JP2021032865A - Object detection device, system, method, and program - Google Patents

Object detection device, system, method, and program Download PDF

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JP2021032865A
JP2021032865A JP2019157302A JP2019157302A JP2021032865A JP 2021032865 A JP2021032865 A JP 2021032865A JP 2019157302 A JP2019157302 A JP 2019157302A JP 2019157302 A JP2019157302 A JP 2019157302A JP 2021032865 A JP2021032865 A JP 2021032865A
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渡邉　優
Masaru Watanabe
優 渡邉
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New Japan Radio Co Ltd
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Abstract

To provide a dual-frequency continuous wave-type object detection technique which improves object distance measurement accuracy without making temporal change in object distance discontinuous, even in the presence of large noise components on received signals, an effect of an environment other than an object, and an effect of how people or the like move.SOLUTION: An object detection device T disclosed herein is configured to use one of a time-integrated value of object speed and an object distance to correct the other of the time-integrated value of object speed and the object distance, and output the other that was corrected or the one that was not corrected as a high precision object distance.SELECTED DRAWING: Figure 1

Description

本開示は、２周波連続波方式の物標距離精度を向上させる技術に関する。 The present disclosure relates to a technique for improving the target distance accuracy of the dual frequency continuous wave system.

２周波連続波方式の物標検知技術が、非特許文献１等に開示されている。ここで、非特許文献１等では、各送受信周期において、第１周波数の送信信号を照射した後に、第２周波数の送信信号を照射したうえで、第１周波数の送受信信号間のビート位相と第２周波数の送受信信号間のビート位相との差に基づいて、物標距離を計測している。 A two-frequency continuous wave type target detection technique is disclosed in Non-Patent Document 1 and the like. Here, in Non-Patent Document 1 and the like, in each transmission / reception cycle, after irradiating the transmission signal of the first frequency and then irradiating the transmission signal of the second frequency, the beat phase between the transmission / reception signals of the first frequency and the first are The target distance is measured based on the difference from the beat phase between the two frequency transmission / reception signals.

特開２０１３−１１３８１９号公報Japanese Unexamined Patent Publication No. 2013-113819

Ｒｏｂｅｒｔ Ｊ． Ｍａｙａｈｎ ｅｔ ａｌ．，“Ａ ｔｗｏ−ｆｒｅｑｕｅｎｃｙ ｒａｄａｒ ｆｏｒ ｖｅｈｉｃｌｅ ａｕｔｏｍａｔｉｃ ｌａｔｅｒａｌ ｃｏｎｔｒｏｌ”，ＩＥＥＥ ｔｒａｎｓ． Ｖｅｈ． Ｔｅｃｈｎｏｌ．，ｖｏｌ．ＶＴ−３１，Ｎｏ．３，ｐｐ．３２−３９．Robert J. Mayahn et al. , "A two-frequency radar for vehicle automatic lateral control", IEEE trans. Beh. Technol. , Vol. VT-31, No. 3, pp. 32-39.

しかし、非特許文献１等では、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等には、物標距離の時間変化が不連続になることがあり、物標距離の計測精度が低下することがある。 However, in Non-Patent Document 1 and the like, when the noise component of the received signal is large, when there is an influence from the environment other than the target, when there is an influence from the movement of human beings, etc., the target distance The time change of the object may become discontinuous, and the measurement accuracy of the target distance may decrease.

そこで、前記課題を解決するために、本開示は、２周波連続波方式の物標検知技術において、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を不連続にすることなく、物標距離の計測精度を向上させることを目的とする。 Therefore, in order to solve the above problems, the present disclosure discloses that in the two-frequency continuous wave type target detection technology, when the noise component is large with respect to the received signal, when there is an influence from the environment other than the target, and when there is an influence. The purpose is to improve the measurement accuracy of the target distance without discontinuing the time change of the target distance even when it is affected by the movement of human beings.

受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標速度の時間変化が不連続になることが少なく、物標速度の計測精度が低下することが少ない。そこで、物標速度の時間積算値を、物標距離として出力することが考えられる（特許文献１等を参照。）。しかし、物標速度の計測開始時には、物標速度の時間積算値の積分定数が不明であり、物標速度の長時間計測後には、物標速度の速度積算値の積算誤差が大きくなる。そこで、前記課題を解決するために、第１の方法として、物標速度の時間積算値及び物標距離のうちの一方の短所を、物標速度の時間積算値及び物標距離のうちの他方の長所で補完することとした。 Even when the noise component of the received signal is large, when there is an influence from the environment other than the target, or when there is an influence from the movement of human beings, etc., the time change of the target speed may be discontinuous. There is little deterioration in the measurement accuracy of the target velocity. Therefore, it is conceivable to output the time-integrated value of the target velocity as the target distance (see Patent Document 1 and the like). However, at the start of measurement of the target speed, the integration constant of the time integration value of the target speed is unknown, and after a long time measurement of the target speed, the integration error of the speed integration value of the target speed becomes large. Therefore, in order to solve the above-mentioned problems, as a first method, one of the disadvantages of the time-integrated value of the target speed and the target distance is set as the other of the time-integrated value of the target speed and the target distance. I decided to complement it with the advantages of.

具体的には、本開示は、第１周波数及び第２周波数を用いる２周波連続波方式の物標検知装置であって、前記第１周波数の送受信信号間のビート周波数又は前記第２周波数の送受信信号間のビート周波数に基づいて、物標速度を計測する物標速度計測部と、前記第１周波数の送受信信号間のビート位相と前記第２周波数の送受信信号間のビート位相との差に基づいて、物標距離を計測する物標距離計測部と、前記物標速度の時間積算値及び前記物標距離のうちの一方に基づいて、前記物標速度の時間積算値及び前記物標距離のうちの他方を補正し、補正した前記他方又は補正しなかった前記一方を、高精度化した前記物標距離として出力する物標距離出力部と、を備えることを特徴とする物標検知装置である。 Specifically, the present disclosure is a two-frequency continuous wave type target detection device using the first frequency and the second frequency, and the beat frequency between the transmission / reception signals of the first frequency or the transmission / reception of the second frequency. Based on the difference between the target speed measuring unit that measures the target speed based on the beat frequency between the signals, the beat phase between the transmission / reception signals of the first frequency and the beat phase between the transmission / reception signals of the second frequency. Then, based on the target distance measuring unit that measures the target distance, the time integrated value of the target speed, and one of the target distances, the time integrated value of the target speed and the target distance A target detection device comprising: a target distance output unit that corrects the other of the two and outputs the corrected or uncorrected one as the highly accurate target distance. is there.

また、本開示は、第１周波数及び第２周波数を用いる２周波連続波方式の物標検知方法であって、前記第１周波数の送受信信号間のビート周波数又は前記第２周波数の送受信信号間のビート周波数に基づいて、物標速度を計測する物標速度計測ステップと、前記第１周波数の送受信信号間のビート位相と前記第２周波数の送受信信号間のビート位相との差に基づいて、物標距離を計測する物標距離計測ステップと、前記物標速度の時間積算値及び前記物標距離のうちの一方に基づいて、前記物標速度の時間積算値及び前記物標距離のうちの他方を補正し、補正した前記他方又は補正しなかった前記一方を、高精度化した前記物標距離として出力する物標距離出力ステップと、を順に備えることを特徴とする物標検知方法である。 Further, the present disclosure is a two-frequency continuous wave type target detection method using the first frequency and the second frequency, and is a beat frequency between the transmission / reception signals of the first frequency or a transmission / reception signal of the second frequency. An object based on the difference between the target speed measurement step of measuring the target speed based on the beat frequency and the beat phase between the transmission / reception signals of the first frequency and the beat phase between the transmission / reception signals of the second frequency. Based on the target distance measurement step for measuring the target distance and one of the time-integrated value of the target speed and the target distance, the other of the time-integrated value of the target speed and the target distance. The target detection method is characterized in that the target distance output step of correcting and correcting the corrected or not corrected is sequentially provided as a target distance output step for outputting the corrected target distance as the highly accurate target distance.

