JP2003315449A

JP2003315449A - Target locating method and system

Info

Publication number: JP2003315449A
Application number: JP2002120666A
Authority: JP
Inventors: Joji Inoue; 丈治井上
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2002-04-23
Filing date: 2002-04-23
Publication date: 2003-11-06
Anticipated expiration: 2022-04-23
Also published as: JP3751574B2

Abstract

<P>PROBLEM TO BE SOLVED: To easily locate a target that does not transmit radio waves for itself. <P>SOLUTION: A pulse train radio wave is transmitted from an antenna in a rotating transmission station 1 to a target 3 and a reception station 2. The path length difference between the path length between the transmission station 1 and the reception station 2 and a path length reaching the reception station 2 via the target 3 from the transmission station 1 based on the difference between the arrival time of a pulse train directly arriving at the reception station 2 and the arrival time of a pulse signal that is reflected by the target 3 for arriving is calculated. An angle 8 is obtained based on the difference between the time when the peak amplitude of an amplitude-modulated signal that is generated by the rotation of the antenna at the transmission station 1 directly arrives at the reception station 2, and the time when the peak amplitude arrives at the reception station after being reflected by the target. An angle 7 is obtained based on a radio wave 6 that is reflected by the target 3 and arrives at the reception station 2, and the position of the target 3 is calculated by using the obtained path length, the angle 8, and the angle 7. <P>COPYRIGHT: (C)2004,JPO

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【発明の属する技術分野】本発明は、航空機、船舶など
の目標の位置を探知する目標位置探知方法および目標位
置探知システムに係わり、さらに詳しくは、送信局から
送信された電波が直接受信局に到来する時刻と目標で反
射されて受信局に到来時刻の差を用いて、送信局から見
た目標と受信局のなす角度および受信局から見た目標と
送信局のなす角度を求め、三角測量の原理によって目標
の位置を探知する目標位置探知方法および目標位置探知
システムに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target position detecting method and a target position detecting system for detecting the position of a target such as an aircraft or a ship. More specifically, the radio wave transmitted from the transmitting station is directly transmitted to the receiving station. Using the difference between the arrival time and the arrival time at the receiving station after being reflected by the target, the angle between the target and the receiving station as seen from the transmitting station and the angle between the target and the transmitting station as seen from the receiving station are obtained, and the principle of triangulation is determined. The present invention relates to a target position detecting method and a target position detecting system for detecting the position of a target by means of the method.

【０００２】[0002]

【従来の技術】図９は、従来の目標位置の特定（探知）
方法の一例（従来の方法１）を示す図である。図におい
て、３０は位置探知の対象物である目標、３１は第一の
受信局、３２は第二の受信局、１９は第一の受信局３１
と第二の受信局３２を結ぶ基線、４１は第一の受信局３
１で測定した目標３０の方位角（即ち、第一の受信局３
１から見た目標３０と第二の受信局３２のなす角度）、
４２は第二の受信局３２で測定した目標３０の方位角
（即ち、第二の受信局３２から見た目標３０と第一の受
信局３１のなす角度）である。従来の方法１は、図９に
示すように、第一の受信局３１と第二の受信局３２の２
つの受信局を設置し、各受信局において、目標３０が送
信する電波を受信して、目標３０の方位角を測定する。
また、第一の受信局３１と第二の受信局３２を結ぶ基線
１９の距離は、測量等により既知である。2. Description of the Related Art FIG. 9 is a conventional method for specifying (detecting) a target position.
It is a figure which shows an example (conventional method 1) of a method. In the figure, 30 is a target that is an object of position detection, 31 is a first receiving station, 32 is a second receiving station, and 19 is a first receiving station 31.
And a base line connecting the second receiving station 32 and 41 is the first receiving station 3
1, the azimuth angle of the target 30 (that is, the first receiving station 3
The angle formed by the target 30 and the second receiving station 32 viewed from 1),
Reference numeral 42 denotes an azimuth angle of the target 30 measured by the second receiving station 32 (that is, an angle formed by the target 30 and the first receiving station 31 viewed from the second receiving station 32). In the conventional method 1, as shown in FIG. 9, two of the first receiving station 31 and the second receiving station 32 are used.
One receiving station is installed, and each receiving station receives the radio wave transmitted by the target 30 and measures the azimuth angle of the target 30.
The distance of the base line 19 connecting the first receiving station 31 and the second receiving station 32 is known by surveying or the like.

【０００３】従って、目標３０の位置を三角形の頂点
Ａ、第一の受信局３１の位置を三角形の頂点Ｂ、第二の
受信局３２の位置を三角形の頂点Ｃとすると、三角形Ａ
ＢＣにおいて辺ＢＣの長さとその両端の角度が求められ
ることになり、三角測量の原理により頂点Ａに位置を決
定することができる。即ち、基線１９の距離（長さ）、
第一の受信局３１で測定した目標３０の方位角４１およ
び第二の受信局３２で測定した目標３０の方位角４２を
用いて、三角測量の原理により目標３０の位置を特定
（探知）することができる。Therefore, if the position of the target 30 is the vertex A of the triangle, the position of the first receiving station 31 is the vertex B of the triangle, and the position of the second receiving station 32 is the vertex C of the triangle, then the triangle A
Since the length of the side BC and the angles at both ends of the side BC are obtained in the BC, the position of the vertex A can be determined by the principle of triangulation. That is, the distance (length) of the base line 19,
Using the azimuth angle 41 of the target 30 measured by the first receiving station 31 and the azimuth angle 42 of the target 30 measured by the second receiving station 32, the position of the target 30 is specified (detected) by the principle of triangulation. be able to.

【０００４】また、図１０は、従来の別の方法による目
標位置の特定（探知）方法（従来の方法２）を示す図で
ある。図において、２１は時刻ｔ１における受信局の第
一の位置、２２は時刻ｔ２における受信局の第二の位
置、３０は位置探知の対象物である目標、２３は時刻ｔ
１における受信局の第一の位置２１と時刻ｔ２における
受信局の第二の位置２２を結ぶ基線、２４は時刻ｔ１の
第一の位置２１において受信局が測定した目標の方位
角、２５は時刻ｔ２の第二の位置２２において受信局が
測定した目標３０の方位角である。この従来の方法２に
おいては、受信局は直線（即ち、基線２３）上を移動し
ながら、時刻ｔ１と時刻ｔ２に目標３０が送信する電波
を受信することにより、第一の位置２１および第二の位
置２２における目標３０の方位角を測定する。FIG. 10 is a diagram showing a target position specifying (detecting) method (conventional method 2) according to another conventional method. In the figure, 21 is the first position of the receiving station at time t1, 22 is the second position of the receiving station at time t2, 30 is the target that is the object of position detection, and 23 is time t.
1, a baseline connecting the first position 21 of the receiving station at 1 and the second position 22 of the receiving station at time t2, 24 is the target azimuth angle measured by the receiving station at the first position 21 at time t1, and 25 is the time It is the azimuth angle of the target 30 measured by the receiving station at the second position 22 of t2. In this conventional method 2, the receiving station moves on a straight line (that is, the base line 23) and receives the radio waves transmitted by the target 30 at the time t1 and the time t2, whereby the first position 21 and the second position 21 are received. The azimuth of the target 30 at the position 22 is measured.

【０００５】また、時刻ｔ１における受信局の第一の位
置２１と時刻ｔ２における受信局の第二の位置２２を結
んだ基線２３の距離も測定できるので、従来の方法１と
同様に三角測量の原理により目標３０の位置を特定する
ことができる。即ち、基線２３の距離（長さ）、第一の
位置２１において受信局が測定した目標３０の方位２４
および第二の位置２２において受信局が測定した目標３
０の方位２５を用いて、三角測量の原理により目標３０
の位置を特定（探知）することができる。Further, since the distance of the base line 23 connecting the first position 21 of the receiving station at the time t1 and the second position 22 of the receiving station at the time t2 can be measured, the triangulation can be performed similarly to the conventional method 1. The position of the target 30 can be specified by the principle. That is, the distance (length) of the base line 23, the azimuth 24 of the target 30 measured by the receiving station at the first position 21
And the target 3 measured by the receiving station at the second position 22
Target 30 by the principle of triangulation, using 0 bearing 25
The position of can be specified (detected).

【０００６】[0006]

【発明が解決しようとする課題】従来の方法1では、目
標３０が電波を送信している必要がある。また、各受信
局間での目標３０の方位角測定を同一時刻に行う必要が
あるほか、各受信局の位置をあらかじめ知っておく必要
があるので、何らかの方法で受信局間の同期を取る必要
があった。また、従来の方法２では、目標３０が電波を
送信している必要があると共に、各時刻における移動す
る受信局の位置を知る必要があるほか、受信局位置を特
定（探知）するまでに（時刻ｔ２−時刻ｔ１）の時間を
必要とするなどの問題点があった。In the conventional method 1, the target 30 needs to transmit radio waves. In addition, it is necessary to measure the azimuth angle of the target 30 between the receiving stations at the same time and to know the position of each receiving station in advance, so it is necessary to synchronize the receiving stations by some method. was there. Further, in the conventional method 2, the target 30 needs to be transmitting radio waves, and it is necessary to know the position of the receiving station that moves at each time, and until the receiving station position is specified (detected) ( There is a problem that the time from time t2 to time t1) is required.

【０００７】この発明は上記のような問題点を解消する
ためになされたもので、受信局間での同期を取ることな
く、電波を送信していない目標の位置を探知できる目標
位置探知方法および目標位置探知システムを提供するこ
とを目的とする。また、電波を送信していない目標の位
置探知を、短時間、かつ、高精度に行える目標位置探知
方法および目標位置探知システムを提供することを目的
とする。また、電波を送信している目標が海面上にある
場合に、目標の位置探知を容易に行える目標位置探知方
法を提供することを目的とする。The present invention has been made to solve the above problems, and a target position detecting method and a target position detecting method capable of detecting the position of a target not transmitting radio waves without synchronization between receiving stations. The object is to provide a target position detection system. Another object of the present invention is to provide a target position detection method and a target position detection system that can detect the position of a target that does not transmit radio waves in a short time and with high accuracy. Another object of the present invention is to provide a target position detecting method that can easily detect the position of a target when the target transmitting radio waves is on the surface of the sea.

【０００８】[0008]

【課題を解決するための手段】この発明に係る目標位置
探知方法は、所定時間で一回転する送信局のアンテナか
らパルス列信号の電波を位置探知目標および受信局に送
信し、上記受信局に直接到来する上記パルス列信号の到
来時刻と上記位置探知目標で反射されてから上記受信局
に到来する上記パルス列信号の到来時刻との差に基づい
て、上記送信局から直接上記受信局に至る第一の経路長
と上記送信局から上記位置探知目標を経由して上記受信
局に至る第二の経路長との経路長差を算出し、上記送信
局のアンテナが所定時間で一回転することにより生じる
振幅変調信号のピーク振幅が上記受信局に直接到来する
到来時刻と、上記振幅変調信号のピーク振幅が上記位置
探知目標で反射されてから上記受信局に到来する到来時
刻との差に基づいて、上記送信局から見た上記位置探知
目標と上記受信局のなす第一の角度を求め、上記送信局
から送信され、上記位置探知目標で反射して上記受信局
に到来する電波に基づいて、上記受信局から見た上記位
置探知目標と上記送信局のなす第二の角度を求め、求め
られた上記経路長差、上記第一の角度および第二の角度
を用いて、上記位置探知目標の位置を算出するものであ
る。A target position detecting method according to the present invention transmits an electric wave of a pulse train signal from an antenna of a transmitting station that makes one rotation in a predetermined time to a position detecting target and a receiving station, and directly to the receiving station. Based on the difference between the arrival time of the pulse train signal and the arrival time of the pulse train signal that arrives at the receiving station after being reflected by the position detection target, the first from the transmitting station directly to the receiving station Amplitude generated by calculating the path length difference between the path length and the second path length from the transmitting station to the receiving station via the position detection target, and the antenna of the transmitting station makes one rotation in a predetermined time. Based on the difference between the arrival time when the peak amplitude of the modulation signal directly arrives at the receiving station and the arrival time when the peak amplitude of the amplitude modulation signal arrives at the receiving station after being reflected by the position detection target. , The first angle made by the receiving station and the position detection target seen from the transmitting station, based on the radio waves transmitted from the transmitting station, reflected by the position detecting target and arriving at the receiving station, Obtaining the second angle formed by the position detection target and the transmission station viewed from the receiving station, using the obtained path length difference, the first angle and the second angle, of the position detection target The position is calculated.

【０００９】また、この発明に係る目標位置探知方法
は、上記送信局から直接上記受信局に至る上記第一の経
路長は既知であることを特徴とする。The target position detecting method according to the present invention is characterized in that the first path length from the transmitting station directly to the receiving station is known.

【００１０】また、この発明に係る目標位置探知方法
は、単位時間に所定の回転数で回転する送信局の指向性
アンテナから位置探知目標に振幅変調信号の電波を送信
すると共に、上記指向性アンテナが所定の方位を向いた
時に上記送信局の無指向性アンテナから上記振幅変調信
号の電波を全方位に送信し、上記指向性アンテナから送
信された振幅変調信号の電波が上記位置探知目標で反射
されて上記受信局で受信される受信電波信号と、上記無
指向性アンテナから送信された振幅変調信号の電波が上
記位置探知目標で反射されて上記受信局で受信される受
信電波信号との位相差に基づいて、上記送信局から見た
上記位置探知目標と上記受信局のなす第一の角度を求
め、上記位置探知目標からの反射電波に基づいて、上記
受信局から見た上記位置探知目標と上記送信局のなす第
二の角度を求め、求められた上記第一の角度、第二の角
度および既知の上記送信局と上記受信局間の距離を用い
て、上記位置探知目標の位置を算出するものである。Further, in the target position detecting method according to the present invention, the directional antenna of the transmitting station, which rotates at a predetermined number of revolutions per unit time, transmits the radio wave of the amplitude modulation signal to the position detecting target, and at the same time, the directional antenna is used. When the antenna is oriented in a predetermined direction, the omnidirectional antenna of the transmitting station transmits the radio wave of the amplitude modulation signal in all directions, and the radio wave of the amplitude modulation signal transmitted from the directional antenna is reflected by the position detection target. The position of the received radio wave signal received by the receiving station and the radio wave of the amplitude modulated signal transmitted from the omnidirectional antenna is reflected by the position detection target and received by the receiving station. Based on the phase difference, the first angle formed by the position detection target and the reception station viewed from the transmission station is obtained, and based on the reflected radio wave from the position detection target, the position viewed from the reception station. The second angle formed by the detection target and the transmitting station is obtained, and the obtained first angle, the second angle and the known distance between the transmitting station and the receiving station are used to detect the position detecting target. The position is calculated.

