIG. 13, the ranging radar apparatus according to the first embodiment is applied to a vehicle. . In this application example, a determination unit 7 that determines whether or not it is likely to collide with another object, such as another vehicle or a building, according to the distance obtained by the detailed distance calculation unit 6.
The determination result that the determination unit 7 is likely to collide with an object, for example, when the distance is equal to or less than a predetermined length, is based on a collision avoidance operation (a steering signal for controlling a steering wheel or the like) by the steering unit 9 of the vehicle. Used for
【００７４】この構成によれば、詳細距離演算部６によ
り求められた距離から物体と衝突しそうであるという判
定結果が得られると、操舵部９による衝突回避動作によ
りその物体との衝突が回避されることになる。According to this configuration, when a determination result indicating that the vehicle is likely to collide with the object is obtained from the distance calculated by the detailed distance calculation unit 6, the collision with the object is avoided by the collision avoiding operation of the steering unit 9. Will be.
【００７５】[0075]
【発明の効果】以上のことから明らかなように、請求項
１記載の発明によれば、周波数変調をして生成した送信
信号により電波を放射する送信手段と、前記電波の放射
方向からの到来電波を受波して受信信号を得て、この受
信信号と前記送信信号の一部とを混合して出力とする受
信混合手段と、この受信混合手段の出力からビート信号
の周波数を計測する周波数計測手段と、前記周波数変調
の周波数変調幅の両端周波数にそれぞれ対応する両周波
数のビート信号間の位相差を計測する位相差計測手段
と、これら周波数計測手段および位相差計測手段により
計測された周波数および位相差から、前記送信手段によ
り放射された電波を前記到来電波として反射させる物体
との距離を求める距離演算手段とを備えるので、限られ
た周波数帯域の中で細かい距離分解能を持つことができ
るから、長距離を高分解能で測定可能となる。As is apparent from the above description, according to the first aspect of the present invention, there is provided a transmitting means for emitting a radio wave by a transmission signal generated by performing frequency modulation, and an arrival of the radio wave from a radiation direction. A reception mixing means for receiving a radio wave to obtain a reception signal, mixing the reception signal with a part of the transmission signal and outputting the mixed signal, and a frequency for measuring a beat signal frequency from an output of the reception mixing means Measuring means, phase difference measuring means for measuring a phase difference between beat signals of both frequencies respectively corresponding to both end frequencies of the frequency modulation width of the frequency modulation, and a frequency measured by these frequency measuring means and phase difference measuring means. And from the phase difference, the distance calculating means for calculating the distance from the object reflecting the radio wave emitted by the transmitting means as the arriving radio wave, so that within a limited frequency band Since it is possible to have a paddle distance resolution, it is possible measure long distances with high resolution.
【００７６】請求項２記載の発明によれば、複数の周波
数変調幅を持たせる周波数変調をして生成した送信信号
により電波を放射する送信手段と、前記電波の放射方向
からの到来電波を受波して受信信号を得て、この受信信
号と前記送信信号の一部とを混合して出力とする受信混
合手段と、この受信混合手段の出力から、前記複数の周
波数変調幅のうち、一の周波数変調幅の両端周波数の信
号にそれぞれ対応する両ビート信号の位相差と別の周波
数変調幅の両端周波数の信号にそれぞれ対応する両ビー
ト信号の位相差とを計測する位相差計測手段と、この位
相差計測手段により計測された両位相差から、前記送信
手段により放射された電波を前記到来電波として反射さ
せる物体との距離を求める距離演算手段とを備え、前記
複数の周波数変調幅のうち、一の周波数変調幅の両端周
波数の差は、他の周波数変調幅の両端周波数の差に対し
て、前記受信混合手段の位相分解能の分割数倍以上に広
く設定されているので、限られた周波数帯域の中で細か
い距離分解能を持つことができるから、長距離を高分解
能で測定可能となる。According to the second aspect of the present invention, a transmitting means for emitting a radio wave by a transmission signal generated by performing frequency modulation having a plurality of frequency modulation widths, and receiving an incoming radio wave from the radiation direction of the radio wave. Receiving and mixing the received signal and a part of the transmission signal to output the received signal; and outputting from the output of the received mixing means one of the plurality of frequency modulation widths. Phase difference measuring means for measuring the phase difference between the two beat signals respectively corresponding to the signals at both ends of the frequency modulation width and the phase difference between the two beat signals respectively corresponding to the signals at both ends of the frequency modulation width, Distance calculating means for calculating a distance from an object that reflects a radio wave radiated by the transmitting means as the arriving radio wave from the two phase differences measured by the phase difference measuring means; Of these, the difference between the frequencies at both ends of one frequency modulation width is set to be wider than the difference between the frequencies at both ends of the other frequency modulation width by the number of divisions of the phase resolution of the reception mixing means, Since it is possible to have a fine distance resolution in the specified frequency band, long distances can be measured with high resolution.