また、本開示は、第１周波数及び第２周波数を用いる２周波連続波方式の物標検知プログラムであって、前記第１周波数の送受信信号間のビート周波数又は前記第２周波数の送受信信号間のビート周波数に基づいて、物標速度を計測する物標速度計測ステップと、前記第１周波数の送受信信号間のビート位相と前記第２周波数の送受信信号間のビート位相との差に基づいて、物標距離を計測する物標距離計測ステップと、前記物標速度の時間積算値及び前記物標距離のうちの一方に基づいて、前記物標速度の時間積算値及び前記物標距離のうちの他方を補正し、補正した前記他方又は補正しなかった前記一方を、高精度化した前記物標距離として出力する物標距離出力ステップと、を順にコンピュータに実行させるための物標検知プログラムである。 Further, the present disclosure is a two-frequency continuous wave type target detection program using the first frequency and the second frequency, and is a beat frequency between the transmission / reception signals of the first frequency or a transmission / reception signal of the second frequency. An object based on the difference between the target speed measurement step of measuring the target speed based on the beat frequency and the beat phase between the transmission / reception signals of the first frequency and the beat phase between the transmission / reception signals of the second frequency. Based on the target distance measurement step for measuring the target distance and one of the time-integrated value of the target speed and the target distance, the other of the time-integrated value of the target speed and the target distance. This is a target detection program for causing a computer to sequentially execute a target distance output step of correcting and outputting the corrected one or the uncorrected one as the highly accurate target distance.

これらの構成によれば、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を不連続にすることなく、物標距離の計測精度を向上させることができる。 According to these configurations, the target distance changes with time even when the noise component of the received signal is large, when it is affected by an environment other than the target, or when it is affected by the movement of humans or the like. It is possible to improve the measurement accuracy of the target distance without discontinuing.

また、本開示は、前記物標距離出力部は、前記物標距離の時間変化が不連続であるときに、前記物標速度の時間積算値に基づいて、前記物標距離を補正し、補正した前記物標距離又は補正しなかった前記物標速度の時間積算値を、高精度化した前記物標距離として出力することを特徴とする物標検知装置である。 Further, in the present disclosure, the target distance output unit corrects the target distance based on the time integration value of the target speed when the time change of the target distance is discontinuous. The target detection device is characterized in that the time-integrated value of the target distance or the uncorrected target speed is output as the highly accurate target distance.

この構成によれば、物標距離の短所（物標距離の時間変化の不連続性）を、物標速度の時間積算値の長所（物標速度の時間変化の連続性）で補完することができる。 According to this configuration, the disadvantage of the target distance (discontinuity of the time change of the target distance) can be complemented by the advantage of the time integrated value of the target speed (continuity of the time change of the target speed). it can.

また、本開示は、前記物標距離出力部は、計測開始時かつ前記物標距離の時間変化が連続であるときに、又は、一定期間毎かつ前記物標距離の時間変化が連続であるときに、前記物標距離に基づいて、前記物標速度の時間積算値を補正し、補正した前記物標速度の時間積算値又は補正しなかった前記物標距離を、高精度化した前記物標距離として出力することを特徴とする物標検知装置である。 Further, in the present disclosure, when the target distance output unit starts measurement and the time change of the target distance is continuous, or when the time change of the target distance is continuous at regular intervals. In addition, based on the target distance, the time-integrated value of the target speed is corrected, and the corrected time-integrated value of the target speed or the uncorrected target distance is highly accurate. It is a target detection device characterized by outputting as a distance.

この構成によれば、物標速度の時間積算値の短所（積分定数及び積算誤差の考慮要）を、物標距離の長所（積分定数及び積算誤差の考慮不要）で補完することができる。 According to this configuration, the disadvantage of the time integration value of the target velocity (need to consider the integration constant and the integration error) can be complemented by the advantage of the target distance (no need to consider the integration constant and the integration error).

受信信号に対してノイズ成分が小さいとき、物標以外の環境による影響が少ないとき、及び、人間等の動き方による影響が少ないとき等には、送受信実信号に基づく物標距離と送受信虚信号に基づく物標距離との差が小さい。一方で、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等には、送受信実信号に基づく物標距離と送受信虚信号に基づく物標距離との差が大きい。そこで、前記課題を解決するために、第２の方法として、送受信実信号に基づく物標距離と送受信虚信号に基づく物標距離との差に基づいて、送受信実信号に基づく物標距離及び送受信虚信号に基づく物標距離の信頼性を判定することとした。 When the noise component is small with respect to the received signal, when the influence of the environment other than the target is small, or when the influence of the movement of human beings is small, the target distance based on the transmitted / received real signal and the transmitted / received imaginary signal The difference from the target distance based on is small. On the other hand, when the noise component is large with respect to the received signal, when there is an influence from the environment other than the target, or when there is an influence from the movement of human beings, etc., the target distance based on the transmitted / received actual signal is used. There is a large difference from the target distance based on the transmitted / received imaginary signal. Therefore, in order to solve the above problem, as a second method, the target distance based on the transmission / reception real signal and the transmission / reception based on the difference between the target distance based on the transmission / reception real signal and the target distance based on the transmission / reception imaginary signal. It was decided to judge the reliability of the target distance based on the imaginary signal.

具体的には、本開示は、前記第１周波数の送受信実信号間のビート位相と前記第２周波数の送受信実信号間のビート位相との差に基づいて、前記物標距離を計測する実信号物標距離計測部と、前記第１周波数の送受信虚信号間のビート位相と前記第２周波数の送受信虚信号間のビート位相との差に基づいて、前記物標距離を計測する虚信号物標距離計測部と、前記送受信実信号に基づく前記物標距離と前記送受信虚信号に基づく前記物標距離との差に基づいて、前記送受信実信号に基づく前記物標距離及び前記送受信虚信号に基づく前記物標距離の信頼性を判定する物標距離信頼性判定部と、をさらに備えることを特徴とする物標検知装置である。 Specifically, the present disclosure measures the target distance based on the difference between the beat phase between the transmission / reception real signals of the first frequency and the beat phase between the transmission / reception real signals of the second frequency. An imaginary signal target that measures the target distance based on the difference between the target distance measuring unit and the beat phase between the transmitted / received imaginary signal of the first frequency and the beat phase between the transmitted / received imaginary signal of the second frequency. Based on the distance measuring unit and the difference between the target distance based on the transmission / reception real signal and the target distance based on the transmission / reception imaginary signal, the target distance based on the transmission / reception real signal and the transmission / reception imaginary signal. The target detection device is further provided with a target distance reliability determination unit for determining the reliability of the target distance.

この構成によれば、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を連続にするより前に、物標距離の信頼性を判定することができる。 According to this configuration, even when the noise component of the received signal is large, when there is an influence due to the environment other than the target, and when there is an influence due to the movement of human beings, etc., the time change of the target distance can be obtained. The reliability of the target distance can be determined before making it continuous.

また、本開示は、前記物標距離信頼性判定部は、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離の信頼性が高いときに、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離のうちの一方又は両方に基づいて、高精度化した前記物標距離を出力することを特徴とする物標検知装置である。 Further, in the present disclosure, the target distance reliability determination unit is based on the transmission / reception real signal and the transmission / reception imaginary signal when the target distance is highly reliable based on the transmission / reception real signal and the transmission / reception imaginary signal. It is a target detection device characterized by outputting a highly accurate target distance based on one or both of the target distances.

この構成によれば、送受信実信号及び送受信虚信号に基づく物標距離の信頼性が高いときには、特段の処理もなく物標距離の時間変化を連続にできるはずである。 According to this configuration, when the reliability of the target distance based on the transmission / reception real signal and the transmission / reception imaginary signal is high, it should be possible to continuously change the target distance over time without any special processing.

また、本開示は、前記物標距離信頼性判定部は、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離の信頼性が低いときに、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離のうちの前回までの送受信周期の前記物標距離により近い一方に基づいて、又は、前記前回までの送受信周期の前記物標距離に基づいて推定した現時点での送受信周期の前記物標距離に基づいて、高精度化した前記物標距離を出力することを特徴とする物標検知装置である。 Further, in the present disclosure, the target distance reliability determination unit is based on the transmission / reception real signal and the transmission / reception imaginary signal when the reliability of the target distance based on the transmission / reception real signal and the transmission / reception imaginary signal is low. The object of the current transmission / reception cycle estimated based on one of the target distances that is closer to the target distance of the transmission / reception cycle up to the previous time, or based on the target distance of the transmission / reception cycle up to the previous time. It is a target detection device characterized by outputting the target distance with high accuracy based on the target distance.