【００１１】また、この発明に係る目標位置探知方法の
送信局より送信される電波はパルス列信号を含み、上記
受信局に直接到来する上記パルス列信号の到来時刻と上
記位置探知目標で反射されてから上記受信局に到来する
上記パルス列信号の到来時刻との差に基づいて、上記送
信局から直接上記受信局に至る第一の経路長と上記送信
局から上記位置探知目標を経由して上記受信局に至る第
二の経路長との経路長差を算出し、算出された上記経路
長差、求められた上記第一の角度および第二の角度を用
いて、上記位置探知目標の位置を算出するものである。Further, the radio wave transmitted from the transmitting station of the target position detecting method according to the present invention includes a pulse train signal, and after the arrival time of the pulse train signal directly reaching the receiving station and the reflection at the position detecting target. Based on the difference between the arrival time of the pulse train signal arriving at the receiving station, the receiving station via the first path length from the transmitting station directly to the receiving station and the transmitting station from the position finding target. To calculate the position difference of the position detection target by using the calculated path length difference, the calculated first angle and the second angle. It is a thing.

【００１２】また、この発明に係る目標位置探知方法
は、単位時間に所定の回転数で回転する第一の送信局の
指向性アンテナから位置探知目標に第一の振幅変調信号
の電波を送信すると共に、上記指向性アンテナが所定の
方位を向いた時に上記第一の送信局の無指向性アンテナ
から上記第一の振幅変調信号の電波を全方位に送信し、
単位時間に所定の回転数で回転する第二の送信局の指向
性アンテナから位置探知目標に第二の振幅変調信号の電
波を送信すると共に、上記第二の送信局の上記指向性ア
ンテナが所定の方位を向いた時に上記第二の送信局の無
指向性アンテナから上記第二の振幅変調信号の電波を全
方位に送信し、上記第一の送信局の指向性アンテナから
送信された第一の振幅変調信号の電波が上記位置探知目
標で反射されて上記受信局で受信される受信電波信号
と、上記第一の送信局の無指向性アンテナから送信され
た振幅変調信号の電波が上記位置探知目標で反射されて
上記受信局で受信される受信電波信号との位相差に基づ
いて、上記第一の送信局から見た上記位置探知目標と上
記第二の送信局のなす第一の角度を求め、上記第二の送
信局の指向性アンテナから送信された第二の振幅変調信
号の電波が上記位置探知目標で反射されて上記受信局で
受信される受信電波信号と、上記第二の送信局の無指向
性アンテナから送信された振幅変調信号の電波が上記位
置探知目標で反射されて上記受信局で受信される受信電
波信号との位相差に基づいて、上記第二の送信局から見
た上記位置探知目標と上記第一の送信局のなす第二の角
度を求め、求められた上記第一の角度、第二の角度およ
び既知の上記第一の送信局と上記第二の送信局間の距離
を用いて、上記位置探知目標の位置を算出するものであ
る。Further, in the target position detecting method according to the present invention, the directional antenna of the first transmitting station, which rotates at a predetermined number of revolutions per unit time, transmits the radio wave of the first amplitude modulation signal to the position detecting target. Along with, when the directional antenna is oriented in a predetermined direction, the omnidirectional antenna of the first transmitting station transmits the radio wave of the first amplitude modulation signal in all directions,
While transmitting the radio wave of the second amplitude modulation signal to the position detection target from the directional antenna of the second transmitting station that rotates at a predetermined number of revolutions per unit time, the directional antenna of the second transmitting station has a predetermined direction. When transmitted in the azimuth direction, the omnidirectional antenna of the second transmitting station transmits the radio wave of the second amplitude modulation signal in all directions, and the first directional antenna of the first transmitting station transmits The radio wave of the amplitude modulated signal is reflected by the position detection target and is received by the receiving station, and the radio wave of the amplitude modulated signal transmitted from the omnidirectional antenna of the first transmitting station is the position Based on the phase difference between the received radio wave signal reflected by the detection target and received by the reception station, the first angle formed by the position detection target and the second transmission station seen from the first transmission station. The directional antenna of the second transmitting station above. The radio wave of the second amplitude modulation signal transmitted from the received radio wave signal reflected by the position detection target and received by the reception station, and the amplitude modulation transmitted from the omnidirectional antenna of the second transmission station. The position detection target and the first transmission station as seen from the second transmission station, based on the phase difference between the radio wave of the signal reflected by the position detection target and the received radio wave signal received by the reception station. The second angle formed by the, the first angle obtained, the second angle and the known distance between the first transmitting station and the second transmitting station, using the position detection target The position is calculated.

【００１３】また、この発明に係る目標位置探知方法
は、電波を送信している海面上の位置探知目標の位置を
算出する目標位置探知方法であって、海面に対する垂線
上で既知の高度に配置された受信局において受信する上
記位置探知目標からの送信電波に基づいて、上記受信局
から見た上記位置探知目標と上記垂線のなす角度を求
め、上記受信局から見た上記位置探知目標と上記垂線の
なす角度と上記位置探知目標の上記垂線上の既知の高度
を用いて、上記位置探知目標の位置を算出するものであ
る。The target position detecting method according to the present invention is a target position detecting method for calculating the position of a position detecting target on the sea surface which is transmitting radio waves, and is arranged at a known altitude on the perpendicular to the sea surface. Based on the radio wave transmitted from the position detection target received by the received station, the angle between the position detection target viewed from the reception station and the perpendicular is obtained, and the position detection target viewed from the reception station and the The position of the position detection target is calculated using the angle formed by the vertical line and the known altitude of the position detection target on the perpendicular line.

【００１４】また、この発明に係る目標位置探知システ
ムは、所定時間で一回転する送信局のアンテナからパル
ス列信号の電波を位置探知目標および受信局に送信する
送信局と、上記位置探知目標で反射される電波と上記送
信局から直接到来する電波を受信する受信局であって、
上記送信局から直接到来する上記パルス列信号の到来時
刻と上記位置探知目標で反射されてから到来する上記パ
ルス列信号の到来時刻との差に基づいて、上記送信局か
ら直接上記受信局に至る第一の経路長と上記送信局から
上記位置探知目標を経由して上記受信局に至る第二の経
路長との経路長差を算出する手段と、上記送信局のアン
テナが所定時間で一回転することにより生じる振幅変調
信号のピーク振幅が上記受信局に直接到来する到来時刻
と、上記振幅変調信号のピーク振幅が上記位置探知目標
で反射されてから上記受信局に到来する到来時刻との差
に基づいて、上記送信局から見た上記位置探知目標と上
記受信局のなす第一の角度を求める手段と、上記送信局
から送信され、上記位置探知目標で反射して上記受信局
に到来する電波に基づいて、上記受信局から見た上記位
置探知目標と上記送信局のなす第二の角度を求める手段
とを有した受信局とを備え、求められた上記経路長差、
上記第一の角度および第二の角度を用いて、上記位置探
知目標の位置を算出するものである。Further, the target position detecting system according to the present invention includes a transmitting station that transmits a radio wave of a pulse train signal to the position detecting target and the receiving station from the antenna of the transmitting station that makes one rotation in a predetermined time, and the reflection at the position detecting target. Which is a receiving station for receiving the received radio wave and the radio wave directly coming from the above transmitting station,
Based on the difference between the arrival time of the pulse train signal that arrives directly from the transmission station and the arrival time of the pulse train signal that arrives after being reflected by the position detection target, first from the transmission station directly to the reception station And a means for calculating a path length difference between the path length of the transmission station and the second path length from the transmission station to the reception station via the position detection target, and the antenna of the transmission station makes one revolution in a predetermined time. Based on the difference between the arrival time when the peak amplitude of the amplitude-modulated signal directly occurs at the receiving station and the arrival time when the peak amplitude of the amplitude-modulated signal arrives at the receiving station after being reflected by the position detection target. The means for obtaining the first angle formed by the position detection target and the reception station viewed from the transmission station, and the radio wave transmitted from the transmission station, reflected by the position detection target, and arriving at the reception station. Zui and, a receiving station and means for determining a second angle between the position detected target and the transmitting station as viewed from the receiving station, the obtained said path length difference,
The position of the position detection target is calculated using the first angle and the second angle.

【００１５】また、この発明に係る目標位置探知システ
ムは、単位時間に所定の回転数で回転する指向性アンテ
ナから位置探知目標に振幅変調信号の電波を送信すると
共に、上記指向性アンテナが所定の方位を向いた時に無
指向性アンテナから上記振幅変調信号の電波を全方位に
送信する送信局と、上記送信局から送信され、上記位置
探知目標で反射された電波を受信する受信局であって、
上記指向性アンテナから送信された振幅変調信号の電波
が上記位置探知目標で反射されて上記受信局で受信され
る受信電波信号と、上記無指向性アンテナから送信され
た振幅変調信号の電波が上記位置探知目標で反射されて
上記受信局で受信される受信電波信号との位相差に基づ
いて、上記送信局から見た上記位置探知目標と上記受信
局のなす第一の角度を求める手段と、上記位置探知目標
からの反射電波に基づいて、上記受信局から見た上記位
置探知目標と上記送信局のなす第二の角度を求める手段
とを有した受信局を備え、求められた上記第一の角度、
第二の角度および既知の上記送信局と上記受信局間の距
離を用いて、上記位置探知目標の位置を算出するもので
ある。Further, in the target position detecting system according to the present invention, the directional antenna which rotates at a predetermined number of revolutions per unit time transmits a radio wave of an amplitude modulation signal to the position detecting target, and the directional antenna has a predetermined direction. A transmitting station that transmits the radio wave of the amplitude modulated signal from the omnidirectional antenna to all directions when facing the azimuth, and a receiving station that receives the radio wave transmitted from the transmitting station and reflected by the position detection target. ,
The radio wave of the amplitude modulation signal transmitted from the directional antenna is the reception radio wave signal reflected by the position detection target and received by the receiving station, and the radio wave of the amplitude modulation signal transmitted from the omnidirectional antenna is the above. Based on the phase difference between the received radio wave signal reflected by the position detection target and received by the receiving station, means for determining the first angle formed by the position detecting target and the receiving station as seen from the transmitting station, Based on the reflected radio wave from the position detection target, the reception station having a means for determining the second angle formed by the position detection target and the transmission station viewed from the reception station, the first obtained The angle of
The position of the position detection target is calculated by using the second angle and the known distance between the transmitting station and the receiving station.

【００１６】また、この発明に係る目標位置探知システ
ムの送信局は、送信する電波にパルス列信号を含み、上
記受信局は、直接到来する上記パルス列信号の到来時刻
と上記位置探知目標で反射されてから到来する上記パル
ス列信号の到来時刻との差に基づいて、上記送信局から
直接上記受信局に至る第一の経路長と上記送信局から上
記位置探知目標を経由して上記受信局に至る第二の経路
長との経路長差を算出する手段をさらに有し、算出され
た上記経路長差、求められた上記第一の角度および第二
の角度を用いて、上記位置探知目標の位置を算出するも
のである。Further, the transmitting station of the target position detecting system according to the present invention includes a pulse train signal in the radio wave to be transmitted, and the receiving station is reflected by the arrival time of the directly arriving pulse train signal and the position detecting target. Based on the difference between the arrival time of the pulse train signal coming from the first path length from the transmitting station directly to the receiving station and the first from the transmitting station to the receiving station via the position detection target. A means for calculating a path length difference from the second path length is further provided, and the position of the position detection target is determined by using the calculated path length difference, the obtained first angle and second angle. It is to be calculated.

【００１７】また、この発明に係る目標位置探知システ
ムは、単位時間に所定の回転数で回転する指向性アンテ
ナからら位置探知目標に第一の振幅変調信号の電波を送
信すると共に、上記指向性アンテナが所定の方位を向い
た時に無指向性アンテナから上記第一の振幅変調信号の
電波を全方位に送信する第一の送信局と、単位時間に所
定の回転数で回転する指向性アンテナから位置探知目標
に第二の振幅変調信号の電波を送信すると共に、上記指
向性アンテナが所定の方位を向いた時に無指向性アンテ
ナから上記第二の振幅変調信号の電波を全方位に送信す
る第二の送信局と、上記第一の送信局および上記第二の
送信局から送信され、上記位置探知目標で反射された電
波を受信する受信局であって、上記第一の送信局の指向
性アンテナから送信された第一の振幅変調信号の電波が
上記位置探知目標で反射してから受信される受信電波信
号と、上記第一の送信局の無指向性アンテナから送信さ
れた振幅変調信号の電波が上記位置探知目標で反射して
から受信される受信電波信号との位相差に基づいて、上
記第一の送信局から見た上記位置探知目標と上記第二の
受信局のなす第一の角度を求める手段と、上記第二の送
信局の指向性アンテナから送信された第二の振幅変調信
号の電波が上記位置探知目標で反射されて上記受信局で
受信される受信電波信号と、上記第二の送信局の無指向
性アンテナから送信された振幅変調信号の電波が上記位
置探知目標で反射されて上記受信局で受信される受信電
波信号との位相差に基づいて、上記第二の送信局から見
た上記位置探知目標と上記第一の送信局のなす第二の角
度を求める手段を有した受信局とを備え、求められた上
記第一の角度、第二の角度および既知の上記第一の送信
局と上記第二の送信局間の距離を用いて、上記位置探知
目標の位置を算出するものである。Further, the target position detecting system according to the present invention transmits the radio wave of the first amplitude modulation signal to the position detecting target from the directional antenna which rotates at a predetermined number of revolutions per unit time, and at the same time, the directivity is increased. From the first transmitting station that transmits the radio wave of the first amplitude modulation signal from the omnidirectional antenna to all directions when the antenna faces a predetermined direction, and the directional antenna that rotates at a predetermined rotation speed in a unit time. A radio wave of the second amplitude modulation signal is transmitted to the position detection target, and a radio wave of the second amplitude modulation signal is transmitted in all directions from the omnidirectional antenna when the directional antenna faces a predetermined direction. A second transmitting station, a receiving station that receives radio waves transmitted from the first transmitting station and the second transmitting station and reflected by the position detection target, and the directivity of the first transmitting station Sent from antenna The received radio wave signal received after the radio wave of the first amplitude modulated signal reflected by the position detection target and the radio wave of the amplitude modulated signal transmitted from the omnidirectional antenna of the first transmitting station are the above The first angle formed by the position detecting target and the second receiving station viewed from the first transmitting station is obtained based on the phase difference between the received radio wave signal received after being reflected by the position detecting target. Means, a radio wave of a second amplitude modulation signal transmitted from the directional antenna of the second transmitting station is received by the receiving station after being reflected by the position detection target and received by the receiving station, Based on the phase difference between the radio wave of the amplitude modulated signal transmitted from the omnidirectional antenna of the transmitting station and the received radio wave signal reflected by the position detection target and received by the receiving station, from the second transmitting station. The above-mentioned location detection target and the above-mentioned first transmission And a receiving station having means for determining a second angle formed by the station, between the determined first angle, the second angle and the known first transmitting station and the second transmitting station. The distance is used to calculate the position of the position detection target.