【００７７】請求項３記載の発明によれば、請求項１ま
たは２記載の測距レーダ装置において、前記距離演算手
段により求められる距離の分解能が前記送信信号の周波
数の波長以下となるように、前記送信信号の周波数変調
幅、周波数差および前記受信混合手段の位相分解能の分
割数が設定されており、前記距離演算手段は、前記ビー
ト信号の絶対位相をさらに用いて前記距離を求めるの
で、さらに細かな測定が可能になる。According to a third aspect of the present invention, in the ranging radar apparatus according to the first or second aspect, the distance resolution obtained by the distance calculating means is equal to or less than the wavelength of the frequency of the transmission signal. The frequency modulation width of the transmission signal, the frequency difference and the number of divisions of the phase resolution of the reception mixing unit are set, and the distance calculation unit obtains the distance by further using the absolute phase of the beat signal. Fine measurement is possible.
【００７８】請求項４記載の発明によれば、請求項１か
ら３のいずれかに記載の測距レーダ装置において、前記
受信混合手段は、前記送信信号の一部を、そのままの位
相の第１信号と９０度位相をシフトした第２信号とに分
け、前記第１信号と前記受信信号とを混合して第１ビー
ト信号を得るとともに、前記第２信号と前記受信信号と
を混合して第２ビート信号を得るので、これら第１，第
２ビート信号から絶対位相または位相差を求めることが
可能となる。According to a fourth aspect of the present invention, in the ranging radar apparatus according to any one of the first to third aspects, the reception mixing means converts a part of the transmission signal into the first signal having the same phase as the first signal. The first signal is mixed with the received signal to obtain a first beat signal, and the second signal is mixed with the received signal to form a second signal. Since the two-beat signal is obtained, the absolute phase or the phase difference can be obtained from the first and second beat signals.
【００７９】請求項５記載の発明によれば、請求項１か
ら３のいずれかに記載の測距レーダ装置において、前記
ビート信号をこの最高周波数の２倍以上の速度でサンプ
リングする手段を備えるので、この手段のサンプリング
により得られたデータから絶対位相または位相差を求め
ることが可能となる。According to the fifth aspect of the present invention, in the distance measuring radar apparatus according to any one of the first to third aspects, there is provided a means for sampling the beat signal at a speed of twice or more the maximum frequency. The absolute phase or the phase difference can be obtained from the data obtained by the sampling by this means.
【００８０】請求項６記載の発明によれば、請求項１か
ら５のいずれかに記載の測距レーダ装置において、前記
距離演算手段により求められた距離に応じて、前記物体
と衝突しそうであるか否かの判定を行う判定手段を備
え、この判定手段による前記物体と衝突しそうであると
いう判定結果は、車両の制動手段による衝突回避動作に
利用されるので、車両の運行時に発生しうる衝突を好適
に回避することが可能になる。According to a sixth aspect of the present invention, in the ranging radar apparatus according to any one of the first to fifth aspects, the object is likely to collide with the object according to the distance obtained by the distance calculating means. A determination unit that determines whether or not the vehicle is likely to collide with the object is used for a collision avoidance operation by a braking unit of the vehicle. Can be preferably avoided.