この構成によれば、送受信実信号及び送受信虚信号に基づく物標距離の信頼性が低いときでも、上記の処理により物標距離の時間変化を連続にすることができる。 According to this configuration, even when the reliability of the target distance based on the transmission / reception real signal and the transmission / reception imaginary signal is low, the time change of the target distance can be made continuous by the above processing.

また、本開示は、以上に記載の物標検知装置と、前記２周波連続波方式のレーダ送受信装置と、を備えることを特徴とする物標検知システムである。 Further, the present disclosure is a target detection system including the target detection device described above and the dual frequency continuous wave type radar transmission / reception device.

この構成によれば、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を不連続にすることなく、物標距離の計測精度を向上させることができる。 According to this configuration, the time change of the target distance can be changed even when the noise component of the received signal is large, when there is an influence due to an environment other than the target, or when there is an influence due to the movement of a human being or the like. It is possible to improve the measurement accuracy of the target distance without making it discontinuous.

このように、本開示は、２周波連続波方式の物標検知技術において、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を不連続にすることなく、物標距離の計測精度を向上させることができる。 As described above, in the two-frequency continuous wave type target detection technology, the present disclosure depends on the noise component of the received signal, the influence of the environment other than the target, and the movement of humans and the like. Even when there is an influence, the measurement accuracy of the target distance can be improved without discontinuing the time change of the target distance.

第１実施形態の物標検知装置の構成を示す図である。It is a figure which shows the structure of the target detection apparatus of 1st Embodiment. 第１実施形態の物標検知方法の手順を示す図である。It is a figure which shows the procedure of the target detection method of 1st Embodiment. 第１実施形態の物標検知方法の詳細を示す図である。It is a figure which shows the detail of the target detection method of 1st Embodiment. 第１実施形態の物標検知方法の詳細を示す図である。It is a figure which shows the detail of the target detection method of 1st Embodiment. 第１実施形態の物標検知方法の詳細を示す図である。It is a figure which shows the detail of the target detection method of 1st Embodiment. 第２実施形態の物標検知装置の構成を示す図である。It is a figure which shows the structure of the target detection apparatus of 2nd Embodiment. 第２実施形態の物標検知方法の手順を示す図である。It is a figure which shows the procedure of the target detection method of 2nd Embodiment. 第２実施形態の物標検知方法の詳細を示す図である。It is a figure which shows the detail of the target detection method of 2nd Embodiment. 第３実施形態の物標検知装置の構成を示す図である。It is a figure which shows the structure of the target detection apparatus of 3rd Embodiment. 第４実施形態の物標検知装置の構成を示す図である。It is a figure which shows the structure of the target detection apparatus of 4th Embodiment. 第５実施形態の物標検知装置の構成を示す図である。It is a figure which shows the structure of the target detection apparatus of 5th Embodiment.

添付の図面を参照して本開示の実施形態を説明する。以下に説明する実施形態は本開示の実施の例であり、本開示は以下の実施形態に制限されるものではない。 Embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below are examples of the embodiments of the present disclosure, and the present disclosure is not limited to the following embodiments.

（第１実施形態）
第１実施形態の物標検知装置の構成を図１に示す。第１実施形態の物標検知方法の手順を図２に示す。第１実施形態の物標検知方法の詳細を図３〜５に示す。物標検知装置Ｔは、物標速度計測部１、物標距離計測部２及び物標距離出力部３から構成され、図２の物標検知プログラムをコンピュータにインストールして実現可能である。 (First Embodiment)
The configuration of the target detection device of the first embodiment is shown in FIG. The procedure of the target detection method of the first embodiment is shown in FIG. The details of the target detection method of the first embodiment are shown in FIGS. 3 to 5. The target detection device T is composed of a target speed measurement unit 1, a target distance measurement unit 2, and a target distance output unit 3, and can be realized by installing the target detection program of FIG. 2 on a computer.

受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等には、物標距離ｄ（ｔ）の時間変化が不連続になることがあり、物標距離ｄ（ｔ）の計測精度が低下することがある。一方で、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標速度ｖ（ｔ）の時間変化が不連続になることが少なく、物標速度ｖ（ｔ）の計測精度が低下することが少ない。 When the noise component of the received signal is large, when there is an influence from the environment other than the target, or when there is an influence from the movement of human beings, etc., the time change of the target distance d (t) is insignificant. It may be continuous, and the measurement accuracy of the target distance d (t) may decrease. On the other hand, the time change of the target velocity v (t) even when the noise component of the received signal is large, when there is an influence due to an environment other than the target, or when there is an influence due to the movement of a human being or the like. Is less likely to be discontinuous, and the measurement accuracy of the target velocity v (t) is less likely to decrease.

そこで、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）を、物標距離として出力することが考えられる。しかし、物標速度ｖ（ｔ）の計測開始時には、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）の積分定数が不明であり、物標速度ｖ（ｔ）の長時間計測後には、物標速度ｖ（ｔ）の速度積算値ｄｖ（ｔ）の積算誤差が大きくなる。そこで、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）及び物標距離ｄ（ｔ）のうちの一方の短所を、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）及び物標距離ｄ（ｔ）のうちの他方の長所で補完する。 Therefore, the target velocity v (t) is a time integration value d v (t), it is conceivable to output a target distance. However, at the start of measurement of the target velocity v (t), the integration constant of the time-integrated value dv (t) of the target velocity v (t) is unknown, and after the long-term measurement of the target velocity v (t) the integrated error of the speed integrated value d v of the target speed v (t) (t) increases. Therefore, the target velocity v (t) of the time integrated value d v (t) and one of the disadvantages of the target distance d (t), the time integration value d v of the target speed v (t) (t) And the advantage of the other of the target distance d (t).

物標速度計測部１は、第１周波数の送受信信号間のビート周波数又は第２周波数の送受信信号間のビート周波数に基づいて、物標速度ｖ（ｔ）を計測する（ステップＳ１）。なお、送受信信号は、送受信実信号でもよく、送受信虚信号でもよい。 The target velocity measuring unit 1 measures the target velocity v (t) based on the beat frequency between the transmission / reception signals of the first frequency or the beat frequency between the transmission / reception signals of the second frequency (step S1). The transmission / reception signal may be a transmission / reception real signal or a transmission / reception imaginary signal.

物標距離計測部２は、第１周波数の送受信信号間のビート位相と第２周波数の送受信信号間のビート位相との差に基づいて、物標距離ｄ（ｔ）を計測する（ステップＳ２）。なお、送受信信号は、送受信実信号でもよく、送受信虚信号でもよい。 The target distance measuring unit 2 measures the target distance d (t) based on the difference between the beat phase between the transmission / reception signals of the first frequency and the beat phase between the transmission / reception signals of the second frequency (step S2). .. The transmission / reception signal may be a transmission / reception real signal or a transmission / reception imaginary signal.

物標距離出力部３は、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）及び物標距離ｄ（ｔ）のうちの一方に基づいて、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）及び物標距離ｄ（ｔ）のうちの他方を補正し、補正した他方又は補正しなかった一方を、高精度化した物標距離として出力する（ステップＳ３〜Ｓ９）。具体的な処理について、以下に説明する。 The target distance output unit 3 time-integrates the target speed v (t) based on one of the target speed v (t) time integration value d v (t) and the target distance d (t). The other of the values d v (t) and the target distance d (t) is corrected, and the corrected or uncorrected one is output as a highly accurate target distance (steps S3 to S9). Specific processing will be described below.

図３の上段では、物標速度ｖ（ｔ）の時間変化を示す。図３の下段では、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）の時間変化を示す。図３の上段において、物標速度ｖ（ｔ）が０であるときには、送受信信号間のビート周波数は０であるため、送受信信号間のビート位相を確定することができず、物標距離ｄ（ｔ）を計測することができない。図３の下段において、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）は、計測開始時のｔ＝０では、物標距離ｄ（ｔ）＝０に基づいて真値０に初期化されているが、長時間計測後のｔ→大では、真値に積算誤差を重畳している（「誤差あり」が「誤差なし」から離れている。）。 The upper part of FIG. 3 shows the time change of the target velocity v (t). In the lower part of FIG. 3 shows the time variation of the time integrated value d v (t) of the target velocity v (t). In the upper part of FIG. 3, when the target velocity v (t) is 0, the beat frequency between the transmission / reception signals is 0, so that the beat phase between the transmission / reception signals cannot be determined, and the target distance d ( t) cannot be measured. In the lower part of FIG. 3, the time integration value d v of the target speed v (t) (t) is the t = 0 at the start of measurement, initially true value 0 on the basis of the target distance d (t) = 0 However, when t → large after long-term measurement, the integration error is superimposed on the true value (“with error” is far from “without error”).