【００１８】[0018]

【発明の実施の形態】この発明の一実施の形態につい
て、図面に基づいて説明する。なお、各図間において、
同一符号は同一あるいは相当のものを表す。実施の形態
１．図１は、実施の形態1による目標位置探知方法の要
領を説明するための図である。図において、１は送信
局、２は受信局、３は位置探知目標（以下、単に目標と
称す）、４は送信局１から受信局２に直接到来する電波
（直接波）、５は送信局１から目標３に送信する電波
（送信波）、６は目標３で反射して受信局に到来する電
波（目標３からの反射波）、７は受信局２から見た目標
３の方位角（即ち、受信局２から見た目標３と送信局１
のなす角度）、８は送信局１から見た目標３の方位角
（即ち、送信局１から見た目標３と受信局２のなす角
度）である。なお、送信局１は、アンテナを回転させな
がらパルス列信号の電波を送信するものとする。BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to the drawings. In addition, between each figure,
The same reference numerals represent the same or equivalent parts. Embodiment 1. FIG. 1 is a diagram for explaining the outline of the target position detecting method according to the first embodiment. In the figure, 1 is a transmitting station, 2 is a receiving station, 3 is a position detection target (hereinafter, simply referred to as a target), 4 is a radio wave (direct wave) directly coming from the transmitting station 1 to the receiving station 2, and 5 is a transmitting station. The radio wave transmitted from 1 to the target 3 (transmission wave), 6 the radio wave reflected by the target 3 and arriving at the receiving station (reflected wave from the target 3), 7 the azimuth angle of the target 3 seen from the receiving station 2 (that is, , Goal 3 seen from receiving station 2 and transmitting station 1
Is an azimuth angle of the target 3 viewed from the transmission station 1 (that is, the angle formed by the target 3 and the reception station 2 viewed from the transmission station 1). The transmitting station 1 is assumed to transmit the electric wave of the pulse train signal while rotating the antenna.

【００１９】図２は、送信局１から送信されたパルス列
信号の電波が直接受信局２に到達する電波（直接波）
と、送信局１から送信されたパルス列信号の電波が目標
３で反射され、受信局２に到達する電波（反射波）の時
刻差を説明するための図である。図において、（ａ）は
送信局１から送信されるパルス列信号の電波、（ｂ）は
送信局１から送信され、受信局２に直接到来するパルス
列信号の電波、（ｃ）は送信局１から送信され、目標３
で反射して受信局２に到来するパルス列信号の電波であ
る。図２に示すように、送信局１から受信局２に直接到
来するパルス列信号の電波（直接波）４と、目標３で反
射して受信局２に到来するパルス列信号の電波（目標か
らの反射波）６とには、その経路長に差があるため、送
信されたパルス列の到来時刻にも差が生じ、その時刻差
は経路差３００ｍ当たり1μｓとなる。従って、この時
間（即ち、パルス列の到来時刻差）を測定することで、
送信局１と受信局２の間の距離と送信局１から目標３を
経由して受信局２に至る距離の差である経路差を算出で
きる。FIG. 2 shows a radio wave of a pulse train signal transmitted from the transmitting station 1 directly reaching the receiving station 2 (direct wave).
3 is a diagram for explaining a time difference between radio waves of a pulse train signal transmitted from the transmission station 1 and reflected by the target 3 and reaching the reception station 2 (reflected wave). In the figure, (a) is a radio wave of a pulse train signal transmitted from the transmitting station 1, (b) is a radio wave of a pulse train signal transmitted from the transmitting station 1 and directly arriving at the receiving station 2, and (c) is from the transmitting station 1. Sent and goal 3
This is a radio wave of a pulse train signal that is reflected by and arrives at the receiving station 2. As shown in FIG. 2, an electric wave (direct wave) 4 of a pulse train signal directly arriving from the transmitting station 1 to the receiving station 2 and an electric wave (pulse reflection from the target) of a pulse train signal arriving at the receiving station 2 after being reflected by the target 3. Wave 6 has a difference in the path length, so that there is a difference in the arrival time of the transmitted pulse train, and the time difference is 1 μs per 300 m of the path difference. Therefore, by measuring this time (that is, the arrival time difference of the pulse train),
A path difference, which is a difference between the distance between the transmitting station 1 and the receiving station 2 and the distance from the transmitting station 1 to the receiving station 2 via the target 3, can be calculated.

【００２０】一方、送信局１のアンテナは所定の回転速
度で回転しているため、図３に示すように、受信局２で
はアンテナが一回転に要する時間を１周期として、振幅
変化する信号として受信される。即ち、受信局２で受信
される電波の強さは、アンテナ一回転毎に振幅のピーク
が現れる。図３において、（ａ）は送信局１から送信さ
れた電波が目標３で反射して受信局２に到来する反射波
であり、（ｂ）は送信局１から送信された電波が直接受
信局２に到来する直接波である。送信局１から受信局２
に直接到来する電波（直接波）４の振幅ピークと、目標
３で反射して受信局２に到来する電波（目標からの反射
波）６の振幅ピークの時間差から、以下の式を計算する
ことで、送信局１から見た目標３と受信局２とのなす角
度８が求まる。角度８：３６０゜＝ ΔＴ：
Ｔなお、Ｔはアンテナ一回転に要する時間、ΔＴは目標
３からの反射波６の振幅がピークになるとき時間と直接
波４の振幅がピークになるときの時間との時間差（ピー
ク振幅時間差）である。On the other hand, since the antenna of the transmitting station 1 is rotating at a predetermined rotation speed, as shown in FIG. 3, in the receiving station 2, the time required for the antenna to make one rotation is set as one cycle, and as a signal whose amplitude changes. Be received. That is, with respect to the strength of the radio wave received by the receiving station 2, the peak of the amplitude appears every one rotation of the antenna. In FIG. 3, (a) is a reflected wave in which the radio wave transmitted from the transmitting station 1 is reflected by the target 3 and arrives at the receiving station 2, and (b) is a radio wave transmitted from the transmitting station 1 directly in the receiving station. It is a direct wave that arrives at 2. From transmitting station 1 to receiving station 2
Calculate the following formula from the time difference between the amplitude peak of the radio wave (direct wave) 4 that directly arrives at the target and the amplitude peak of the radio wave 6 that is reflected by the target 3 and arrives at the receiving station 2 (reflected wave from the target) 6. Then, the angle 8 formed by the target 3 and the receiving station 2 viewed from the transmitting station 1 is obtained. Angle 8: 360 ° = ΔT:
T is the time required for one rotation of the antenna, and ΔT is the time difference (peak amplitude time difference) between the time when the amplitude of the reflected wave 6 from the target 3 peaks and the time when the amplitude of the direct wave 4 peaks. Is.

【００２１】また、受信局２から見た目標３の方位７
は、目標３からの反射波６により受信局２で測定可能で
ある。このように本実施の形態では、送信局１から見た
目標３と受信局２のなす角度８と受信局２から見た目標
３と送信局１のなす角度７と、送信局１と受信局２の間
の距離と送信局１から目標３を経由して受信局２に至る
距離の差（経路差）が求まるので、目標３の位置は作図
により算出が可能（即ち、探知が可能）である。即ち、
図１に示すように、目標３の位置を三角形の頂点Ａ、送
信局１の位置を三角形の頂点Ｂ、受信局２の位置を三角
形の頂点Ｃとする三角形ＡＢＣにおいて、辺ＢＣの両端
の角度と、辺ＢＣの長さと辺ＢＡ＋辺ＡＢの長さの差が
求められることになり、三角測量の原理により頂点Ａの
位置を算出できる。Further, the azimuth 7 of the target 3 seen from the receiving station 2
Can be measured at the receiving station 2 by the reflected wave 6 from the target 3. As described above, in the present embodiment, the angle 3 formed by the target 3 and the receiving station 2 viewed from the transmitting station 1, the angle 7 formed by the target 3 and the transmitting station 1 viewed from the receiving station 2, and the angle between the transmitting station 1 and the receiving station 2 are formed. Since the difference (path difference) between the distance between them and the distance from the transmitting station 1 to the receiving station 2 via the target 3 is obtained, the position of the target 3 can be calculated (ie, can be detected) by drawing. That is,
As shown in FIG. 1, in the triangle ABC where the position of the target 3 is the vertex A of the triangle, the position of the transmitting station 1 is the vertex B of the triangle, and the position of the receiving station 2 is the vertex C of the triangle, the angles at both ends of the side BC are Then, the difference between the length of the side BC and the length of the side BA + the side AB is obtained, and the position of the vertex A can be calculated by the principle of triangulation.

【００２２】この方法においては、送信局１の位置も作
図により算出が可能であるので、送信局１がアンテナを
回転させてパルス列を送信していれば、送信局１は受信
局２とは何ら関係の無い設備であっても良い。また、厳
密にはΔＴには経路差による時間差も含まれているが、
経路差による時間差はｍｓ（ミリセカンド）オーダー、
ΔＴは秒オーダーであるので無視しても差し支えない。In this method, the position of the transmitting station 1 can also be calculated by drawing. Therefore, if the transmitting station 1 rotates the antenna and transmits a pulse train, the transmitting station 1 does not have to be the receiving station 2. It may be unrelated equipment. Strictly speaking, ΔT includes the time difference due to the route difference,
The time difference due to the route difference is in the ms (millisecond) order,
Since ΔT is on the order of seconds, it can be ignored.

【００２３】実施の形態２．上述の実施の形態１による
目標位置探知方法では、送信局の位置が不明な場合（送
信局と受信局の間の距離が不明な場合）の例を示した
が、送信局が地上施設等で位置が既知である場合、即
ち、送信局と受信局の間の距離が既知である場合には、
もっと容易に目標の位置を特定（探知）できる。図４
は、実施の形態２による目標位置探知方法の要領を説明
するための図である。図において、1は送信局、２は受
信局、３は位置探知の対象物である目標、４は送信局１
から受信局２に直接到来する電波（直接波）、５は送信
局１から目標３に到達する電波（送信波）、６は目標３
で反射して受信局２に到来する電波（目標からの反射
波）、７は受信局２から見た目標３の方位角（即ち、受
信局２から見た目標３と送信局１のなす角度）、８は送
信局１から見た目標３の方位角（即ち、送信局１から見
た目標３と受信局２のなす角度）である。Embodiment 2. In the target position detecting method according to the first embodiment described above, an example is shown in which the position of the transmitting station is unknown (when the distance between the transmitting station and the receiving station is unknown). If the position is known, i.e. the distance between the transmitting station and the receiving station is known,
The position of the target can be specified (detected) more easily. Figure 4
FIG. 9 is a diagram for explaining the outline of the target position detecting method according to the second embodiment. In the figure, 1 is a transmitting station, 2 is a receiving station, 3 is a target that is an object of position detection, and 4 is a transmitting station 1.
From the transmitting station 1 to the target 3 (direct wave), 5 from the transmitting station 1 to the target 3 (transmitted wave), and 6 from the target 3
A radio wave that is reflected by and arrives at the receiving station 2 (reflected wave from the target), 7 is an azimuth angle of the target 3 viewed from the receiving station 2 (that is, an angle formed by the target 3 viewed from the receiving station 2 and the transmitting station 1), Reference numeral 8 denotes an azimuth angle of the target 3 viewed from the transmission station 1 (that is, an angle formed by the target 3 and the reception station 2 viewed from the transmission station 1).

【００２４】なお、実施の形態１の場合と同様に、送信
局１はアンテナを回転させてパルス列を送信するものと
する。従って、実施形態1と同様に、送信局１から受信
局２に直接到来する電波４と、目標３で反射して受信局
２に到来する電波６のピーク振幅の時間差（ピーク振幅
時間差）から、以下の式を計算することで、送信局１か
ら見た目標３と受信局２のなす角８が求まる。角度８：３６０゜＝ ΔＴ：Ｔなお、Ｔはアンテナ一回転に要する時間、ΔＴは目標３
からの反射波６の振幅がピークになるとき時間と直接波
４の振幅がピークになるときの時間との時間差（ピーク
振幅時間差）である。また受信局２から見た目標３の方
位角7は目標３からの反射波６により受信局２で測定可
能である。As in the case of the first embodiment, it is assumed that the transmitting station 1 rotates the antenna to transmit the pulse train. Therefore, as in the first embodiment, from the time difference (peak amplitude time difference) between the peak amplitudes of the radio wave 4 directly arriving from the transmitting station 1 to the receiving station 2 and the radio wave 6 arriving at the receiving station 2 after being reflected by the target 3. The angle 8 formed by the target 3 and the receiving station 2 viewed from the transmitting station 1 can be obtained by calculating the following equation. Angle 8: 360 ° = ΔT: T Note that T is the time required for one rotation of the antenna, and ΔT is the target 3
It is the time difference (peak amplitude time difference) between the time when the amplitude of the reflected wave 6 from and the time when the amplitude of the direct wave 4 peaks. The azimuth angle 7 of the target 3 viewed from the receiving station 2 can be measured by the receiving station 2 by the reflected wave 6 from the target 3.

【００２５】このように、本実施の形態においては、目
標３の位置を三角形の頂点Ａ、送信局１の位置を三角形
の頂点Ｂ、受信局２の位置を三角形の頂点Ｃとすると、
三角形ＡＢＣにおいて、三角形の２つ角度、即ち、頂点
Ｂの角度（送信局１から見た目標３と受信局２のなす角
度８）と頂点Ｃの角度（受信局２から見た目標３と送信
局１のなす角度７が求まり、また、１辺ＢＣの長さ（送
信局１と受信局２の間の距離）が既知であるので、三角
測量の原理により、目標３の位置は作図により容易に算
出が可能（即ち、探知が可能）である。As described above, in the present embodiment, assuming that the position of the target 3 is the vertex A of the triangle, the position of the transmitting station 1 is the vertex B of the triangle, and the position of the receiving station 2 is the vertex C of the triangle,
In the triangle ABC, two angles of the triangle, that is, the angle of the apex B (the target 3 viewed from the transmitting station 1 and the angle 8 formed by the receiving station 2) and the angle of the apex C (the target 3 viewed from the receiving station 2 and the transmitting station 1) The angle 7 is obtained, and the length of one side BC (distance between the transmitting station 1 and the receiving station 2) is known. Therefore, the position of the target 3 can be easily calculated by drawing based on the principle of triangulation. Is possible (that is, detection is possible).

【００２６】実施の形態３．また、前述の実施の形態１
および２による目標位置探知方法では、送信局が受信局
とは無関係な施設を利用した例を示したが、本実施の形
態による目標位置探知方法では、ＶＯＲ（超短波全方位
無線標識）の原理を用いた送信局を利用することを特徴
とする。図５は、本実施の形態による目標位置探知方法
の要領を説明するための図であり、また、図６は、本実
施の形態による目標位置探知方法の原理を説明するため
の図である。図５において、１は送信局、２は受信局、
３は目標、４は送信局１から受信局２に直接到来する電
波、５は送信局１から目標３に到達する電波、６は目標
で反射して受信局２に到来する電波、７は受信局２から
見た目標３と送信局１のなす角度、８は送信局１から見
た目標３と受信局２のなす角度、９は送信局１から見た
目標３の北からの方位角（真北方向に対する角度）であ
る。Embodiment 3. In addition, the first embodiment described above
In the target position detection method according to (2) and (2), an example in which the transmitting station uses a facility unrelated to the receiving station is shown, but in the target position detecting method according to the present embodiment, the principle of VOR (Very Short Wave Omnidirectional Radio Marking) is applied. It is characterized by using the transmitting station used. FIG. 5 is a diagram for explaining the outline of the target position detecting method according to the present embodiment, and FIG. 6 is a diagram for explaining the principle of the target position detecting method according to the present embodiment. In FIG. 5, 1 is a transmitting station, 2 is a receiving station,
3 is a target, 4 is a radio wave that directly arrives from the transmission station 1 to the reception station 2, 5 is a radio wave that reaches the target 3 from the transmission station 1, 6 is a radio wave that is reflected by the target and arrives at the reception station 2, and 7 is reception The angle formed by the target 3 and the transmitting station 1 viewed from the station 2, 8 is the angle formed by the target 3 and the receiving station 2 viewed from the transmitting station 1, and 9 is the azimuth angle from the north of the target 3 viewed from the transmitting station 1 (the true north direction). Angle).