【００８１】請求項７記載の発明によれば、請求項１か
ら５のいずれかに記載の測距レーダ装置において、前記
距離演算手段により求められた距離に応じて、前記物体
と衝突しそうであるか否かの判定を行う判定手段を備
え、この判定手段による前記物体と衝突しそうであると
いう判定結果は、車両の操舵手段による衝突回避動作に
利用されるので、車両の運行時に発生しうる衝突を好適
に回避することが可能になる。According to the seventh aspect of the present invention, in the ranging radar apparatus according to any one of the first to fifth aspects, the object is likely to collide with the object according to the distance obtained by the distance calculating means. A determination unit for determining whether or not the vehicle is likely to collide with the object is used for a collision avoidance operation by a vehicle steering unit. Can be preferably avoided.
【図１】本発明に係る第１実施形態の測距レーダ装置の
構成図である。FIG. 1 is a configuration diagram of a ranging radar apparatus according to a first embodiment of the present invention.
【図２】図１の周波数計測器、位相差計測器および詳細
距離演算部に適用される距離測定方式の原理図である。FIG. 2 is a principle diagram of a distance measurement method applied to a frequency measurement device, a phase difference measurement device, and a detailed distance calculation unit in FIG. 1;
【図３】本発明に係る第２実施形態の測距レーダ装置の
構成図である。FIG. 3 is a configuration diagram of a ranging radar apparatus according to a second embodiment of the present invention.
【図４】図３の位相差計測器および詳細距離演算部に適
用される距離測定方式の原理図である。FIG. 4 is a principle diagram of a distance measuring method applied to the phase difference measuring device and the detailed distance calculating unit in FIG. 3;
【図５】測距レーダ装置の構成図である。FIG. 5 is a configuration diagram of a ranging radar apparatus.
【図６】測距レーダ装置の構成図である。FIG. 6 is a configuration diagram of a ranging radar apparatus.
【図７】図５，図６に適用される距離測定方式の原理図
である。FIG. 7 is a principle diagram of a distance measuring method applied to FIGS. 5 and 6;
【図８】受信器の他の構成例を示す図である。FIG. 8 is a diagram illustrating another configuration example of the receiver.
【図９】図８の受信器による位相シフト例を示す図であ
る。FIG. 9 is a diagram illustrating an example of a phase shift by the receiver in FIG. 8;
【図１０】受信器の他の構成例を示す図である。FIG. 10 is a diagram illustrating another configuration example of the receiver.
【図１１】図１０のＡ／Ｄコンバータの分解能の例を示
す図である。11 is a diagram illustrating an example of the resolution of the A / D converter in FIG.
【図１２】測距レーダ装置の車両への適用例を示す図で
ある。FIG. 12 is a diagram showing an application example of a ranging radar apparatus to a vehicle.
【図１３】測距レーダ装置の車両への適用例を示す図で
ある。FIG. 13 is a diagram illustrating an application example of a ranging radar apparatus to a vehicle.
【図１４】各種レーダ方式のうち一般的なＦＭ−ＣＷ方
式を用いた測距レーダ装置の従来構成例を示す図であ
る。FIG. 14 is a diagram showing a conventional configuration example of a ranging radar apparatus using a general FM-CW method among various radar methods.
【図１５】ＦＭ−ＣＷ方式による相対的な距離および速
度の測定原理図である。FIG. 15 is a diagram illustrating a principle of measuring a relative distance and a speed by the FM-CW method.
【図１６】各種レーダ方式のうち２周波ＣＷ方式を用い
た測距レーダ装置の従来構成例を示す図である。FIG. 16 is a diagram illustrating a conventional configuration example of a ranging radar apparatus using a two-frequency CW method among various radar methods.
【図１７】２周波ＣＷ方式による相対的な距離の測定原
理図である。FIG. 17 is a diagram illustrating a principle of measuring a relative distance by a two-frequency CW method.