物標距離出力部３は、物標距離ｄ（ｔ）の時間変化が不連続であるときに（ステップＳ３、ＮＯ）、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）に基づいて、物標距離ｄ（ｔ）を補正し（ステップＳ４）、補正した物標距離ｄ（ｔ）又は補正しなかった物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）を、高精度化した物標距離として出力する（ステップＳ５）。 The target distance output unit 3 is based on the time integration value d v (t) of the target speed v (t) when the time change of the target distance d (t) is discontinuous (step S3, NO). Te, corrects the target distance d (t) (step S4), and the time integration value d v of the corrected target distance d (t) or correction that did not target velocity v (t) a (t), high It is output as a refined target distance (step S5).

ここで、物標距離出力部３は、以下の方法等により、物標距離ｄ（ｔ）の時間変化が不連続であることを判定する：（１）ｄ（ｔ）−ｄ（ｔ−ｎΔｔ）とｄｖ（ｔ）−ｄｖ（ｔ−ｎΔｔ）との差が所定閾値より大きいと判定（Δｔは１送受信周期、ｎは１以上の整数。）、（２）ｄ（ｔ−ｎΔｔ）〜ｄ（ｔ−Δｔ）と比べてｄ（ｔ）が大きく異なると判定、（３）ｖ（ｔ）が０に近いため、ｄ（ｔ）が大きな誤差を有すると判定。 Here, the target distance output unit 3 determines that the time change of the target distance d (t) is discontinuous by the following method or the like: (1) d (t) −d (t−nΔt). ) and determining the difference between the d v (t) -d v ( t-nΔt) is greater than a predetermined threshold value (Delta] t is 1 reception period, n represents an integer of 1 or more.), (2) d ( t-nΔt) It is determined that d (t) is significantly different from that of ~ d (t−Δt), and (3) it is determined that d (t) has a large error because v (t) is close to 0.

そして、物標距離出力部３は、以下の方法等により、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）に基づいて、物標距離ｄ（ｔ）を補正する：（１）ｄ（ｔ）が大きな誤差を有するものの、ｄｖ（ｔ）が大きな誤差を有さないと考えて、ｄ（ｔ）がｄｖ（ｔ）に等しいと補正、（２）ｄ（ｔ）が大きな誤差を有するため、ｄｖ（ｔ）が多少は誤差を有すると考えて、ｄ（ｔ）が（ｄｖ（ｔ−Δｔ）＋ｄ（ｔ−Δｔ））／２に等しいと補正。 Then, the target distance output unit 3 corrects the target distance d (t) based on the time integrated value d v (t) of the target speed v (t) by the following method or the like: (1). Considering that d (t) has a large error but d v (t) does not have a large error, it is corrected if d (t) is equal to d v (t), (2) d (t) Since it has a large error, it is considered that d v (t) has some error, and it is corrected that d (t) is equal to (d v (t−Δt) + d (t−Δt)) / 2.

なお、物標距離出力部３は、将来に物標距離ｄ（ｔ）の時間変化が不連続であるかどうかを判定するために、補正した物標距離ｄ（ｔ）を記憶しておく。 The target distance output unit 3 stores the corrected target distance d (t) in order to determine whether or not the time change of the target distance d (t) is discontinuous in the future.

図４の上段では、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）の時間変化を示す。図４の下段では、物標距離ｄ（ｔ）の時間変化を示す。ｄｖ（ｔ１）は不連続性を有さないが、ｄ（ｔ１）は不連続性を有している。そこで、ｄ（ｔ１）はｄｖ（ｔ１）に近い値に補正される。そして、補正されたｄ（ｔ１）又は補正されなかったｄｖ（ｔ１）が出力される。 In the upper part of FIG. 4 shows the time variation of the time integrated value d v (t) of the target velocity v (t). The lower part of FIG. 4 shows the time change of the target distance d (t). d v (t 1 ) has no discontinuity, but d (t 1 ) has discontinuity. Therefore, d (t 1 ) is corrected to a value close to d v (t 1). Then, the corrected d (t 1 ) or the uncorrected d v (t 1 ) is output.

物標距離出力部３は、計測開始時（ステップＳ６、ＹＥＳ）かつ物標距離ｄ（ｔ）の時間変化が連続であるときに（ステップＳ３、ＹＥＳ）、物標距離ｄ（ｔ）に基づいて、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）を補正し（ステップＳ７）、補正した物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）又は補正しなかった物標距離ｄ（ｔ）を、高精度化した物標距離として出力する（ステップＳ８）。又は、物標距離出力部３は、一定期間毎（ステップＳ６、ＹＥＳ）かつ物標距離ｄ（ｔ）の時間変化が連続であるときに（ステップＳ３、ＹＥＳ）、物標距離ｄ（ｔ）に基づいて、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）を補正し（ステップＳ７）、補正した物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）又は補正しなかった物標距離ｄ（ｔ）を、高精度化した物標距離として出力する（ステップＳ８）。 The target distance output unit 3 is based on the target distance d (t) at the start of measurement (step S6, YES) and when the time change of the target distance d (t) is continuous (step S3, YES). Then, the time-integrated value dv (t) of the target speed v (t) is corrected (step S7), and the time-integrated value dv (t) of the corrected target speed v (t) or the uncorrected object. The target distance d (t) is output as a highly accurate target distance (step S8). Alternatively, the target distance output unit 3 sets the target distance d (t) at regular intervals (step S6, YES) and when the time change of the target distance d (t) is continuous (step S3, YES). Based on the above, the time-integrated value dv (t) of the targeting speed v (t) is corrected (step S7), and the time-integrated value dv (t) of the corrected targeting speed v (t) or not corrected. The target distance d (t) is output as a highly accurate target distance (step S8).

ここで、物標距離出力部３は、以下の方法等により、物標距離ｄ（ｔ）の時間変化が連続であることを判定する：（１）ｄ（ｔ）−ｄ（ｔ−ｎΔｔ）とｄｖ（ｔ）−ｄｖ（ｔ−ｎΔｔ）との差が所定閾値より小さいと判定（Δｔは１送受信周期、ｎは１以上の整数。）、（２）ｄ（ｔ−ｎΔｔ）〜ｄ（ｔ−Δｔ）と比べてｄ（ｔ）が大きく異ならないと判定、（３）ｖ（ｔ）が０に近くないため、ｄ（ｔ）が大きな誤差を有さないと判定。 Here, the target distance output unit 3 determines that the time change of the target distance d (t) is continuous by the following method or the like: (1) d (t) −d (t−nΔt). It is determined that the difference between d v (t) -d v (t-nΔt) is smaller than the predetermined threshold value (Δt is one transmission / reception cycle, n is an integer of 1 or more), (2) d (t-nΔt) to It is determined that d (t) is not significantly different from d (t−Δt), and (3) v (t) is not close to 0, so it is determined that d (t) does not have a large error.

そして、物標距離出力部３は、ステップＳ６の計測開始時として、ｔ≒０を設定し、ステップＳ６の一定期間として、許容可能な最大限の積算誤差が生じる期間を設定する。 Then, the target distance output unit 3 sets t≈0 as the start of measurement in step S6, and sets a period in which the maximum allowable integration error occurs as a fixed period in step S6.

さらに、物標距離出力部３は、以下の方法等により、物標距離ｄ（ｔ）に基づいて、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）を補正する：（１）ｄｖ（ｔ）が大きな誤差を有するものの、ｄ（ｔ）が大きな誤差を有さないと考えて、ｄｖ（ｔ）がｄ（ｔ）に等しいと補正、（２）ｄｖ（ｔ）が大きな誤差を有するため、ｄ（ｔ）が多少は誤差を有すると考えて、ｄｖ（ｔ）が（ｄ（ｔ−Δｔ）＋ｄｖ（ｔ−Δｔ））／２に等しいと補正。 Further, the target distance output unit 3 corrects the time integrated value d v (t) of the target speed v (t) based on the target distance d (t) by the following method or the like: (1). although d v (t) has a large error, consider d (t) does not have a large error, correcting the d v (t) is equal to d (t), (2) d v (t) Has a large error, so it is considered that d (t) has some error, and it is corrected that d v (t) is equal to (d (t−Δt) + dv (t−Δt)) / 2.