【００２７】本実施の形態による目標位置探知方法は、
例えば、一秒間に３０回転する送信局１の指向性アンテ
ナから送信される電波信号の位相と、一秒間に３０回全
方位に送信を行う送信局１の無指向性アンテナからの送
信される電波信号の位相を比較して、その信号の位相差
に基づいて送信局１から見た目標３の真北からの方位角
９を求めることを特徴とするものである。本実施の形態
においては、送信局１の指向性アンテナは、例えば一秒
間に３０回転しながら正弦波状の振幅変調信号の電波を
送信しており、送信局１の指向性アンテナが真北を向い
た時に、送信局１の無指向性アンテナからも同じ電波を
全方位に送信する。目標３は、指向性アンテナからの電
波と無指向性アンテナからの電波の両方の電波を同時刻
に受信すると共に、受信した両方の電波を受信局２に反
射する。The target position detecting method according to the present embodiment is
For example, the phase of the radio wave signal transmitted from the directional antenna of the transmission station 1 rotating 30 times per second, and the radio wave transmitted from the omnidirectional antenna of the transmission station 1 performing omnidirectional transmission 30 times per second. The azimuth angle 9 from the true north of the target 3 viewed from the transmitting station 1 is obtained by comparing the phases of the signals and based on the phase difference of the signals. In the present embodiment, the directional antenna of the transmitting station 1 transmits a radio wave of a sinusoidal amplitude-modulated signal while rotating, for example, 30 times per second, and the directional antenna of the transmitting station 1 faces true north. At the same time, the same radio wave is transmitted from the omnidirectional antenna of the transmitting station 1 in all directions. The target 3 receives both radio waves from the directional antenna and radio waves from the omnidirectional antenna at the same time, and reflects both received radio waves to the receiving station 2.

【００２８】従って、例えば、送信局１の真北に目標３
が位置している場合（送信局１から見た目標３の北から
の方位角９が０°の場合）は、目標３で反射され受信局
２で受信する無指向性アンテナから信号と指向性アンテ
ナからの信号の間には、図６の（ａ）に示すように、そ
の振幅変調信号の位相差（時間差）はない。即ち、目標
３で反射され、受信局３が受信する無指向性アンテナか
ら信号と指向性アンテナからの信号の間に位相差（時間
差）がなければ、送信局１から見た目標３の北からの方
位角９は０°であることが判る。また、送信局１の真南
に目標３が位置しておれば（即ち、方位角９が１８０°
の方向に目標３が位置しておれば）、目標３で反射され
受信局２で受信する無指向性アンテナから信号と指向性
アンテナからの信号の間には、図６の（ｃ）に示すよう
に、１８０°の位相差（例えば、指向性アンテナが１秒
間に３０回転している場合には、１／３０÷２秒の時間
差）がある。即ち、目標３で反射され、受信局３が受信
する無指向性アンテナからの信号と指向性アンテナから
の信号の間の位相差が１８０°であれば、送信局１から
見た目標３の北からの方位角９は１８０°であることが
判る。Therefore, for example, the target 3 is located just north of the transmitting station 1.
Is located (when the azimuth angle 9 from the north of the target 3 viewed from the transmitting station 1 is 0 °), the signal and the directional antenna are reflected from the omnidirectional antenna reflected by the target 3 and received by the receiving station 2. 6A, there is no phase difference (time difference) between the amplitude modulated signals, as shown in FIG. That is, if there is no phase difference (time difference) between the signal from the omnidirectional antenna reflected by the target 3 and received by the receiving station 3 and the signal from the directional antenna, from the north of the target 3 as seen from the transmitting station 1. It can be seen that the azimuth angle 9 is 0 °. If the target 3 is located just south of the transmitting station 1 (that is, the azimuth angle 9 is 180 °).
(If the target 3 is located in the direction of), between the signal from the omnidirectional antenna reflected by the target 3 and received by the receiving station 2 and the signal from the directional antenna is shown in (c) of FIG. As described above, there is a phase difference of 180 ° (for example, when the directional antenna makes 30 rotations per second, a time difference of 1/30/2 seconds). That is, if the phase difference between the signal from the omnidirectional antenna and the signal from the directional antenna reflected by the target 3 and received by the receiving station 3 is 180 °, from the north of the target 3 as seen from the transmitting station 1. It can be seen that the azimuth angle 9 of is 180 °.

【００２９】同様に、送信局１の真東に目標３が位置し
ておれば（即ち、方位角９が９０°の方向に目標３が位
置しておれば）、目標３で反射され受信局２で受信する
無指向性アンテナからの信号と指向性アンテナからの信
号の間には、図６の（ｂ）に示すように、９０°の位相
差がある。即ち、目標３で反射され、受信局３が受信す
る無指向性アンテナから信号と指向性アンテナからの信
号の間に位相差が９０°であれば、送信局１から見た目
標３の北からの方位角９は９０°であることが判る。な
お、指向性アンテナからの電波信号と指向性アンテナか
らの電波信号は弁別が可能なように、その周波数は互い
に異なっている。Similarly, if the target 3 is located directly east of the transmitting station 1 (that is, if the target 3 is located in the direction in which the azimuth angle 9 is 90 °), it is reflected by the target 3 and is received by the receiving station. There is a phase difference of 90 ° between the signal from the omnidirectional antenna and the signal from the directional antenna received at 2 as shown in FIG. 6B. That is, if the phase difference between the signal from the omnidirectional antenna reflected by the target 3 and received by the receiving station 3 and the signal from the directional antenna is 90 °, from the north of the target 3 viewed from the transmitting station 1. It can be seen that the azimuth angle 9 is 90 °. The frequencies of the radio signal from the directional antenna and the radio signal from the directional antenna are different from each other so that they can be discriminated.

【００３０】以上のように、本実施の形態においては、
例えば、一秒間に３０回転する送信局１の指向性アンテ
ナから送信される電波信号の位相と、一秒間に３０回全
方位に送信を行う送信局１の無指向性アンテナからの送
信される電波信号の位相を受信局２において比較して、
その信号の位相差に基づいて、送信局１から見た目標３
の真北からの方位９を求めることができる。このよう
に、目標３からの反射波の振幅変調の位相差には、送信
局から見た目標の方位角９の情報が含まれており、目標
３からの反射波の位相差を検知することにより角度９は
容易に求められる。送信局１から見た目標３と受信局２
のなす角度８は、（９０°−角度８）であるので、角度
８はすぐに求まる。As described above, in the present embodiment,
For example, the phase of the radio wave signal transmitted from the directional antenna of the transmission station 1 rotating 30 times per second, and the radio wave transmitted from the omnidirectional antenna of the transmission station 1 performing omnidirectional transmission 30 times per second. Compare the phase of the signal at the receiving station 2,
Based on the phase difference between the signals, the target 3 seen from the transmitting station 1
It is possible to obtain the bearing 9 from the true north. As described above, the phase difference of the amplitude modulation of the reflected wave from the target 3 includes the information of the target azimuth angle 9 viewed from the transmitting station, and the phase difference of the reflected wave from the target 3 is detected. Angle 9 is easily determined. Target 3 and receiving station 2 as seen from transmitting station 1
Since the angle 8 formed by is (90 ° −angle 8), the angle 8 can be immediately obtained.

【００３１】また、受信局２から見た目標３の方位７
は、実施の形態２あるいは３の場合と同様に、目標３か
らの反射波６により受信局２で測定可能である。なお、
上述の説明では、基準となる方位を真北にした場合につ
いて述べているが、送信局と受信局の間で予め基準とす
る方位を決めておけば、基準方位は真北に限定されるも
のではない。また、指向性アンテナが１秒間に３０回転
する場合について説明しているが、所定の比較的高い回
転速度であればよく、これに限定されるものではない。Further, the azimuth 7 of the target 3 seen from the receiving station 2
Can be measured at the receiving station 2 by the reflected wave 6 from the target 3 as in the case of the second or third embodiment. In addition,
In the above description, the reference azimuth is set to true north. However, if the reference azimuth is determined in advance between the transmitting station and the receiving station, the reference azimuth is limited to true north. is not. Further, although the case where the directional antenna rotates 30 times per second has been described, it is not limited to this as long as it is a predetermined relatively high rotation speed.

【００３２】いま、送信局１および受信局２の間の距離
が既知であるとすると、本実施の形態においても、目標
３の位置を三角形の頂点Ａ、送信局１の位置を三角形の
頂点Ｂ、受信局２の位置を三角形の頂点Ｃとすると、三
角形ＡＢＣにおいて、三角形の２つ角度、即ち、頂点Ｂ
の角度（送信局１から見た目標３と受信局２のなす角度
８）と頂点Ｃの角度（受信局２から見た目標３と送信局
１のなす角度７が求まり、１辺ＢＣの長さ（送信局１と
受信局２の間の距離）が既知であるので、三角測量の原
理により、目標３の位置は作図により算出が可能であ
る。Assuming that the distance between the transmitting station 1 and the receiving station 2 is known, the position of the target 3 is the vertex A of the triangle and the position of the transmitting station 1 is the vertex B of the triangle in this embodiment as well. , And the position of the receiving station 2 is the vertex C of the triangle, in the triangle ABC, two angles of the triangle, that is, the vertex B
The angle (the angle 8 formed by the target 3 and the receiving station 2 viewed from the transmitting station 1) and the angle of the vertex C (the angle 7 formed by the target 3 and the transmitting station 1 viewed from the receiving station 2 are obtained, and the length of one side BC ( Since the distance between the transmitting station 1 and the receiving station 2) is known, the position of the target 3 can be calculated by drawing based on the principle of triangulation.

【００３３】前述の実施の形態１あるいは２において
は、送信局１のアンテナ１回転に要する時間は通常数秒
以上のとなる場合が多く、測定に時間がかかるため目標
位置の探知精度が悪くなる可能性がある。例えば、アン
テナが１２秒で１回転し、目標３と受信局２が６８０ｍ
／ｓ（マッハ２）で接近する方向に移動していると仮定
すると、１２秒間では約１６ｋｍの相対位置変化が生じ
る。送信局１、受信局２および目標３間の距離が近接し
ていた場合、お互いの相対方位の関係も大きく変化する
ので、目標位置の探知精度が悪くなる。これに対して、
本実施の形態では、アンテナの回転速度が高いため、短
時間、かつ、高精度な目標位置の探知が可能となる。ま
た、送信局が高速で移動する場合でも用いることができ
る。In the above-described first or second embodiment, the time required for one rotation of the antenna of the transmitting station 1 is usually several seconds or more in many cases, and the measurement takes a long time, so that the detection accuracy of the target position may deteriorate. There is a nature. For example, the antenna rotates once in 12 seconds, and the target 3 and the receiving station 2 are 680 m.
Assuming that the vehicle is moving in the approaching direction at / s (Mach 2), a relative position change of about 16 km occurs in 12 seconds. When the distances between the transmitting station 1, the receiving station 2 and the target 3 are close to each other, the relative azimuth relationship with each other also changes significantly, so that the detection accuracy of the target position deteriorates. On the contrary,
In the present embodiment, since the rotation speed of the antenna is high, it is possible to detect the target position with high accuracy in a short time. It can also be used when the transmitting station moves at high speed.

【００３４】実施の形態４．前述の実施の形態３では、
送信局の位置が既知の場合（送信局と受信局の間の距離
が既知の場合）を示したが、送信局１の位置が未知の場
合でも目標の位置が特定できる。ただし、送信局１から
送信する送信波は、パルス列の送信を行う必要がある。
そして実施の形態1の場合と同様に、送信局１からと受
信局２に直接到来する電波４と、目標３で反射して受信
局２に到来する電波６との時間差（パルス列の到来時刻
差）から経路差（即ち、送信局１と受信局２の間の距離
と送信局１から目標３を経由して受信局２に至る距離の
差）を算出する。なお、本実施の形態においても、実施
の形態３と同様に、送信局１の指向性アンテナは、例え
ば、一秒間に３０回転しながら正弦波状の振幅変調信号
の電波を送信しており、送信局１の指向性アンテナが真
北を向いた時に、送信局１の無指向性アンテナから同じ
電波を全方位に送信する。目標３は指向性アンテナから
の電波と指向性アンテナからの電波の両方の電波を同時
刻に受信すると共に、目標３は受信した両方の電波を受
信局２に反射する。Fourth Embodiment In the third embodiment described above,
Although the case where the position of the transmitting station is known (when the distance between the transmitting station and the receiving station is known) is shown, the target position can be specified even when the position of the transmitting station 1 is unknown. However, the transmission wave transmitted from the transmission station 1 needs to be transmitted in a pulse train.
Then, as in the case of the first embodiment, the time difference between the radio wave 4 directly arriving from the transmitting station 1 and the receiving station 2 and the radio wave 6 arriving at the receiving station 2 after being reflected by the target 3 (arrival time difference of the pulse train). ), The path difference (that is, the difference between the distance between the transmitting station 1 and the receiving station 2 and the distance from the transmitting station 1 to the receiving station 2 via the target 3) is calculated. Note that, also in the present embodiment, as in the case of the third embodiment, the directional antenna of the transmitting station 1 transmits a radio wave of a sinusoidal amplitude modulation signal while rotating 30 times per second, for example. When the directional antenna of the station 1 faces true north, the omnidirectional antenna of the transmitting station 1 transmits the same radio wave in all directions. The target 3 receives both the radio waves from the directional antenna and the radio waves from the directional antenna at the same time, and the target 3 reflects both the received radio waves to the receiving station 2.

【００３５】そして、受信局２において、一秒間に３０
回転する送信局１の指向性アンテナから送信される電波
信号の位相と、一秒間に３０回全方位に送信を行う送信
局１の無指向性アンテナからの送信される電波信号の位
相を比較し、その比較結果の位相差に基づいて、送信局
１から見た目標３の真北からの方位角９を求めることが
できる。送信局１から見た目標３と受信局２のなす角度
８は、（９０°−角度９）であるので、角度８はすぐに
求まる。また、受信局２から見た目標３の方位角７は、
実施の形態２あるいは３の場合と同様に、目標３からの
反射波６により受信局２で測定可能である。At the receiving station 2, 30 seconds per second
The phase of the radio wave signal transmitted from the rotating directional antenna of the transmitting station 1 is compared with the phase of the radio wave signal transmitted from the omnidirectional antenna of the transmitting station 1 which transmits in all directions 30 times per second. The azimuth angle 9 from the true north of the target 3 viewed from the transmitting station 1 can be obtained based on the phase difference of the comparison result. The angle 8 formed by the target 3 and the receiving station 2 when viewed from the transmitting station 1 is (90 ° −angle 9), so the angle 8 can be immediately obtained. Further, the azimuth angle 7 of the target 3 viewed from the receiving station 2 is
As in the case of the second or third embodiment, the reception wave can be measured by the reflected wave 6 from the target 3.