１，１ａ 送信器 ２，２ａ，２ｂ 受信器 ３ 周波数計測器 ４，４ａ 位相差計測器 ５ 絶対位相計測器 ６，６ａ，６ｂ，６ｃ 詳細距離演算部 ７ 判定部 ８ 制動部 ９ 操舵部 1, 1a Transmitter 2, 2a, 2b Receiver 3 Frequency measuring device 4, 4a Phase difference measuring device 5 Absolute phase measuring device 6, 6a, 6b, 6c Detailed distance calculation unit 7 Judgment unit 8 Braking unit 9 Steering unit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 平田 聡 大阪府門真市大字門真1048番地松下電工株 式会社内 (72)発明者 寺田 直人 大阪府門真市大字門真1048番地松下電工株 式会社内 Ｆターム(参考） 5J070 AB17 AC02 AC06 AD02 AH22 AH23 AK22 BA01 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Satoshi Hirata 1048 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Works Co., Ltd. Terms (reference) 5J070 AB17 AC02 AC06 AD02 AH22 AH23 AK22 BA01
Claims (7)
り電波を放射する送信手段と、前記電波の放射方向から
の到来電波を受波して受信信号を得て、この受信信号と
前記送信信号の一部とを混合して出力とする受信混合手
段と、この受信混合手段の出力からビート信号の周波数
を計測する周波数計測手段と、前記周波数変調の周波数
変調幅の両端周波数にそれぞれ対応する両周波数のビー
ト信号間の位相差を計測する位相差計測手段と、これら
周波数計測手段および位相差計測手段により計測された
周波数および位相差から、前記送信手段により放射され
た電波を前記到来電波として反射させる物体との距離を
求める距離演算手段とを備えることを特徴とする測距レ
ーダ装置。A transmitting means for radiating a radio wave based on a transmission signal generated by frequency modulation; a radio wave arriving from a radiation direction of the radio wave being received to obtain a reception signal; Receiving and mixing means for mixing and outputting a part of the received signal, frequency measuring means for measuring the frequency of the beat signal from the output of the receiving and mixing means, and both corresponding to both ends of the frequency modulation width of the frequency modulation. A phase difference measuring means for measuring a phase difference between frequency beat signals; and a radio wave radiated by the transmitting means reflected from the frequency and phase difference measured by the frequency measuring means and the phase difference measuring means as the arriving radio wave. A distance measuring radar device comprising: a distance calculating unit that calculates a distance to an object to be made.
調をして生成した送信信号により電波を放射する送信手
段と、前記電波の放射方向からの到来電波を受波して受
信信号を得て、この受信信号と前記送信信号の一部とを
混合して出力とする受信混合手段と、この受信混合手段
の出力から、前記複数の周波数変調幅のうち、一の周波
数変調幅の両端周波数の信号にそれぞれ対応する両ビー
ト信号の位相差と別の周波数変調幅の両端周波数の信号
にそれぞれ対応する両ビート信号の位相差とを計測する
位相差計測手段と、この位相差計測手段により計測され
た両位相差から、前記送信手段により放射された電波を
前記到来電波として反射させる物体との距離を求める距
離演算手段とを備え、 前記複数の周波数変調幅のうち、一の周波数変調幅の両
端周波数の差は、他の周波数変調幅の両端周波数の差に
対して、前記受信混合手段の位相分解能の分割数倍以上
に広く設定されていることを特徴とする測距レーダ装
置。2. A transmitting means for radiating a radio wave by a transmission signal generated by frequency modulation having a plurality of frequency modulation widths, and receiving a radio wave arriving from a radiation direction of the radio wave to obtain a reception signal. Receiving mixing means for mixing and outputting the received signal and a part of the transmission signal and outputting the mixed signal, from the output of the receiving mixing means, the frequency modulation width of both ends of one of the plurality of frequency modulation widths Phase difference measuring means for measuring the phase difference between the two beat signals respectively corresponding to the signals and the phase difference between the two beat signals respectively corresponding to the signals at both ends of the different frequency modulation width, and the phase difference measuring means. Distance calculating means for calculating a distance from an object that reflects the radio wave radiated by the transmitting means as the arriving radio wave from the two phase differences, wherein one of the plurality of frequency modulation widths is one frequency modulation width. Difference across frequency, other relative differences across frequency of the frequency modulation width, distance measuring radar apparatus characterized by widely set divided into several times or more phase resolution of the receiving mixing means.