なお、物標距離出力部３は、将来に物標距離ｄ（ｔ）の時間変化が連続であるかどうかを判定するために、補正した物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）を記憶しておく。 Incidentally, the target distance output section 3, in order to determine whether the time change of the target distance d (t) is continuous in the future, the corrected target speed v of the (t) time integration value d v ( Remember t).

図５の上段では、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）の時間変化を示す。図５の下段では、物標距離ｄ（ｔ）の時間変化を示す。ｄｖ（ｔ３）は計測開始時の物標速度の時間積算値であり、ｄ（ｔ３）は不連続性を有さない。そこで、ｄｖ（ｔ３）はｄ（ｔ３）に近い値に補正される。そして、補正されたｄｖ（ｔ３）又は補正されなかったｄ（ｔ３）が出力される。ｄｖ（ｔ４）は一定期間毎の物標速度の時間積算値であり、ｄ（ｔ４）は不連続性を有さない。そこで、ｄｖ（ｔ４）はｄ（ｔ４）に近い値に補正される。そして、補正されたｄｖ（ｔ４）又は補正されなかったｄ（ｔ４）が出力される。 In the upper part of FIG. 5 shows the time variation of the time integrated value d v (t) of the target velocity v (t). The lower part of FIG. 5 shows the time change of the target distance d (t). d v (t 3 ) is a time-integrated value of the target velocity at the start of measurement, and d (t 3 ) has no discontinuity. Therefore, d v (t 3 ) is corrected to a value close to d (t 3). Then, the corrected dv (t 3 ) or the uncorrected d (t 3 ) is output. d v (t 4 ) is a time-integrated value of the target velocity at regular intervals, and d (t 4 ) has no discontinuity. Therefore, d v (t 4 ) is corrected to a value close to d (t 4). Then, the corrected dv (t 4 ) or the uncorrected d (t 4 ) is output.

物標距離出力部３は、計測開始時でない時（ステップＳ６、ＮＯ）かつ物標距離ｄ（ｔ）の時間変化が連続であるときに（ステップＳ３、ＹＥＳ）、計測された物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）又は計測された物標距離ｄ（ｔ）を、高精度化した物標距離として出力する（ステップＳ９）。又は、物標距離出力部３は、一定期間毎でない時（ステップＳ６、ＮＯ）かつ物標距離ｄ（ｔ）の時間変化が連続であるときに（ステップＳ３、ＹＥＳ）、計測された物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）又は計測された物標距離ｄ（ｔ）を、高精度化した物標距離として出力する（ステップＳ９）。 The target distance output unit 3 measures the measured target speed v when it is not at the start of measurement (step S6, NO) and when the time change of the target distance d (t) is continuous (step S3, YES). The time-integrated value dv (t) of (t) or the measured target distance d (t) is output as a highly accurate target distance (step S9). Alternatively, the target distance output unit 3 measures the target when it is not every fixed period (step S6, NO) and when the time change of the target distance d (t) is continuous (step S3, YES). velocity v (t) is a time integration value d v (t) or measured target distance d (t), and outputs the target distance and high accuracy (step S9).

図４の上段では、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）の時間変化を示す。図４の下段では、物標距離ｄ（ｔ）の時間変化を示す。ｄｖ（ｔ２）は計測開始時でない時又は一定期間毎でない時の物標速度の時間積算値であり、ｄ（ｔ２）は不連続性を有さない。そこで、計測されたｄｖ（ｔ２）又は計測されたｄ（ｔ２）が出力される。 In the upper part of FIG. 4 shows the time variation of the time integrated value d v (t) of the target velocity v (t). The lower part of FIG. 4 shows the time change of the target distance d (t). d v (t 2 ) is a time-integrated value of the target velocity when the measurement is not started or not every fixed period, and d (t 2 ) has no discontinuity. Therefore, the measured d v (t 2 ) or the measured d (t 2 ) is output.

このように、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を不連続にすることなく、物標距離の計測精度を向上させることができる。 In this way, the time change of the target distance is discontinuous even when the noise component of the received signal is large, when it is affected by the environment other than the target, or when it is affected by the movement of humans or the like. It is possible to improve the measurement accuracy of the target distance without using the above.

そして、図４に示したように、物標距離ｄ（ｔ）の短所（物標距離ｄ（ｔ）の時間変化の不連続性）を、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）の長所（物標速度ｖ（ｔ）の時間変化の連続性）で補完することができる。さらに、図５に示したように、物標速度ｖ（ｔ）の時間積算値ｄｖ（ｔ）の短所（積分定数及び積算誤差の考慮要）を、物標距離ｄ（ｔ）の長所（積分定数及び積算誤差の考慮不要）で補完することができる。 Then, as shown in FIG. 4, target distance d (the discontinuity of the time change target distance d (t)) Disadvantages of (t), the time integration value d v of the target speed v (t) It can be complemented by the advantage of (t) (continuity of time change of target velocity v (t)). Further, as shown in FIG. 5, the disadvantage of the time integration value d v (t) of the target velocity v (t) (need to consider the integration constant and the integration error) and the advantage of the target distance d (t) ( It can be complemented by (no need to consider the integration constant and integration error).

（第２実施形態）
第２実施形態の物標検知装置の構成を図６に示す。第２実施形態の物標検知方法の手順を図７に示す。第２実施形態の物標検知方法の詳細を図８に示す。物標検知装置Ｔは、実信号物標距離計測部４、虚信号物標距離計測部５及び物標距離信頼性判定部６から構成され、図７の物標検知プログラムをコンピュータにインストールして実現可能である。 (Second Embodiment)
The configuration of the target detection device of the second embodiment is shown in FIG. The procedure of the target detection method of the second embodiment is shown in FIG. The details of the target detection method of the second embodiment are shown in FIG. The target detection device T is composed of a real signal target distance measurement unit 4, an imaginary signal target distance measurement unit 5, and a target distance reliability determination unit 6, and the target detection program of FIG. 7 is installed in a computer. It is feasible.

受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等には、物標距離ｄ（ｔ）の時間変化が不連続になることがあり、物標距離ｄ（ｔ）の計測精度が低下することがある。よって、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等には、送受信実信号に基づく物標距離ｄＩ（ｔ）と送受信虚信号に基づく物標距離ｄＱ（ｔ）との差｜ｄＩ（ｔ）−ｄＱ（ｔ）｜が大きい。 When the noise component of the received signal is large, when there is an influence from the environment other than the target, or when there is an influence from the movement of human beings, etc., the time change of the target distance d (t) is insignificant. It may be continuous, and the measurement accuracy of the target distance d (t) may decrease. Therefore, when the noise component is large with respect to the received signal, when there is an influence due to the environment other than the target, or when there is an influence due to the movement of human beings, etc., the target distance d I based on the transmitted / received actual signal. The difference between (t) and the target distance d Q (t) based on the transmitted / received imaginary signal | d I (t) − d Q (t) | is large.

一方で、受信信号に対してノイズ成分が小さいとき、物標以外の環境による影響が少ないとき、及び、人間等の動き方による影響が少ないとき等には、送受信実信号に基づく物標距離ｄＩ（ｔ）と送受信虚信号に基づく物標距離ｄＱ（ｔ）との差｜ｄＩ（ｔ）−ｄＱ（ｔ）｜が小さい。そこで、送受信実信号に基づく物標距離ｄＩ（ｔ）と送受信虚信号に基づく物標距離ｄＱ（ｔ）との差｜ｄＩ（ｔ）−ｄＱ（ｔ）｜に基づいて、送受信実信号に基づく物標距離ｄＩ（ｔ）及び送受信虚信号に基づく物標距離ｄＱ（ｔ）の信頼性を判定する。 On the other hand, when the noise component is small with respect to the received signal, when the influence of the environment other than the target is small, or when the influence of the movement of human beings is small, the target distance d based on the transmitted / received actual signal is small. The difference between I (t) and the target distance d Q (t) based on the transmitted / received imaginary signal | d I (t) −d Q (t) | is small. Therefore, transmission / reception is based on the difference between the target distance d I (t) based on the transmission / reception real signal and the target distance d Q (t) based on the transmission / reception imaginary signal | d I (t) −d Q (t) | The reliability of the target distance d I (t) based on the real signal and the target distance d Q (t) based on the transmitted / received imaginary signal is determined.