【００３６】以上説明したように、本実施の形態におい
ても、目標３の位置を三角形の頂点Ａ、送信局１の位置
を三角形の頂点Ｂ、受信局２の位置を三角形の頂点Ｃと
する三角形ＡＢＣにおいて、辺ＢＣの両端の角度（即
ち、送信局１から見た目標３と受信局２のなす角度８と
受信局２から見た目標３と送信局１のなす角度７）と、
辺ＢＣの長さと（辺ＢＡの長さ＋辺ＡＢの長さ）の差が
求められるので、三角測量の原理により頂点Ａの位置
（即ち、目標３の位置）を算出することができる。As described above, also in this embodiment, a triangle in which the position of the target 3 is the vertex A of the triangle, the position of the transmitting station 1 is the vertex B of the triangle, and the position of the receiving station 2 is the vertex C of the triangle. In ABC, the angles at both ends of the side BC (that is, the angle 8 formed by the target 3 and the receiving station 2 viewed from the transmitting station 1 and the angle 3 formed by the target 3 and the transmitting station 1 viewed from the receiving station 2),
Since the difference between the length of the side BC and the length of the side BA + the length of the side AB is obtained, the position of the apex A (that is, the position of the target 3) can be calculated by the principle of triangulation.

【００３７】なお、実施の形態１と実施の形態４との主
な相違点について、以下に説明しておく。まず、送信局
１については、実施の形態１では、実施の形態１による
発明とは関係のない送信源、例えば、民間の気象レーダ
や航空路完成レーダを利用できる。これに対して、本実
施の形態では、ＶＯＲ（超短波全方位無線標識）の原理
を用いた送信機を送信局として使用し、所定のルールで
変調をかけた電波を送信する。次に、アンテナ回転数に
ついては、実施の形態１では通常１０〜４ｒｐｍである
が、実施の形態４では１８００ｒｐｍである。また、角
度の求め方については、実施の形態１では、図３のピー
ク振幅の時間差から図１の角度８を計算する。これに対
して、実施の形態４では、まず、図５の角度９を実施の
形態３による方法で求め、次に送信局１から見た目標３
と受信局２のなす角度８を求める。一方、受信局２にお
いて、受信する目標３からの反射波により受信局２と目
標３と受信局２と受信局１のなす角度７を計測して求め
る。その結果、実施の形態１による目標位置探知方法
は、送信局が高速移動している場合には探知精度は粗い
が、実施の形態４による目標位置探知方法では、送信局
１の位置が未知で、かつ、送信局が高速移動の場合でも
良好な精度で目標位置の探知が行える。The main differences between the first embodiment and the fourth embodiment will be described below. First, with respect to the transmitting station 1, in the first embodiment, a transmission source unrelated to the invention according to the first embodiment, for example, a civil weather radar or an airway completion radar can be used. On the other hand, in the present embodiment, a transmitter using the principle of VOR (Very Short Wave Omnidirectional Radio Signal) is used as a transmitting station, and a radio wave modulated according to a predetermined rule is transmitted. Next, the antenna rotation speed is usually 10 to 4 rpm in the first embodiment, but is 1800 rpm in the fourth embodiment. Regarding the method of obtaining the angle, in the first embodiment, the angle 8 in FIG. 1 is calculated from the time difference between the peak amplitudes in FIG. On the other hand, in the fourth embodiment, first, the angle 9 in FIG. 5 is obtained by the method according to the third embodiment, and then the target 3 seen from the transmitting station 1 is obtained.
And the angle 8 formed by the receiving station 2 is obtained. On the other hand, at the receiving station 2, the angle 7 formed by the receiving station 2, the target 3, the receiving station 2, and the receiving station 1 is measured and obtained by the reflected wave from the received target 3. As a result, the target position detecting method according to the first embodiment has poor detection accuracy when the transmitting station is moving at high speed, but the target position detecting method according to the fourth embodiment does not know the position of the transmitting station 1. Moreover, even if the transmitting station moves at high speed, the target position can be detected with good accuracy.

【００３８】実施の形態５．本実施の形態による目標探
知方法は、上述の実施の形態４において、さらに、送信
局１とは別の第二の送信局を設置したことを特徴とす
る。図７において、１は第一の送信局、１０は第二送信
局、２は受信局、３は位置探知を行う対象物である目
標、５は第一の送信局１から送信され目標３に到達する
電波、１１は第二の送信局１０から送信され目標３に到
達する電波、６は電波５が目標３で反射して受信局２に
到来する電波、１２は電波１１が目標３で反射して受信
局２に到来する電波、７は第二の送信局１０から見た目
標３と第一の送信局１のなす角度、８は第一の送信局１
から見た目標３と第二の送信局１０のなす角度、９は第
一の送信局１から見た目標３の北からの方位角、１３は
第二の送信局１０から見た目標３の北からの方位角、１
４は第一の送信局１と第二の送信局１０を結ぶ基線であ
る。Embodiment 5. The target detection method according to the present embodiment is characterized in that, in the above-mentioned fourth embodiment, a second transmitting station different from the transmitting station 1 is further installed. In FIG. 7, 1 is a first transmitting station, 10 is a second transmitting station, 2 is a receiving station, 3 is a target that is an object for position detection, 5 is a target transmitted from the first transmitting station 1, and is a target 3. The reaching radio wave, 11 is the radio wave transmitted from the second transmitting station 10 and reaches the target 3, 6 is the radio wave 5 which is reflected by the target 3 and reaches the receiving station 2, 12 is the radio wave 11 which is reflected by the target 3 Radio wave arriving at the receiving station 2, 7 is the angle formed by the target 3 and the first transmitting station 1 as viewed from the second transmitting station 10, and 8 is the first transmitting station 1.
From the north of the target 3 seen from the first transmitter station 1, 13 from the north of the target 3 seen from the second transmitter station 10. Azimuth, 1
Reference numeral 4 is a base line connecting the first transmitting station 1 and the second transmitting station 10.

【００３９】なお、実施の形態３と同様に、第一の送信
局１および第二の送信局１０の指向性アンテナは、例え
ば一秒間に３０回転しながら正弦波状の振幅変調信号の
電波を送信している。そして、それぞれの送信局では、
指向性アンテナが真北を向いた時に、無指向性アンテナ
からも同じ電波を全方位に送信する。目標３は第一の送
信局１および第二の送信局１０の指向性アンテナからの
電波と無指向性アンテナからの電波の両方の電波を同時
刻に受信すると共に、目標３は受信した電波を受信局２
に反射する。Note that, as in the third embodiment, the directional antennas of the first transmitting station 1 and the second transmitting station 10 transmit a radio wave of a sinusoidal amplitude-modulated signal while rotating 30 times per second, for example. is doing. And at each transmitting station,
When the directional antenna faces the true north, the same radio wave is transmitted from the omnidirectional antenna in all directions. The target 3 receives both the radio waves from the directional antennas and the radio waves from the omnidirectional antennas of the first transmitting station 1 and the second transmitting station 10 at the same time, and the target 3 receives the received radio waves. Receiving station 2
Reflect on.

【００４０】目標３からの反射波の振幅変調の位相差に
は、第一の送信局１から見た目標３の北から方位角９お
よび第二の送信局１０から見た目標３の北からの方位角
１３の情報が含まれており、受信局２において角度９お
よび角度１３の測定が可能である。角度９および角度１
３が求まれば、第一の送信局１から見た目標３と第二の
送信局１０のなす角度８および第二の送信局１０から見
た目標３と第一の送信局１のなす角度７は容易に求ま
る。いま、送信局１および受信局の間の距離が既知であ
るとすると、本実施の形態においても、図７に示すよう
に、目標３の位置を三角形の頂点Ａ、第一の送信局１の
位置を三角形の頂点Ｂ、第二の送信局１０の位置を三角
形の頂点Ｃとする三角形ＡＢＣにおいて、三角形の２つ
角度、即ち、頂点Ｂの角度（角度８）と頂点Ｃの角度
（角度７）が求まり、１辺ＢＣの長さ（第一の送信局１
と第二の送信局１０間の距離、即ち、基線１４の長さ）
が既知であるので、三角測量の原理により、目標３の位
置は作図により算出が可能である。本実施の形態におい
ては、目標３で反射され受信局２に到来する電波の位相
差を求めるだけよく、電波の到来方向を測定する必要が
無い。そのため受信局２の設備は簡易なもので済む。The phase difference of the amplitude modulation of the reflected wave from the target 3 includes the azimuth angle 9 from the north of the target 3 viewed from the first transmitting station 1 and the azimuth angle of the target 3 from the north viewed from the second transmitting station 10. The information of the angle 13 is included, and the angle 9 and the angle 13 can be measured at the receiving station 2. Angle 9 and angle 1
If 3 is found, the angle 8 formed by the first transmitting station 1 and the second transmitting station 10 is 8 and the target 3 seen from the second transmitting station 10 is the angle 7 formed by the first transmitting station 1. Easy to find. Assuming that the distance between the transmitting station 1 and the receiving station is known, the position of the target 3 is set to the vertex A of the triangle and the first transmitting station 1 as shown in FIG. In the triangle ABC whose position is the vertex B of the triangle and the position of the second transmitting station 10 is the vertex C of the triangle, two angles of the triangle, that is, the angle of the vertex B (angle 8) and the angle of the vertex C (angle 7). ) Is obtained, the length of one side BC (first transmitting station 1
Between the second transmitting station 10 and the second transmitting station 10, that is, the length of the base line 14)
Is known, the position of the target 3 can be calculated by drawing based on the principle of triangulation. In the present embodiment, it suffices to obtain the phase difference between the radio waves reflected by the target 3 and arriving at the receiving station 2, and it is not necessary to measure the arrival direction of the radio waves. Therefore, the equipment of the receiving station 2 can be simple.

【００４１】発明の実施の形態６．また、前述した実施
形態１から５においては、送信局から直接受信局に到来
する電波（直接波）と、送信局から送信され、目標で反
射して受信局に到来する電波（反射波）を用いて、三角
測量の原理で目標の位置を算出したが、反射電波の代わ
りに方位が既知のものを利用しても良い。例えば、図８
において、１５は海面、２は受信局、３は艦船等の水上
の目標、１６は受信局から海面におろした垂線、１７は
受信局２から見た目標３と垂線１６のなす角である。ま
た、垂線に沿った受信局２の高さは電波高度計などによ
りあらかじめ測定しておく。艦船等の水上の目標であれ
ば、必ず海面上に存在するため、目標３、海面１５、受
信局２により直角三角形ができる。あとは受信局２から
見た目標３と垂線１６のなす角１７と、垂線に沿った受
信局２の高さがわかれば、作図により目標の位置が算出
できる。ただし、目標３が電波を送信していること、艦
船等の海面上に存在する目標であることが必要である。Sixth Embodiment of the Invention In the first to fifth embodiments described above, a radio wave (direct wave) that directly arrives from the transmission station to the reception station and a radio wave (reflected wave) that is transmitted from the transmission station and is reflected by the target and arrives at the reception station. Although the target position was calculated using the principle of triangulation, a target with a known azimuth may be used instead of the reflected radio wave. For example, in FIG.
In the figure, 15 is the sea surface, 2 is a receiving station, 3 is a water target of a ship or the like, 16 is a vertical line drawn from the receiving station to the sea surface, and 17 is an angle formed by the target 3 and the vertical line 16 viewed from the receiving station 2. Further, the height of the receiving station 2 along the perpendicular is measured in advance by a radio altimeter or the like. Since a target on the water such as a ship always exists on the surface of the sea, a right triangle is formed by the target 3, the surface 15 of the sea, and the receiving station 2. After that, if the angle 17 formed by the target 3 and the perpendicular 16 seen from the receiving station 2 and the height of the receiving station 2 along the perpendicular are known, the target position can be calculated by drawing. However, it is necessary that the target 3 is transmitting radio waves and is a target existing on the surface of the sea such as a ship.

【００４２】なお、実施の形態６においては、目標３が
送信する電波の到来方位を測定して、三角測量の原理で
目標の位置を特定したが、電波の代わりに目標３が放射
する赤外線や光の到来方位を測定しても良い。電波より
も波長が短いため角度分解能が良くなるため、目標位置
（距離）測定精度も良くなる。In the sixth embodiment, the arrival direction of the radio wave transmitted by the target 3 is measured and the position of the target is specified by the principle of triangulation. However, instead of the radio wave, infrared rays emitted by the target 3 or The arrival direction of light may be measured. Since the wavelength is shorter than that of the radio wave, the angular resolution is improved, and the target position (distance) measurement accuracy is also improved.

【００４３】[0043]

【発明の効果】この発明による目標位置探知方法は、所
定時間で一回転する送信局のアンテナからパルス列信号
の電波を位置探知目標および受信局に送信し、受信局に
直接到来するパルス列信号の到来時刻と位置探知目標で
反射されてから受信局に到来するパルス列信号の到来時
刻との差に基づいて、送信局から直接受信局に至る第一
の経路長と送信局から位置探知目標を経由して受信局に
至る第二の経路長との経路長差を算出し、送信局のアン
テナが所定時間で一回転することにより生じる振幅変調
信号のピーク振幅が受信局に直接到来する到来時刻と、
振幅変調信号のピーク振幅が位置探知目標で反射されて
から受信局に到来する到来時刻との差に基づいて、送信
局から見た位置探知目標と受信局のなす第一の角度を求
め、送信局から送信され、位置探知目標で反射して受信
局に到来する電波に基づいて、受信局から見た位置探知
目標と送信局のなす第二の角度を求め、求められた経路
長差、第一の角度および第二の角度を用いて、位置探知
目標の位置を算出するので、送信局と受信局の間の距離
が未知であっても、三角測量の原理により自ら電波を送
信していない位置探知目標の位置を容易に探知すること
が可能な目標位置探知方法を提供できる。According to the target position detecting method of the present invention, the radio wave of the pulse train signal is transmitted from the antenna of the transmitting station which makes one rotation in a predetermined time to the position detecting target and the receiving station, and the pulse train signal arrives at the receiving station directly. Based on the difference between the time and the arrival time of the pulse train signal that arrives at the receiving station after being reflected by the position finding target, the first path length from the transmitting station directly to the receiving station and the position finding target from the transmitting station are passed. Calculate the path length difference with the second path length to the receiving station, and the arrival time when the peak amplitude of the amplitude modulation signal generated by the antenna of the transmitting station making one rotation in a predetermined time arrives directly at the receiving station,
Based on the difference between the peak amplitude of the amplitude-modulated signal and the arrival time at the receiving station after being reflected by the position-finding target, determine the first angle between the position-finding target and the receiving station as seen from the transmitting station, and transmit Based on the radio waves transmitted from the station, reflected by the position detection target and arriving at the reception station, the second angle formed by the position detection target and the transmission station seen from the reception station is calculated, and the calculated path length difference, Since the position of the position detection target is calculated using the first angle and the second angle, even if the distance between the transmitting station and the receiving station is unknown, the radio wave is not transmitted by itself due to the principle of triangulation. A target position detection method capable of easily detecting the position of a position detection target can be provided.