の分解能が前記送信信号の周波数の波長以下となるよう
に、前記送信信号の周波数変調幅、周波数差および前記
受信混合手段の位相分解能の分割数が設定されており、
前記距離演算手段は、前記ビート信号の絶対位相をさら
に用いて前記距離を求めることを特徴とする請求項１ま
たは２記載の測距レーダ装置。3. A division number of a frequency modulation width and a frequency difference of the transmission signal and a phase resolution of the reception mixing means such that a distance resolution obtained by the distance calculation means is equal to or less than a wavelength of a frequency of the transmission signal. Is set,
The distance measuring radar apparatus according to claim 1, wherein the distance calculating unit obtains the distance by further using an absolute phase of the beat signal.
部を、そのままの位相の第１信号と９０度位相をシフト
した第２信号とに分け、前記第１信号と前記受信信号と
を混合して第１ビート信号を得るとともに、前記第２信
号と前記受信信号とを混合して第２ビート信号を得るこ
とを特徴とする請求項１から３のいずれかに記載の測距
レーダ装置。4. The reception mixing means divides a part of the transmission signal into a first signal having an intact phase and a second signal having a phase shifted by 90 degrees, and separates the first signal and the reception signal. 4. The ranging radar apparatus according to claim 1, wherein a first beat signal is obtained by mixing, and a second beat signal is obtained by mixing the second signal and the received signal. .
以上の速度でサンプリングする手段を備えることを特徴
とする請求項１から３のいずれかに記載の測距レーダ装
置。5. The ranging radar apparatus according to claim 1, further comprising means for sampling the beat signal at a speed twice or more the maximum frequency.
に応じて、前記物体と衝突しそうであるか否かの判定を
行う判定手段を備え、この判定手段による前記物体と衝
突しそうであるという判定結果は、車両の制動手段によ
る衝突回避動作に利用されることを特徴とする請求項１
から５のいずれかに記載の測距レーダ装置。6. A determination means for determining whether the object is likely to collide with the object in accordance with the distance obtained by the distance calculation means, and the determination means determines that the object is likely to collide with the object. The result is used for a collision avoidance operation by a braking means of the vehicle.
6. The ranging radar device according to any one of claims 1 to 5.
に応じて、前記物体と衝突しそうであるか否かの判定を
行う判定手段を備え、この判定手段による前記物体と衝
突しそうであるという判定結果は、車両の操舵手段によ
る衝突回避動作に利用されることを特徴とする請求項１
から５のいずれかに記載の測距レーダ装置。7. A determination means for determining whether or not the object is likely to collide with the object according to the distance calculated by the distance calculation means, and the determination means determines that the object is likely to collide with the object. The result is used for a collision avoidance operation by a steering means of the vehicle.
6. The ranging radar device according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000366383A JP2002168946A (en) | 2000-11-30 | 2000-11-30 | Range-finding radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000366383A JP2002168946A (en) | 2000-11-30 | 2000-11-30 | Range-finding radar system |
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| Publication Number | Publication Date |
|---|---|
| JP2002168946A true JP2002168946A (en) | 2002-06-14 |
Family
ID=18837022
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000366383A Withdrawn JP2002168946A (en) | 2000-11-30 | 2000-11-30 | Range-finding radar system |
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| JP2008045940A (en) * | 2006-08-11 | 2008-02-28 | Yupiteru Corp | Method for measuring distance using continuous wave microwave sensor |
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| JP2008045940A (en) * | 2006-08-11 | 2008-02-28 | Yupiteru Corp | Method for measuring distance using continuous wave microwave sensor |
| JP2008111743A (en) * | 2006-10-31 | 2008-05-15 | Hitachi Ltd | Radar apparatus, high frequency sensor and radar detection method |
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| JP2011058836A (en) * | 2009-09-07 | 2011-03-24 | Alps Electric Co Ltd | Wireless sensor device |
| WO2013042846A1 (en) * | 2011-09-20 | 2013-03-28 | 충남대학교산학협력단 | System for measuring a wave source |
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| CN109444870A (en) * | 2018-12-19 | 2019-03-08 | 上海频语电子技术有限公司 | A kind of distance measuring method, device and its system |
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