実信号物標距離計測部４は、第１周波数の送受信実信号間のビート位相と第２周波数の送受信実信号間のビート位相との差に基づいて、送受信実信号に基づく物標距離ｄＩ（ｔ）を計測する（ステップＳ１１）。 The real signal target distance measuring unit 4 is based on the difference between the beat phase between the transmission and reception real signals of the first frequency and the beat phase between the transmission and reception real signals of the second frequency, and the target distance d I based on the transmission and reception real signals. (T) is measured (step S11).

虚信号物標距離計測部５は、第１周波数の送受信虚信号間のビート位相と第２周波数の送受信虚信号間のビート位相との差に基づいて、送受信虚信号に基づく物標距離ｄＱ（ｔ）を計測する（ステップＳ１２）。 The imaginary signal target distance measuring unit 5 is based on the difference between the beat phase between the transmitted and received imaginary signals of the first frequency and the beat phase between the transmitted and received imaginary signals of the second frequency, and the target distance d Q based on the transmitted and received imaginary signals. (T) is measured (step S12).

物標距離信頼性判定部６は、送受信実信号に基づく物標距離ｄＩ（ｔ）と送受信虚信号に基づく物標距離ｄＱ（ｔ）との差｜ｄＩ（ｔ）−ｄＱ（ｔ）｜に基づいて、送受信実信号に基づく物標距離ｄＩ（ｔ）及び送受信虚信号に基づく物標距離ｄＱ（ｔ）の信頼性を判定する（ステップＳ１３）。 The target distance reliability determination unit 6 determines the difference between the target distance d I (t) based on the transmitted / received real signal and the target distance d Q (t) based on the transmitted / received imaginary signal | d I (t) −d Q ( Based on t) |, the reliability of the target distance d I (t) based on the transmitted / received real signal and the target distance d Q (t) based on the transmitted / received imaginary signal is determined (step S13).

ここで、物標距離信頼性判定部６は、送受信実信号に基づく物標距離ｄＩ（ｔ）と送受信虚信号に基づく物標距離ｄＱ（ｔ）との差｜ｄＩ（ｔ）−ｄＱ（ｔ）｜が所定閾値以下であるときには、送受信実信号に基づく物標距離ｄＩ（ｔ）及び送受信虚信号に基づく物標距離ｄＱ（ｔ）の信頼性が高いと判定する（ステップＳ１４、ＹＥＳ）。 Here, the target distance reliability determination unit 6 determines the difference between the target distance d I (t) based on the transmitted / received real signal and the target distance d Q (t) based on the transmitted / received imaginary signal | d I (t) −. When d Q (t) | is equal to or less than a predetermined threshold value, it is determined that the target distance d I (t) based on the transmitted / received real signal and the target distance d Q (t) based on the transmitted / received imaginary signal are highly reliable ( Step S14, YES).

一方で、物標距離信頼性判定部６は、送受信実信号に基づく物標距離ｄＩ（ｔ）と送受信虚信号に基づく物標距離ｄＱ（ｔ）との差｜ｄＩ（ｔ）−ｄＱ（ｔ）｜が所定閾値より大きいときには、送受信実信号に基づく物標距離ｄＩ（ｔ）及び送受信虚信号に基づく物標距離ｄＱ（ｔ）の信頼性が低いと判定する（ステップＳ１４、ＮＯ）。 On the other hand, the target distance reliability determination unit 6 determines the difference between the target distance d I (t) based on the transmitted / received real signal and the target distance d Q (t) based on the transmitted / received imaginary signal | d I (t) −. When d Q (t) | is larger than a predetermined threshold value, it is determined that the target distance d I (t) based on the transmitted / received real signal and the target distance d Q (t) based on the transmitted / received imaginary signal are unreliable (step). S14, NO).

図８の上段では、送受信実信号に基づく物標距離ｄＩ（ｔ）の時間変化を示す。図８の中段では、送受信虚信号に基づく物標距離ｄＱ（ｔ）の時間変化を示す。図８の下段では、送受信実信号に基づく物標距離ｄＩ（ｔ）と送受信虚信号に基づく物標距離ｄＱ（ｔ）との差｜ｄＩ（ｔ）−ｄＱ（ｔ）｜の時間変化を示す。 The upper part of FIG. 8 shows the time change of the target distance d I (t) based on the transmitted / received real signal. The middle part of FIG. 8 shows the time change of the target distance d Q (t) based on the transmission / reception imaginary signal. In the lower part of FIG. 8, the difference between the target distance d I (t) based on the transmitted / received real signal and the target distance d Q (t) based on the transmitted / received imaginary signal | d I (t) − d Q (t) | Shows time change.

ｄＩ（ｔ５）は不連続性を有さず、ｄＱ（ｔ５）も不連続性を有さず、ｄＩ（ｔ５）とｄＱ（ｔ５）はほぼ等しく、｜ｄＩ（ｔ５）−ｄＱ（ｔ５）｜はほぼ０である。ｄＩ（ｔ６）は不連続性を有し、ｄＱ（ｔ６）は不連続性を有さず、ｄＩ（ｔ６）とｄＱ（ｔ６）は大きく異なり、｜ｄＩ（ｔ６）−ｄＱ（ｔ６）｜は有限値となる。ｄＩ（ｔ７）は不連続性を有さず、ｄＱ（ｔ７）は不連続性を有し、ｄＩ（ｔ７）とｄＱ（ｔ７）は大きく異なり、｜ｄＩ（ｔ７）−ｄＱ（ｔ７）｜は有限値となる。ｄＩ（ｔ８）は不連続性を有し、ｄＱ（ｔ８）も不連続性を有し、ｄＩ（ｔ８）とｄＱ（ｔ８）は大きく異なり、｜ｄＩ（ｔ８）−ｄＱ（ｔ８）｜は有限値となる。 d I (t 5 ) has no discontinuity, d Q (t 5 ) also has no discontinuity, d I (t 5 ) and d Q (t 5 ) are almost equal, | d I (T 5 ) -d Q (t 5 ) | is almost 0. d I (t 6 ) has discontinuity, d Q (t 6 ) has no discontinuity, d I (t 6 ) and d Q (t 6 ) are very different, | d I ( t 6 ) -d Q (t 6 ) | is a finite value. d I (t 7 ) has no discontinuity, d Q (t 7 ) has discontinuity, d I (t 7 ) and d Q (t 7 ) are very different, | d I ( t 7 ) -d Q (t 7 ) | is a finite value. d I (t 8 ) has a discontinuity, d Q (t 8 ) also has a discontinuity, and d I (t 8 ) and d Q (t 8 ) are very different, | d I (t 8). 8 ) -d Q (t 8 ) | is a finite value.

物標距離信頼性判定部６は、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）の信頼性が高いときに（ステップＳ１４、ＹＥＳ）、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの一方又は両方に基づいて、高精度化した物標距離を出力する（ステップＳ１５）。 When the target distance reliability determination unit 6 has high reliability of the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal (step S14, YES), the target transmission / reception real signal And, based on one or both of the target distances d I (t) and d Q (t) based on the transmission / reception imaginary signals, the highly accurate target distance is output (step S15).

ここで、物標距離信頼性判定部６は、以下の方法等により、高精度化した物標距離を出力する：（１）ｄＩ（ｔ）、ｄＱ（ｔ）のうちの一方を、高精度化した物標距離として出力、（２）（ｄＩ（ｔ）＋ｄＱ（ｔ））／２を、高精度化した物標距離として出力。 Here, the target distance reliability determination unit 6 outputs a highly accurate target distance by the following method or the like: (1) One of d I (t) and d Q (t) is output. Output as a highly accurate target distance, and output (2) (d I (t) + d Q (t)) / 2 as a highly accurate target distance.

図８では、｜ｄＩ（ｔ５）−ｄＱ（ｔ５）｜はほぼ０であり、ｄＩ（ｔ５）、ｄＱ（ｔ５）の信頼性が高い。そこで、計測されたｄＩ（ｔ５）又は計測されたｄＱ（ｔ５）が出力される。 In FIG. 8, | d I (t 5 ) − d Q (t 5 ) | is almost 0, and the reliability of d I (t 5 ) and d Q (t 5 ) is high. Therefore, the measured d I (t 5 ) or the measured d Q (t 5 ) is output.