【００４４】また、この発明による目標位置探知方法
は、送信局から直接受信局に至る第一の経路長は既知で
あるので、経路長差を求める必要がなく、三角測量の原
理により自ら電波を送信していない位置探知目標の位置
をさらに容易に探知することが可能な目標位置探知方法
を提供できる。Further, in the target position detecting method according to the present invention, since the first path length from the transmitting station to the receiving station is known, it is not necessary to obtain the path length difference, and the radio wave is self-generated by the principle of triangulation. It is possible to provide a target position detection method that can more easily detect the position of a position detection target that has not been transmitted.

【００４５】また、この発明による目標位置探知方法
は、単位時間に所定の回転数で回転する送信局の指向性
アンテナから位置探知目標に振幅変調信号の電波を送信
すると共に、指向性アンテナが所定の方位を向いた時に
送信局の無指向性アンテナから振幅変調信号の電波を全
方位に送信し、指向性アンテナから送信された振幅変調
信号の電波が位置探知目標で反射されて受信局で受信さ
れる受信電波信号と、無指向性アンテナから送信された
振幅変調信号の電波が位置探知目標で反射されて受信局
で受信される受信電波信号との位相差に基づいて、送信
局から見た位置探知目標と受信局のなす第一の角度を求
め、位置探知目標からの反射電波に基づいて、受信局か
ら見た位置探知目標と送信局のなす第二の角度を求め、
求められた第一の角度、第二の角度および既知の送信局
と受信局間の距離を用いて、位置探知目標の位置を算出
するので、三角測量の原理により自ら電波を送信してい
ない探知位置目標の位置を、短時間、かつ、高精度に探
知することが可能な目標位置探知方法を提供できる。Further, in the target position detecting method according to the present invention, the directional antenna of the transmitting station, which rotates at a predetermined number of revolutions per unit time, transmits the radio wave of the amplitude modulation signal to the position detecting target, and the directional antenna is predetermined. When transmitting in the azimuth direction, the omnidirectional antenna of the transmitting station transmits the radio wave of the amplitude modulation signal in all directions, and the radio wave of the amplitude modulation signal transmitted from the directional antenna is reflected by the position detection target and received by the receiving station. Seen from the transmitting station based on the phase difference between the received electromagnetic wave signal and the received electromagnetic wave signal that is received by the receiving station when the electromagnetic wave of the amplitude modulation signal transmitted from the omnidirectional antenna is reflected by the position detection target. The first angle formed by the position detection target and the receiving station is obtained, and the second angle formed by the position detection target and the transmitting station viewed from the receiving station is obtained based on the reflected radio wave from the position detecting target.
The position of the position detection target is calculated using the obtained first angle, the second angle, and the known distance between the transmitting station and the receiving station. A target position detection method capable of detecting the position of a position target with high accuracy in a short time can be provided.

【００４６】また、この発明による目標位置探知方法の
送信局より送信される電波はパルス列信号を含み、受信
局に直接到来するパルス列信号の到来時刻と位置探知目
標で反射されてから受信局に到来するパルス列信号の到
来時刻との差に基づいて、送信局から直接受信局に至る
第一の経路長と送信局から位置探知目標を経由して受信
局に至る第二の経路長との経路長差を算出し、算出され
た経路長差、求められた第一の角度および第二の角度を
用いて、位置探知目標の位置を算出するので、送信局と
受信局の間の距離が未知であっても、三角測量の原理に
より自ら電波を送信していない位置探知目標の位置を短
時間、かつ、高精度に探知することが可能な目標位置探
知方法を提供できる。Further, the radio wave transmitted from the transmitting station of the target position detecting method according to the present invention includes the pulse train signal, and arrives at the receiving station after being reflected by the arrival time of the pulse train signal directly reaching the receiving station and the position detecting target. Based on the difference between the arrival time of the pulse train signal and the first path length from the transmitting station directly to the receiving station and the second path length from the transmitting station to the receiving station via the position detection target The difference is calculated, and the position of the position detection target is calculated using the calculated path length difference, the obtained first angle and second angle, so the distance between the transmitting station and the receiving station is unknown. Even if there is, it is possible to provide a target position detection method capable of detecting a position of a position detection target that does not transmit radio waves by itself based on the principle of triangulation in a short time and with high accuracy.

【００４７】また、この発明による目標位置探知方法
は、単位時間に所定の回転数で回転する第一の送信局の
指向性アンテナから位置探知目標に第一の振幅変調信号
の電波を送信すると共に、指向性アンテナが所定の方位
を向いた時に第一の送信局の無指向性アンテナから第一
の振幅変調信号の電波を全方位に送信し、単位時間に所
定の回転数で回転する第二の送信局の指向性アンテナか
ら位置探知目標に第二の振幅変調信号の電波を送信する
と共に、第二の送信局の上記指向性アンテナが所定の方
位を向いた時に第二の送信局の無指向性アンテナから第
二の振幅変調信号の電波を全方位に送信し、第一の送信
局の指向性アンテナから送信された第一の振幅変調信号
の電波が位置探知目標で反射されて受信局で受信される
受信電波信号と、第一の送信局の無指向性アンテナから
送信された振幅変調信号の電波が位置探知目標で反射さ
れて受信局で受信される受信電波信号との位相差に基づ
いて、第一の送信局から見た位置探知目標と第二の送信
局のなす第一の角度を求め、第二の送信局の指向性アン
テナから送信された第二の振幅変調信号の電波が位置探
知目標で反射されて上記受信局で受信される受信電波信
号と、上記第二の送信局の無指向性アンテナから送信さ
れた振幅変調信号の電波が位置探知目標で反射されて受
信局で受信される受信電波信号との位相差に基づいて、
第二の送信局から見た位置探知目標と第一の送信局のな
す第二の角度を求め、求められた第一の角度、第二の角
度および既知の第一の送信局と第二の送信局間の距離を
用いて、位置探知目標の位置を算出するので、第一の送
信局および第二の送信局における指向性アンテナおよび
無指向性アンテナから送信され、位置探知目標で反射さ
れて受信局に到来する電波の位相差を求めるだけで、第
一の送信局から見た位置探知目標と第二の送信局のなす
第一の角度と第二の送信局から見た位置探知目標と第一
の送信局のなす第二の角度が求められ、また、第一の送
信局と第二の送信局間の距離は既知であるので、三角測
量の原理により容易に自ら電波を送信しない位置探知目
標の位置を探知できると共に、受信局における電波の到
来方向を測定する必要がなく、受信局の設備も簡便にす
ることが可能な目標位置探知方法を提供できる。The target position detecting method according to the present invention transmits the radio wave of the first amplitude modulation signal to the position detecting target from the directional antenna of the first transmitting station which rotates at a predetermined number of revolutions per unit time. , When the directional antenna faces a predetermined direction, the omnidirectional antenna of the first transmitting station transmits the radio wave of the first amplitude-modulated signal in all directions, and rotates at a predetermined rotation speed in a unit time. The radio wave of the second amplitude modulation signal is transmitted from the directional antenna of the transmitting station to the position detection target, and when the directional antenna of the second transmitting station faces the predetermined direction, The directional antenna transmits a second amplitude-modulated signal radio wave in all directions, and the first amplitude-modulated signal radio wave transmitted from the directional antenna of the first transmitting station is reflected by the position detection target and the receiving station The received radio signal received by The radio wave of the amplitude modulated signal transmitted from the omnidirectional antenna of the transmitting station is viewed from the first transmitting station based on the phase difference with the received radio signal reflected by the position detection target and received by the receiving station. The first angle formed by the position detection target and the second transmission station is obtained, and the radio wave of the second amplitude modulation signal transmitted from the directional antenna of the second transmission station is reflected by the position detection target and the reception station The phase difference between the received radio wave signal received by and the radio wave of the amplitude modulated signal transmitted from the omnidirectional antenna of the second transmission station is received by the reception station after being reflected by the position detection target. On the basis of,
The second angle formed by the position detection target and the first transmitting station seen from the second transmitting station is obtained, and the obtained first angle, the second angle and the known first transmitting station and the second Since the position of the position-finding target is calculated using the distance between the transmitting stations, it is transmitted from the directional antenna and the omnidirectional antenna in the first transmitting station and the second transmitting station, and reflected by the position-finding target. By simply obtaining the phase difference between the radio waves arriving at the receiving station, the position detection target seen from the first transmitting station and the first angle formed by the second transmitting station and the position detection target seen from the second transmitting station can be obtained. Since the second angle formed by the first transmitting station is obtained and the distance between the first transmitting station and the second transmitting station is known, the position where the radio wave is not easily transmitted by itself based on the principle of triangulation. The position of the detection target can be detected and the arrival direction of the radio wave at the receiving station can be measured. No necessity, even the receiving station equipment capable of providing a target position detecting method capable of conveniently.

【００４８】また、この発明による目標位置探知方法
は、電波を送信している海面上の位置探知目標の位置を
算出する目標位置探知方法であって、海面に対する垂線
上で既知の高度に配置された受信局において受信する位
置探知目標からの送信電波に基づいて、受信局から見た
位置探知目標と上記垂線のなす角度を求め、受信局から
見た位置探知目標と垂線のなす角度と位置探知目標の垂
線上の既知の高度を用いて、位置探知目標の位置を算出
するので、自ら電波を送信している海面上の位置探知目
標の位置を容易に探知することが可能な目標位置探知方
法を提供できる。The target position detecting method according to the present invention is a target position detecting method for calculating the position of a position detecting target on the sea surface which is transmitting radio waves, and is arranged at a known altitude on the perpendicular to the sea surface. Based on the radio waves transmitted from the position detection target received by the receiving station, the angle between the position detection target viewed from the receiving station and the above perpendicular is obtained, and the angle formed by the position detection target viewed from the receiving station and the perpendicular and the position detection are performed. Since the position of the position detection target is calculated using the known altitude on the perpendicular of the target, it is possible to easily detect the position of the position detection target on the sea surface that is transmitting radio waves by itself. Can be provided.

【００４９】また、この発明による目標位置探知システ
ムは、所定時間で一回転する送信局のアンテナからパル
ス列信号の電波を位置探知目標および受信局に送信する
送信局と、位置探知目標で反射される電波と送信局から
直接到来する電波を受信する受信局であって、送信局か
ら直接到来する上記パルス列信号の到来時刻と位置探知
目標で反射されてから到来する上記パルス列信号の到来
時刻との差に基づいて、送信局から直接上記受信局に至
る第一の経路長と送信局から上記位置探知目標を経由し
て受信局に至る第二の経路長との経路長差を算出する手
段と、送信局のアンテナが所定時間で一回転することに
より生じる振幅変調信号のピーク振幅が受信局に直接到
来する到来時刻と、振幅変調信号のピーク振幅が上記位
置探知目標で反射されてから受信局に到来する到来時刻
との差に基づいて、送信局から見た位置探知目標と受信
局のなす第一の角度を求める手段と、送信局から送信さ
れ、位置探知目標で反射して受信局に到来する電波に基
づいて、受信局から見た位置探知目標と送信局のなす第
二の角度を求める手段とを有した受信局とを備え、求め
られた経路長差、上記第一の角度および第二の角度を用
いて、位置探知目標の位置を算出するので、送信局と受
信局の間の距離が未知であっても、三角測量の原理によ
り自ら電波を送信していない位置探知目標の位置を容易
に探知することが可能な目標位置探知システムを提供で
きる。Further, the target position detecting system according to the present invention is reflected by the position detecting target and the transmitting station transmitting the electric wave of the pulse train signal to the position detecting target and the receiving station from the antenna of the transmitting station rotating once in a predetermined time. A receiving station that receives radio waves and radio waves that arrive directly from the transmitting station, and the difference between the arrival time of the pulse train signal that directly arrives from the transmitting station and the arrival time of the pulse train signal that arrives after being reflected by the position detection target. Based on, means for calculating a path length difference between a first path length from the transmitting station directly to the receiving station and a second path length from the transmitting station to the receiving station via the position detection target, The arrival time at which the peak amplitude of the amplitude-modulated signal that occurs when the antenna of the transmitting station makes one rotation in a predetermined time arrives directly at the receiving station, and the peak amplitude of the amplitude-modulated signal is reflected by the position detection target. Then, based on the difference between the arrival time at the receiving station and the arrival time, a means for determining the first angle formed by the position-finding target and the receiving station as seen from the transmitting station, and a signal transmitted from the transmitting station and reflected at the position-finding target. Then, based on the radio wave arriving at the receiving station, a receiving station having a position detection target viewed from the receiving station and a means for obtaining the second angle formed by the transmitting station is provided, and the obtained path length difference, Since the position of the position detection target is calculated using the first angle and the second angle, even if the distance between the transmitting station and the receiving station is unknown, the radio wave is transmitted by itself based on the principle of triangulation. It is possible to provide a target position detection system capable of easily detecting the position of a target having no position detection target.

【００５０】また、この発明による目標位置探知システ
ムは、単位時間に所定の回転数で回転する指向性アンテ
ナから位置探知目標に振幅変調信号の電波を送信すると
共に、指向性アンテナが所定の方位を向いた時に無指向
性アンテナから上記振幅変調信号の電波を全方位に送信
する送信局と、送信局から送信され、位置探知目標で反
射された電波を受信する受信局であって、指向性アンテ
ナから送信された振幅変調信号の電波が位置探知目標で
反射されて受信局で受信される受信電波信号と、無指向
性アンテナから送信された振幅変調信号の電波が位置探
知目標で反射されて受信局で受信される受信電波信号と
の位相差に基づいて、送信局から見た位置探知目標と受
信局のなす第一の角度を求める手段と、位置探知目標か
らの反射電波に基づいて、受信局から見た位置探知目標
と送信局のなす第二の角度を求める手段とを有した受信
局を備え、求められた第一の角度、第二の角度および既
知の送信局と受信局間の距離を用いて、位置探知目標の
位置を算出するので、三角測量の原理により自ら電波を
送信していない探知位置目標の位置を、短時間、かつ、
高精度に探知することが可能な目標位置探知システムを
提供できる。Further, in the target position detecting system according to the present invention, the directional antenna rotating at a predetermined number of revolutions per unit time transmits the radio wave of the amplitude modulation signal to the position detecting target, and the directional antenna moves in a predetermined direction. A directional antenna, which is a transmitting station that transmits radio waves of the amplitude-modulated signal in all directions from an omnidirectional antenna when facing, and a receiving station that receives radio waves transmitted from the transmitting station and reflected by a position detection target. The radio wave of the amplitude-modulated signal transmitted from is reflected by the position detection target and received by the receiving station, and the radio wave of the amplitude-modulated signal transmitted from the omnidirectional antenna is reflected by the position detection target and received. Based on the phase difference with the received radio signal received by the station, a means for obtaining the first angle formed by the position detection target and the reception station as seen from the transmitting station, and the reflected wave from the position detection target. And a receiving station having means for determining a second angle formed by the position finding target and the transmitting station as seen from the receiving station, and obtaining the first angle, the second angle and the known transmitting station Since the position of the position detection target is calculated using the distance between the stations, the position of the detection position target that does not transmit radio waves by itself based on the principle of triangulation can be used for a short time and
It is possible to provide a target position detection system that can detect with high accuracy.