物標距離信頼性判定部６は、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）の信頼性が低いときに（ステップＳ１４、ＮＯ）、かつ、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの一方の物標距離の時間変化が連続であるときに（ステップＳ１６、ＹＥＳ）、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの前回までの送受信周期の物標距離により近い一方に基づいて、高精度化した物標距離を出力する（ステップＳ１７）。 The target distance reliability determination unit 6 transmits / receives when the reliability of the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal is low (step S14, NO). When the time change of the target distance of one of the target distances d I (t) and d Q (t) based on the real signal and the transmission / reception imaginary signal is continuous (step S16, YES), the transmission / reception real signal and the transmission / reception real signal and A highly accurate target distance is output based on one of the target distances d I (t) and d Q (t) based on the transmission / reception imaginary signal, which is closer to the target distance of the transmission / reception cycle up to the previous time (step). S17).

ここで、物標距離信頼性判定部６は、以下の方法等により、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの一方の物標距離の時間変化が連続であることを判定する：（１）ｄＩ、Ｑ（ｔ−ｎΔｔ）〜ｄＩ、Ｑ（ｔ−Δｔ）と比べてｄＩ、Ｑ（ｔ）が大きく異ならないと判定（Δｔは１送受信周期、ｎは１以上の整数。）、（２）ｖ（ｔ）が０に近くないため、ｄＩ、Ｑ（ｔ）が大きな誤差を有さないと判定（ｖ（ｔ）は物標速度。第１周波数の送受信実／虚信号間のビート周波数又は第２周波数の送受信実／虚信号間のビート周波数に基づいて計測。ｖ（ｔ）＝０であれば、ｄＩ、Ｑ（ｔ）は計測不能。）。 Here, the target distance reliability determination unit 6 uses the following method or the like to perform a target distance of one of the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal. Judging that the time change of is continuous: (1) It is judged that d I and Q (t) are not significantly different from d I and Q (t−nΔt) to d I and Q (t−Δt). (Δt is one transmission / reception cycle, n is an integer of 1 or more.), (2) Since v (t) is not close to 0, it is determined that d I and Q (t) do not have a large error (v (t). ) Is the target speed. Measured based on the beat frequency between the transmitted / received real / imaginary signals of the first frequency or the beat frequency between the transmitted / received real / imaginary signals of the second frequency. If v (t) = 0, d I , Q (t) cannot be measured.).

そして、物標距離信頼性判定部６は、以下の方法等により、高精度化した物標距離を出力する：（１）｜ｄＩ（ｔ）−ｄＩ（ｔ−ｎΔｔ）｜＜｜ｄＱ（ｔ）−ｄＱ（ｔ−ｎΔｔ）｜（ｎは１程度の小さい整数。）であれば、ｄＩ（ｔ）を高精度化した物標距離として出力、（２）｜ｄＩ（ｔ）−ｄＩ（ｔ−ｎΔｔ）｜＞｜ｄＱ（ｔ）−ｄＱ（ｔ−ｎΔｔ）｜（ｎは１程度の小さい整数。）であれば、ｄＱ（ｔ）を高精度化した物標距離として出力。 Then, the target distance reliability determination unit 6 outputs a highly accurate target distance by the following method or the like: (1) | d I (t) -d I (t-nΔt) | << | d If Q (t) −d Q (tnΔt) | (n is a small integer of about 1), d I (t) is output as a highly accurate target distance, (2) | d I ( If t) -d I (t-nΔt) |> | d Q (t) -d Q (t-nΔt) | (n is a small integer of about 1 ), the accuracy of d Q (t) is improved. Output as the target distance.

図８では、｜ｄＩ（ｔ６）−ｄＱ（ｔ６）｜は有限値であり、ｄＩ（ｔ６）は不連続性を有し、ｄＱ（ｔ６）は不連続性を有さず、｜ｄＩ（ｔ６）−ｄＩ（ｔ６−Δｔ）｜＞｜ｄＱ（ｔ６）−ｄＱ（ｔ６−Δｔ）｜である。そこで、ｄＩ（ｔ６）はｄＱ（ｔ６）に近い値に補正される。そして、補正されたｄＩ（ｔ６）又は補正されなかったｄＱ（ｔ６）が出力される。 In FIG. 8, | d I (t 6 ) − d Q (t 6 ) | is a finite value, d I (t 6 ) has a discontinuity, and d Q (t 6 ) has a discontinuity. Not present, | d I (t 6 ) -d I (t 6- Δt) |> | d Q (t 6 ) -d Q (t 6- Δt) |. Therefore, d I (t 6 ) is corrected to a value close to d Q (t 6). Then, the corrected d I (t 6 ) or the uncorrected d Q (t 6 ) is output.

図８では、｜ｄＩ（ｔ７）−ｄＱ（ｔ７）｜は有限値であり、ｄＩ（ｔ７）は不連続性を有さず、ｄＱ（ｔ７）は不連続性を有し、｜ｄＩ（ｔ７）−ｄＩ（ｔ７−Δｔ）｜＜｜ｄＱ（ｔ７）−ｄＱ（ｔ７−Δｔ）｜である。そこで、ｄＱ（ｔ７）はｄＩ（ｔ７）に近い値に補正される。そして、補正されたｄＱ（ｔ７）又は補正されなかったｄＩ（ｔ７）が出力される。 In FIG. 8, | d I (t 7 ) − d Q (t 7 ) | is a finite value, d I (t 7 ) has no discontinuity, and d Q (t 7 ) has discontinuity. | D I (t 7 ) -d I (t 7- Δt) | << | d Q (t 7 ) -d Q (t 7- Δt) | Therefore, d Q (t 7 ) is corrected to a value close to d I (t 7). Then, the corrected d Q (t 7 ) or the uncorrected d I (t 7 ) is output.

なお、物標距離信頼性判定部６は、将来に送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの一方の物標距離の時間変化が連続であることを判定するために、補正した物標速度ｄＩ（ｔ）又はｄＱ（ｔ）を記憶しておく。 In the future, the target distance reliability determination unit 6 will continuously change the target distance of one of the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal. The corrected target velocity d I (t) or d Q (t) is stored in order to determine that.

物標距離信頼性判定部６は、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）の信頼性が低いときに（ステップＳ１４、ＮＯ）、かつ、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの両方の物標距離の時間変化が不連続であるときに（ステップＳ１６、ＮＯ）、前回までの送受信周期の物標距離ｄＩ（ｔ−ｎΔｔ）又はｄＱ（ｔ−ｎΔｔ）に基づいて推定した現時点での送受信周期の物標距離ｄｅ（ｔ）に基づいて、高精度化した物標距離を出力する（ステップＳ１８）。 The target distance reliability determination unit 6 transmits / receives when the reliability of the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal is low (step S14, NO). When the time change of both the target distances d I (t) and d Q (t) based on the real signal and the transmitted / received imaginary signal is discontinuous (steps S16, NO), up to the previous time. based on the reception cycle of the target distance d I (t-nΔt) or d Q (t-nΔt) of the transmitting and receiving period at the present time that is estimated based on the target distance d e (t), high accuracy the target object The distance is output (step S18).

ここで、物標距離信頼性判定部６は、以下の方法等により、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの両方の物標距離の時間変化が不連続であることを判定する：（１）ｄＩ、Ｑ（ｔ−ｎΔｔ）〜ｄＩ、Ｑ（ｔ−Δｔ）と比べてｄＩ、Ｑ（ｔ）が大きく異なると判定（Δｔは１送受信周期、ｎは１以上の整数。）、（２）ｖ（ｔ）が０に近いため、ｄＩ、Ｑ（ｔ）が大きな誤差を有すると判定（ｖ（ｔ）は物標速度。第１周波数の送受信実／虚信号間のビート周波数又は第２周波数の送受信実／虚信号間のビート周波数に基づいて計測。ｖ（ｔ）＝０であれば、ｄＩ、Ｑ（ｔ）は計測不能。）。 Here, the target distance reliability determination unit 6 uses the following method or the like to perform the target distances of both the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal. Judgment that the time change of is discontinuous: (1) Judge that d I, Q (t) are significantly different from d I, Q (t−nΔt) to d I, Q (t−Δt). (Δt is one transmission / reception cycle, n is an integer of 1 or more.), (2) Since v (t) is close to 0, it is determined that d I and Q (t) have a large error (v (t) is a thing. Elevated speed. Measured based on the beat frequency between the transmitted / received real / imaginary signals of the first frequency or the beat frequency between the transmitted / received real / imaginary signals of the second frequency. If v (t) = 0, d I, Q ( t) cannot be measured.).