【００５１】また、この発明による目標位置探知システ
ムの送信局は、送信する電波にパルス列信号を含み、受
信局は、直接到来するパルス列信号の到来時刻と位置探
知目標で反射されてから到来するパルス列信号の到来時
刻との差に基づいて、送信局から直接受信局に至る第一
の経路長と送信局から位置探知目標を経由して受信局に
至る第二の経路長との経路長差を算出する手段をさらに
有し、算出された経路長差、求められた第一の角度およ
び第二の角度を用いて、位置探知目標の位置を算出する
ので、送信局と受信局の間の距離が未知であっても、三
角測量の原理により自ら電波を送信していない位置探知
目標の位置を短時間、かつ、高精度に探知することが可
能な目標位置探知システムを提供できる。Further, the transmitting station of the target position detecting system according to the present invention includes a pulse train signal in the radio wave to be transmitted, and the receiving station receives the pulse train signal at the arrival time and the pulse train coming after being reflected by the position detection target. Based on the difference between the arrival time of the signal, the path length difference between the first path length from the transmitting station directly to the receiving station and the second path length from the transmitting station to the receiving station via the position detection target is calculated. Since the position detection target position is calculated using the calculated path length difference and the calculated first angle and second angle, the distance between the transmitting station and the receiving station can be calculated. It is possible to provide a target position detection system capable of detecting a position of a position detection target that does not transmit radio waves by itself based on the principle of triangulation in a short time and with high accuracy even if is unknown.

【００５２】また、この発明による目標位置探知システ
ムは、単位時間に所定の回転数で回転する指向性アンテ
ナからら位置探知目標に第一の振幅変調信号の電波を送
信すると共に、指向性アンテナが所定の方位を向いた時
に無指向性アンテナから上記第一の振幅変調信号の電波
を全方位に送信する第一の送信局と、単位時間に所定の
回転数で回転する指向性アンテナから位置探知目標に第
二の振幅変調信号の電波を送信すると共に、指向性アン
テナが所定の方位を向いた時に無指向性アンテナから第
二の振幅変調信号の電波を全方位に送信する第二の送信
局と、第一の送信局および第二の送信局から送信され、
位置探知目標で反射された電波を受信する受信局であっ
て、第一の送信局の指向性アンテナから送信された第一
の振幅変調信号の電波が位置探知目標で反射してから受
信される受信電波信号と、第一の送信局の無指向性アン
テナから送信された振幅変調信号の電波が位置探知目標
で反射してから受信される受信電波信号との位相差に基
づいて、第一の送信局から見た位置探知目標と第二の受
信局のなす第一の角度を求める手段と、第二の送信局の
指向性アンテナから送信された第二の振幅変調信号の電
波が上記位置探知目標で反射されて受信局で受信される
受信電波信号と、第二の送信局の無指向性アンテナから
送信された振幅変調信号の電波が位置探知目標で反射さ
れて受信局で受信される受信電波信号との位相差に基づ
いて、第二の送信局から見た位置探知目標と第一の送信
局のなす第二の角度を求める手段を有した受信局とを備
え、求められた第一の角度、第二の角度および既知の第
一の送信局と第二の送信局間の距離を用いて、位置探知
目標の位置を算出するので、第一の送信局および第二の
送信局における指向性アンテナおよび無指向性アンテナ
から送信され、位置探知目標で反射されて受信局に到来
する電波の位相差を求めるだけで、第一の送信局から見
た位置探知目標と第二の送信局のなす第一の角度と第二
の送信局から見た位置探知目標と第一の送信局のなす第
二の角度が求められ、また、第一の送信局と第二の送信
局間の距離は既知であるので、三角測量の原理により容
易に自ら電波を送信しない位置探知目標の位置を探知で
きると共に、受信局における電波の到来方向を測定する
必要がなく、受信局の設備も簡便にすることが可能な目
標位置探知システムを提供できる。Further, in the target position detecting system according to the present invention, the directional antenna transmits the radio wave of the first amplitude modulation signal to the position detecting target from the directional antenna which rotates at a predetermined number of revolutions per unit time. Position detection is performed from a unidirectional antenna that transmits a radio wave of the first amplitude-modulated signal in all directions when facing a predetermined direction, and a directional antenna that rotates at a predetermined rotation speed per unit time. A second transmitting station that transmits a radio wave of a second amplitude modulation signal to a target and also transmits a radio wave of a second amplitude modulation signal from an omnidirectional antenna to all directions when the directional antenna faces a predetermined direction. And transmitted from the first and second transmitting stations,
A receiving station that receives the radio wave reflected by the position detection target, and the radio wave of the first amplitude modulation signal transmitted from the directional antenna of the first transmission station is received after being reflected by the position detection target. Based on the phase difference between the received radio wave signal and the received radio wave signal received after the radio wave of the amplitude modulation signal transmitted from the omnidirectional antenna of the first transmitting station is reflected by the position detection target, A means for obtaining the first angle formed by the position detection target and the second receiving station as seen from the transmitting station, and the radio wave of the second amplitude modulation signal transmitted from the directional antenna of the second transmitting station is used to detect the position. The reception radio wave signal reflected by the target and received by the receiving station, and the radio wave of the amplitude modulation signal transmitted from the omnidirectional antenna of the second transmitting station are received by the receiving station after being reflected by the position detection target. Second transmission based on the phase difference from the radio signal From the position detection target and a receiving station having means for determining the second angle formed by the first transmitting station, and the obtained first angle, second angle and known first transmitting station Since the position of the position detection target is calculated using the distance between the second transmission station and the second transmission station, the position detection target is transmitted from the directional antenna and the omnidirectional antenna in the first transmission station and the second transmission station. Only by finding the phase difference of the radio waves reflected by and arriving at the receiving station, the position detection target seen from the first transmitting station and the first angle formed by the second transmitting station and the second transmitting station are seen. The second angle formed by the position detection target and the first transmitting station is obtained, and the distance between the first transmitting station and the second transmitting station is known. The position of the target can be detected and the radio wave of the receiving station It is not necessary to measure the coming direction, and the receiving station equipment capable of providing a target position detection system capable of conveniently.

【図面の簡単な説明】[Brief description of drawings]

【図１】この発明の実施形態1による目標位置探知方
法の要領を説明するための図である。FIG. 1 is a diagram for explaining the outline of a target position detecting method according to a first embodiment of the present invention.

【図２】この発明の実施形態1における送信局から送
信されるパルス列信号の電波が、受信局へ直接到来する
時刻と位置探知目標で反射されて、受信局へ直接到来す
る時刻の時刻差を説明するための図である。FIG. 2 shows a time difference between a time when a radio wave of a pulse train signal transmitted from a transmitting station in the first embodiment of the present invention directly arrives at a receiving station and a time when the electric wave is reflected at a position detection target and directly arrives at the receiving station. It is a figure for explaining.

【図３】この発明の実施形態1における送信局の回転
するアンテナにより振幅変化の生じた電波が、受信局へ
直接到来する時刻と位置探知目標で反射されて、受信局
へ直接到来する時刻の時刻差を説明するための図であ
る。FIG. 3 shows the time when a radio wave whose amplitude has changed due to a rotating antenna of a transmitting station according to Embodiment 1 of the present invention directly arrives at a receiving station and when it arrives at a receiving station after being reflected by a position detection target. It is a figure for demonstrating a time difference.

【図４】この発明の実施形態２による目標位置探知方
法の要領を説明するための図である。FIG. 4 is a diagram for explaining the outline of a target position detecting method according to Embodiment 2 of the present invention.

【図５】この発明の実施形態３による目標位置探知方
法の要領を説明するための図である。FIG. 5 is a diagram for explaining the outline of a target position detecting method according to a third embodiment of the present invention.

【図６】この発明の実施形態３による目標位置探知方
法の原理を説明するための図である。FIG. 6 is a diagram for explaining the principle of a target position detecting method according to Embodiment 3 of the present invention.

【図７】この発明の実施形態５による目標位置探知方
法の要領を説明するための図である。FIG. 7 is a diagram for explaining the outline of a target position detecting method according to a fifth embodiment of the present invention.

【図８】この発明の実施形態６による目標位置探知方
法の要領を説明するための図である。FIG. 8 is a diagram for explaining the outline of a target position detecting method according to a sixth embodiment of the present invention.

【図９】従来の方法１による目標位置探知方法の要領
を説明するための図である。FIG. 9 is a diagram for explaining the outline of a target position detecting method according to the conventional method 1.

【図１０】従来の方法２による目標位置探知方法の要
領を説明するための図である。FIG. 10 is a diagram for explaining the outline of a target position detecting method according to the conventional method 2.

【符号の説明】[Explanation of symbols]

１送信局２受信局３位置探知目標４送信局から受信局に直接到来する電波５送信局から位置探知目標に到達する電波６位置探知目標で反射して受信局に到来する電波７受信局から見た位置探知目標と送信局のなす角度８送信局から見た位置探知目標と受信局のなす角度９送信局からみた位置探知目標の真北方向に対する方
位角１０第二の送信局１１第二の送信局から位置探知目標に到来する電波１２電波１１tが位置探知目標で反射して受信局に到
来する電波１３第二の送信局からみた位置探知目標の真北方向に
対する方位角１４第一の送信局と第二の送信局を結ぶ基線１５海面１６受信局から海面に下ろした垂線１７受信局から見た目標と垂線のなす角1 Transmitting station 2 Receiving station 3 Position detection target 4 Radio wave coming directly from the transmitting station to the receiving station 5 Radio wave reaching the location detecting target from the transmitting station 6 Radio wave 7 reaching the receiving station after being reflected by the location detecting target 7 From the receiving station The angle between the position-finding target and the transmitting station as seen 8 The angle between the position-finding target and the receiving station as seen from the transmitting station 9 The azimuth angle of the position-finding target as seen from the transmitting station with respect to the true north direction 10 Second transmitting station 11 Second Radio wave 12 that arrives at the position detection target from the transmission station of 12 Radio wave 11t that arrives at the reception station after being reflected by the position detection target 13 Azimuth angle to the true north direction of the position detection target seen from the second transmission station 14 First Baseline 15 that connects the transmitting station and the second transmitting station 15 Sea surface 16 Perpendicular line drawn from the receiving station to the sea surface 17 Angle between target and perpendicular line as seen from the receiving station

Claims

【特許請求の範囲】[Claims]

【請求項１】所定時間で一回転する送信局のアンテナ
からパルス列信号の電波を位置探知目標および受信局に
送信し、上記受信局に直接到来する上記パルス列信号の到来時刻
と上記位置探知目標で反射されてから上記受信局に到来
する上記パルス列信号の到来時刻との差に基づいて、上
記送信局から直接上記受信局に至る第一の経路長と上記
送信局から上記位置探知目標を経由して上記受信局に至
る第二の経路長との経路長差を算出し、上記送信局のアンテナが所定時間で一回転することによ
り生じる振幅変調信号のピーク振幅が上記受信局に直接
到来する到来時刻と、上記振幅変調信号のピーク振幅が
上記位置探知目標で反射されてから上記受信局に到来す
る到来時刻との差に基づいて、上記送信局から見た上記
位置探知目標と上記受信局のなす第一の角度を求め、上記送信局から送信され、上記位置探知目標で反射して
上記受信局に到来する電波に基づいて、上記受信局から
見た上記位置探知目標と上記送信局のなす第二の角度を
求め、求められた上記経路長差、上記第一の角度および第二の
角度を用いて、上記位置探知目標の位置を算出すること
を特徴とする目標位置探知方法。1. An arrival time of the pulse train signal that directly arrives at the reception station and the position detection target are transmitted by transmitting an electric wave of a pulse train signal from the antenna of the transmission station that makes one rotation in a predetermined time to the position detection target and the reception station. Based on the difference between the arrival time of the pulse train signal that arrives at the receiving station after being reflected, the first path length from the transmitting station directly to the receiving station and the position finding target from the transmitting station. Then, the path length difference from the second path length to the receiving station is calculated, and the peak amplitude of the amplitude-modulated signal generated when the antenna of the transmitting station makes one rotation in a predetermined time arrives directly at the receiving station. Based on the difference between the time and the arrival time when the peak amplitude of the amplitude-modulated signal arrives at the receiving station after being reflected by the position finding target, the position finding target and the reception as seen from the transmitting station The first angle formed by, the radio wave transmitted from the transmitting station, reflected by the position detecting target and arriving at the receiving station, is based on the electric wave of the position detecting target and the transmitting station seen from the receiving station. A target position detecting method, wherein a second angle to be formed is obtained, and the position of the position detection target is calculated using the obtained path length difference, the first angle, and the second angle.

【請求項２】上記送信局から直接上記受信局に至る上
記第一の経路長は既知であることを特徴とする請求項１
に記載の目標位置探知方法。2. The first path length from the transmitting station to the receiving station directly is known.
The target position detection method described in.

【請求項３】単位時間に所定の回転数で回転する送信
局の指向性アンテナから位置探知目標に振幅変調信号の
電波を送信すると共に、上記指向性アンテナが所定の方
位を向いた時に上記送信局の無指向性アンテナから上記
振幅変調信号の電波を全方位に送信し、上記指向性アンテナから送信された振幅変調信号の電波
が上記位置探知目標で反射されて上記受信局で受信され
る受信電波信号と、上記無指向性アンテナから送信され
た振幅変調信号の電波が上記位置探知目標で反射されて
上記受信局で受信される受信電波信号との位相差に基づ
いて、上記送信局から見た上記位置探知目標と上記受信
局のなす第一の角度を求め、上記位置探知目標からの反射電波に基づいて、上記受信
局から見た上記位置探知目標と上記送信局のなす第二の
角度を求め、求められた上記第一の角度、第二の角度および既知の上
記送信局と上記受信局間の距離を用いて、上記位置探知
目標の位置を算出することを特徴とする目標位置探知方
法。3. A radio wave of an amplitude modulation signal is transmitted to a position detection target from a directional antenna of a transmitting station which rotates at a predetermined number of revolutions per unit time, and the transmission is performed when the directional antenna faces a predetermined direction. The omnidirectional antenna of the station transmits the radio wave of the amplitude modulated signal in all directions, and the radio wave of the amplitude modulated signal transmitted from the directional antenna is reflected by the position detection target and received by the receiving station. Based on the phase difference between the radio wave signal and the radio wave signal of the amplitude modulation signal transmitted from the omnidirectional antenna, which is reflected by the position detection target and received by the reception station, the radio wave signal is viewed from the transmission station. The first angle formed by the position detection target and the receiving station is obtained, and the second angle formed by the position detection target and the transmitting station viewed from the receiving station is determined based on the reflected radio wave from the position detecting target. The target position detecting method is characterized in that the position of the position detecting target is calculated using the obtained first angle, the obtained second angle, and the known distance between the transmitting station and the receiving station. .

【請求項４】上記送信局より送信される電波は、パル
ス列信号を含み、上記受信局に直接到来する上記パルス列信号の到来時刻
と上記位置探知目標で反射されてから上記受信局に到来
する上記パルス列信号の到来時刻との差に基づいて、上
記送信局から直接上記受信局に至る第一の経路長と上記
送信局から上記位置探知目標を経由して上記受信局に至
る第二の経路長との経路長差を算出し、算出された上記経路長差、求められた上記第一の角度お
よび第二の角度を用いて、上記位置探知目標の位置を算
出することを特徴とする請求項３に記載の目標位置探知
方法。4. The radio wave transmitted from the transmitting station includes a pulse train signal, and arrives at the receiving station after being reflected by the arrival time of the pulse train signal directly reaching the receiving station and the position detection target. A first path length from the transmitting station directly to the receiving station and a second path length from the transmitting station to the receiving station via the position detection target based on the difference between the arrival time of the pulse train signal A path length difference between the position detection target and the position detection target is calculated by using the calculated path length difference and the calculated first angle and second angle. 3. The target position detecting method described in 3.

【請求項５】単位時間に所定の回転数で回転する第一
の送信局の指向性アンテナから位置探知目標に第一の振
幅変調信号の電波を送信すると共に、上記指向性アンテ
ナが所定の方位を向いた時に上記第一の送信局の無指向
性アンテナから上記第一の振幅変調信号の電波を全方位
に送信し、単位時間に所定の回転数で回転する第二の送信局の指向
性アンテナから位置探知目標に第二の振幅変調信号の電
波を送信すると共に、上記第二の送信局の上記指向性ア
ンテナが所定の方位を向いた時に上記第二の送信局の無
指向性アンテナから上記第二の振幅変調信号の電波を全
方位に送信し、上記第一の送信局の指向性アンテナから送信された第一
の振幅変調信号の電波が上記位置探知目標で反射されて
上記受信局で受信される受信電波信号と、上記第一の送
信局の無指向性アンテナから送信された振幅変調信号の
電波が上記位置探知目標で反射されて上記受信局で受信
される受信電波信号との位相差に基づいて、上記第一の
送信局から見た上記位置探知目標と上記第二の送信局の
なす第一の角度を求め、上記第二の送信局の指向性アンテナから送信された第二
の振幅変調信号の電波が上記位置探知目標で反射されて
上記受信局で受信される受信電波信号と、上記第二の送
信局の無指向性アンテナから送信された振幅変調信号の
電波が上記位置探知目標で反射されて上記受信局で受信
される受信電波信号との位相差に基づいて、上記第二の
送信局から見た上記位置探知目標と上記第一の送信局の
なす第二の角度を求め、求められた上記第一の角度、第二の角度および既知の上
記第一の送信局と上記第二の送信局間の距離を用いて、
上記位置探知目標の位置を算出することを特徴とする目
標位置探知方法。5. A radio wave of a first amplitude modulation signal is transmitted from a directional antenna of a first transmitting station that rotates at a predetermined number of revolutions per unit time to a position detection target, and the directional antenna has a predetermined direction. When the radio wave of the first amplitude modulated signal is transmitted in all directions from the omnidirectional antenna of the first transmitting station when facing the While transmitting the radio wave of the second amplitude modulation signal from the antenna to the position detection target, from the omnidirectional antenna of the second transmitting station when the directional antenna of the second transmitting station faces a predetermined azimuth. The radio wave of the second amplitude modulated signal is transmitted in all directions, and the radio wave of the first amplitude modulated signal transmitted from the directional antenna of the first transmitting station is reflected by the position detection target and the receiving station. The received radio signal received by The first transmission based on the phase difference between the radio wave of the amplitude modulation signal transmitted from the omnidirectional antenna of one transmitting station and the received radio wave signal reflected by the position detection target and received by the receiving station. The position detection target seen from the station and the first angle formed by the second transmission station are obtained, and the radio wave of the second amplitude modulation signal transmitted from the directional antenna of the second transmission station is detected by the position detection. The received radio wave signal reflected by the target and received by the receiving station, and the radio wave of the amplitude modulation signal transmitted from the omnidirectional antenna of the second transmitting station are reflected by the position detecting target and are received by the receiving station. Based on the phase difference with the received radio wave signal received, the second angle formed by the position detecting target and the first transmitting station seen from the second transmitting station is obtained, and the first angle obtained is obtained. Angle, second angle and first transmitter station known above And using the distance between the second transmitting station,
A target position detecting method, characterized in that the position of the position detecting target is calculated.

【請求項６】電波を送信している海面上の位置探知目
標の位置を算出する目標位置探知方法であって、海面に対する垂線上で既知の高度に配置された受信局に
おいて受信する上記位置探知目標からの送信電波に基づ
いて、上記受信局から見た上記位置探知目標と上記垂線
のなす角度を求め、上記受信局から見た上記位置探知目標と上記垂線のなす
角度と上記位置探知目標の上記垂線上の既知の高度を用
いて、上記位置探知目標の位置を算出することを特徴と
する目標位置探知方法。6. A target position locating method for calculating the position of a position locating target on the sea surface which is transmitting radio waves, said position locating being received by a receiving station located at a known altitude on a perpendicular to the sea surface. Based on the radio wave transmitted from the target, the angle between the position detection target viewed from the receiving station and the perpendicular is determined, and the angle formed by the position detection target and the perpendicular viewed from the receiving station and the position detection target A target position detection method, characterized in that the position of the position detection target is calculated using a known altitude on the perpendicular.

【請求項７】所定時間で一回転する送信局のアンテナ
からパルス列信号の電波を位置探知目標および受信局に
送信する送信局と、上記位置探知目標で反射される電波と上記送信局から直
接到来する電波を受信する受信局であって、上記送信局から直接到来する上記パルス列信号の到来時
刻と上記位置探知目標で反射されてから到来する上記パ
ルス列信号の到来時刻との差に基づいて、上記送信局か
ら直接上記受信局に至る第一の経路長と上記送信局から
上記位置探知目標を経由して上記受信局に至る第二の経
路長との経路長差を算出する手段と、上記送信局のアンテナが所定時間で一回転することによ
り生じる振幅変調信号のピーク振幅が上記受信局に直接
到来する到来時刻と、上記振幅変調信号のピーク振幅が
上記位置探知目標で反射されてから上記受信局に到来す
る到来時刻との差に基づいて、上記送信局から見た上記
位置探知目標と上記受信局のなす第一の角度を求める手
段と、上記送信局から送信され、上記位置探知目標で反射して
上記受信局に到来する電波に基づいて、上記受信局から
見た上記位置探知目標と上記送信局のなす第二の角度を
求める手段とを有した受信局とを備え、求められた上記経路長差、上記第一の角度および第二の
角度を用いて、上記位置探知目標の位置を算出すること
を特徴とする目標位置探知システム。7. A transmitting station that transmits a radio wave of a pulse train signal from an antenna of a transmitting station that rotates once in a predetermined time to a position detection target and a receiving station, a radio wave reflected by the position detecting target, and a direct arrival from the transmitting station. Which is a receiving station for receiving radio waves, and based on the difference between the arrival time of the pulse train signal directly coming from the transmitting station and the arrival time of the pulse train signal coming after being reflected by the position detection target, Means for calculating a path length difference between a first path length from the transmitting station directly to the receiving station and a second path length from the transmitting station to the receiving station via the position detection target; The arrival time at which the peak amplitude of the amplitude-modulated signal generated when the antenna of the station makes one revolution in a predetermined time directly arrives at the receiving station, and the peak amplitude of the amplitude-modulated signal is reflected by the position detection target. Then, based on the difference between the arrival time of arrival at the receiving station, means for determining the first angle formed by the receiving station and the position detection target seen from the transmitting station, transmitted from the transmitting station, Based on the radio wave reflected by the position detection target and arriving at the reception station, a reception station having a means for obtaining the second angle formed by the position detection target and the transmission station viewed from the reception station, A target position detection system, comprising: calculating the position of the position detection target using the obtained path length difference, the first angle, and the second angle.

【請求項８】単位時間に所定の回転数で回転する指向
性アンテナから位置探知目標に振幅変調信号の電波を送
信すると共に、上記指向性アンテナが所定の方位を向い
た時に無指向性アンテナから上記振幅変調信号の電波を
全方位に送信する送信局と、上記送信局から送信され、上記位置探知目標で反射され
た電波を受信する受信局であって、上記指向性アンテナから送信された振幅変調信号の電波
が上記位置探知目標で反射されて上記受信局で受信され
る受信電波信号と、上記無指向性アンテナから送信され
た振幅変調信号の電波が上記位置探知目標で反射されて
上記受信局で受信される受信電波信号との位相差に基づ
いて、上記送信局から見た上記位置探知目標と上記受信
局のなす第一の角度を求める手段と、上記位置探知目標からの反射電波に基づいて、上記受信
局から見た上記位置探知目標と上記送信局のなす第二の
角度を求める手段とを有した受信局を備え、求められた上記第一の角度、第二の角度および既知の上
記送信局と上記受信局間の距離を用いて、上記位置探知
目標の位置を算出することを特徴とする目標位置探知シ
ステム。8. A directional antenna that rotates at a predetermined number of revolutions per unit time transmits a radio wave of an amplitude modulation signal to a position detection target, and when the directional antenna faces a predetermined azimuth, the omnidirectional antenna outputs the signal. A transmitting station that transmits the radio wave of the amplitude modulated signal in all directions, and a receiving station that receives the radio wave transmitted from the transmitting station and reflected by the position detection target, and the amplitude transmitted from the directional antenna. The radio wave of the modulated signal is reflected by the position detection target and received by the receiving station, and the radio wave of the amplitude modulated signal transmitted from the omnidirectional antenna is reflected by the position detection target and received by the reception target. Means for determining the first angle formed by the position detection target and the reception station seen from the transmission station, based on the phase difference between the received radio signal received by the station, and the response from the position detection target. A receiving station having means for determining the second angle made by the transmitting station and the position detection target viewed from the receiving station based on the radio wave, and the obtained first angle, the second angle A target position detection system, wherein the position of the position detection target is calculated using an angle and a known distance between the transmitting station and the receiving station.

【請求項９】上記送信局は、送信する電波にパルス列
信号を含み、上記受信局は、直接到来する上記パルス列信号の到来時
刻と上記位置探知目標で反射されてから到来する上記パ
ルス列信号の到来時刻との差に基づいて、上記送信局か
ら直接上記受信局に至る第一の経路長と上記送信局から
上記位置探知目標を経由して上記受信局に至る第二の経
路長との経路長差を算出する手段をさらに有し、算出された上記経路長差、求められた上記第一の角度お
よび第二の角度を用いて、上記位置探知目標の位置を算
出することを特徴とする請求項８に記載の目標位置探知
システム。9. The transmitting station includes a pulse train signal in a radio wave to be transmitted, and the receiving station receives the pulse train signal that arrives after being directly reflected from the position detection target and the arrival time of the pulse train signal. A path length of a first path length from the transmitting station directly to the receiving station and a second path length from the transmitting station to the receiving station via the position detection target based on a difference with time. A means for calculating a difference is further provided, and the position of the position detection target is calculated using the calculated path length difference, the obtained first angle and second angle. Item 8. The target position detection system according to item 8.

【請求項１０】単位時間に所定の回転数で回転する指
向性アンテナからら位置探知目標に第一の振幅変調信号
の電波を送信すると共に、上記指向性アンテナが所定の
方位を向いた時に無指向性アンテナから上記第一の振幅
変調信号の電波を全方位に送信する第一の送信局と、単位時間に所定の回転数で回転する指向性アンテナから
位置探知目標に第二の振幅変調信号の電波を送信すると
共に、上記指向性アンテナが所定の方位を向いた時に無
指向性アンテナから上記第二の振幅変調信号の電波を全
方位に送信する第二の送信局と、上記第一の送信局および上記第二の送信局から送信さ
れ、上記位置探知目標で反射された電波を受信する受信
局であって、上記第一の送信局の指向性アンテナから送信された第一
の振幅変調信号の電波が上記位置探知目標で反射してか
ら受信される受信電波信号と、上記第一の送信局の無指
向性アンテナから送信された振幅変調信号の電波が上記
位置探知目標で反射してから受信される受信電波信号と
の位相差に基づいて、上記第一の送信局から見た上記位
置探知目標と上記第二の受信局のなす第一の角度を求め
る手段と、上記第二の送信局の指向性アンテナから送信された第二
の振幅変調信号の電波が上記位置探知目標で反射されて
上記受信局で受信される受信電波信号と、上記第二の送
信局の無指向性アンテナから送信された振幅変調信号の
電波が上記位置探知目標で反射されて上記受信局で受信
される受信電波信号との位相差に基づいて、上記第二の
送信局から見た上記位置探知目標と上記第一の送信局の
なす第二の角度を求める手段を有した受信局とを備え、求められた上記第一の角度、第二の角度および既知の上
記第一の送信局と上記第二の送信局間の距離を用いて、
上記位置探知目標の位置を算出することを特徴とする目
標位置探知システム。10. A radio wave of a first amplitude modulation signal is transmitted from a directional antenna that rotates at a predetermined number of revolutions per unit time to a position detection target, and when the directional antenna faces a predetermined azimuth From the directional antenna to the first transmitting station that transmits the radio wave of the first amplitude modulated signal in all directions, and from the directional antenna that rotates at a predetermined number of revolutions per unit time to the second amplitude modulated signal to the position detection target. And a second transmitting station that transmits the radio wave of the second amplitude modulation signal from the omnidirectional antenna to all directions when the directional antenna faces a predetermined direction, A receiving station that receives radio waves transmitted from a transmitting station and the second transmitting station and reflected by the position detection target, the first amplitude modulation being transmitted from the directional antenna of the first transmitting station. Signal radio wave is as above The reception radio signal received after being reflected by the position detection target, and the radio wave of the amplitude modulation signal transmitted from the omnidirectional antenna of the first transmitting station being received after being reflected by the position detection target A means for obtaining a first angle formed by the position detection target and the second receiving station viewed from the first transmitting station based on a phase difference with a radio signal; and a directivity of the second transmitting station. The radio wave of the second amplitude modulation signal transmitted from the antenna is reflected by the position detection target and is received by the receiving station, and the amplitude transmitted from the omnidirectional antenna of the second transmitting station. The position detection target viewed from the second transmitting station and the first transmission based on the phase difference between the modulated signal radio wave reflected by the position detection target and the received radio wave signal received by the receiving station. It had a means to find the second angle made by the station A receiving station, using the determined first angle, the second angle and the known distance between the first transmitting station and the second transmitting station,
A target position detection system characterized by calculating the position of the position detection target.