そして、物標距離信頼性判定部６は、以下の方法等により、高精度化した物標距離を出力する：（１）ｄＩ（ｔ−ｎΔｔ）〜ｄＩ（ｔ−Δｔ）の現時点への外挿に基づいて、ｄｅ（ｔ）を高精度化した物標距離として出力、（２）ｄＱ（ｔ−ｎΔｔ）〜ｄＱ（ｔ−Δｔ）の現時点への外挿に基づいて、ｄｅ（ｔ）を高精度化した物標距離として出力。 Then, the target distance reliability determination unit 6 outputs a highly accurate target distance by the following method or the like: (1) to the present time of d I (t-nΔt) to d I (t-Δt). based on extrapolation, outputs the d e (t) as the accuracy of the target distance, based on the extrapolation to the present time of (2) d Q (t- nΔt) ~d Q (t-Δt) , output as target distances accuracy of the d e (t).

図８では、｜ｄＩ（ｔ８）−ｄＱ（ｔ８）｜は有限値であり、ｄＩ（ｔ８）は不連続性を有し、ｄＱ（ｔ８）も不連続性を有する。そこで、ｄＩ（ｔ８）及びｄＱ（ｔ８）はｄｅ（ｔ８）に補正される。そして、補正されたｄＩ（ｔ８）又は補正されたｄＱ（ｔ８）が出力される。 In FIG. 8, | d I (t 8 ) − d Q (t 8 ) | is a finite value, d I (t 8 ) has a discontinuity, and d Q (t 8 ) also has a discontinuity. Have. Therefore, d I (t 8 ) and d Q (t 8 ) are corrected to de (t 8). Then, the corrected d I (t 8 ) or the corrected d Q (t 8 ) is output.

なお、物標距離信頼性判定部６は、将来に送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）のうちの両方の物標距離の時間変化が不連続であることを判定するために、補正した物標速度ｄＩ（ｔ）及びｄＱ（ｔ）を記憶しておく。 In the future, the target distance reliability determination unit 6 will not change the target distances of both the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal over time. The corrected target velocities d I (t) and d Q (t) are stored in order to determine that they are continuous.

このように、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を連続にするより前に、物標距離の信頼性を判定することができる。 In this way, even when the noise component of the received signal is large, when there is an influence from the environment other than the target, and when there is an influence from the movement of human beings, etc., the time change of the target distance is continuous. Before doing so, the reliability of the target distance can be determined.

そして、図８の時刻ｔ５に示したように、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）の信頼性が高いときには、特段の処理もなく物標距離の時間変化を連続にできるはずである。さらに、図８の時刻ｔ６、ｔ７、ｔ８に示したように、送受信実信号及び送受信虚信号に基づく物標距離ｄＩ（ｔ）、ｄＱ（ｔ）の信頼性が低いときでも、上記の処理により物標距離の時間変化を連続にすることができる。 Then, as shown at time t 5 in FIG. 8, the target distance based on the reception real signal and the transceiver imaginary signal d I (t), when the high reliability d Q (t) is no special processing object It should be possible to continuously change the altitude over time. Further, as shown at times t 6 , t 7 , and t 8 in FIG. 8, even when the reliability of the target distances d I (t) and d Q (t) based on the transmission / reception real signal and the transmission / reception imaginary signal is low. , The time change of the target distance can be made continuous by the above processing.

（第３実施形態）
第３実施形態の物標検知装置の構成を図９に示す。第３実施形態では、第１実施形態及び第２実施形態の物標検知処理を、お互いの効果を妨げないように並行して実行する。 (Third Embodiment)
The configuration of the target detection device of the third embodiment is shown in FIG. In the third embodiment, the target detection processes of the first embodiment and the second embodiment are executed in parallel so as not to interfere with each other's effects.

そのために、物標検知装置Ｔは、物標速度計測部１、物標距離計測部２、物標距離出力部３、実信号物標距離計測部４、虚信号物標距離計測部５及び物標距離信頼性判定部６から構成される。各構成要素の処理内容は、第１実施形態及び第２実施形態と同様である。 Therefore, the target detection device T includes a target speed measurement unit 1, a target distance measurement unit 2, a target distance output unit 3, a real signal target distance measurement unit 4, an imaginary signal target distance measurement unit 5, and an object. It is composed of a reference distance reliability determination unit 6. The processing content of each component is the same as that of the first embodiment and the second embodiment.

（第４実施形態）
第４実施形態の物標検知装置の構成を図１０に示す。第４実施形態では、第２実施形態の物標検知処理の前半部分を、第１実施形態の物標検知処理に置換している。 (Fourth Embodiment)
The configuration of the target detection device of the fourth embodiment is shown in FIG. In the fourth embodiment, the first half of the target detection process of the second embodiment is replaced with the target detection process of the first embodiment.

そのために、物標検知装置Ｔは、物標速度計測部１Ｉ、１Ｑ、物標距離計測部２Ｉ、２Ｑ、物標距離出力部３Ｉ、３Ｑ及び物標距離信頼性判定部６から構成される。各構成要素の処理内容は、第１実施形態及び第２実施形態と同様である。ただし、物標速度計測部１Ｉ（１Ｑ）、物標距離計測部２Ｉ（２Ｑ）及び物標距離出力部３Ｉ（３Ｑ）は、第１、２周波数の送受信実（虚）信号間のビート信号についての処理を実行する。 Therefore, the target detection device T is composed of a target speed measurement unit 1I, 1Q, a target distance measurement unit 2I, 2Q, a target distance output unit 3I, 3Q, and a target distance reliability determination unit 6. The processing content of each component is the same as that of the first embodiment and the second embodiment. However, the target velocity measurement unit 1I (1Q), the target distance measurement unit 2I (2Q), and the target distance output unit 3I (3Q) refer to the beat signal between the transmission / reception real (imaginary) signals of the first and second frequencies. Executes the processing of.

（第５実施形態）
第５実施形態の物標検知装置の構成を図１１に示す。第５実施形態では、第１実施形態の物標検知処理の前半部分を、第２実施形態の物標検知処理に置換している。 (Fifth Embodiment)
The configuration of the target detection device of the fifth embodiment is shown in FIG. In the fifth embodiment, the first half of the target detection process of the first embodiment is replaced with the target detection process of the second embodiment.

そのために、物標検知装置Ｔは、実信号物標距離計測部４、虚信号物標距離計測部５、物標距離信頼性判定部６、実信号物標速度計測部７、虚信号物標速度計測部８、物標速度信頼性判定部９及び物標距離出力部３から構成される。各構成要素の処理内容は、第１実施形態及び第２実施形態と同様である。ただし、実信号物標速度計測部７、虚信号物標速度計測部８及び物標速度信頼性判定部９は、以下の処理を実行する。 Therefore, the target detection device T includes a real signal target distance measurement unit 4, an imaginary signal target distance measurement unit 5, a target distance reliability determination unit 6, a real signal target speed measurement unit 7, and an imaginary signal target. It is composed of a speed measurement unit 8, a target speed reliability determination unit 9, and a target distance output unit 3. The processing content of each component is the same as that of the first embodiment and the second embodiment. However, the real signal object velocity measurement unit 7, the imaginary signal object velocity measurement unit 8, and the object velocity reliability determination unit 9 execute the following processing.

実信号物標速度計測部７は、第１周波数の送受信実信号間のビート周波数又は第２周波数の送受信実信号間のビート周波数に基づいて、送受信実信号に基づく物標速度を計測する。虚信号物標速度計測部８は、第１周波数の送受信虚信号間のビート周波数又は第２周波数の送受信虚信号間のビート周波数に基づいて、送受信虚信号に基づく物標速度を計測する。物標速度信頼性判定部９は、送受信実信号に基づく物標速度と送受信虚信号に基づく物標速度との差に基づいて、送受信実信号に基づく物標速度及び送受信虚信号に基づく物標速度の信頼性を判定する。もっとも、物標速度の信頼性は、高いと考えられる。 The real signal object velocity measuring unit 7 measures the object velocity based on the transmitted / received real signal based on the beat frequency between the transmitted / received real signals of the first frequency or the beat frequency between the transmitted / received real signals of the second frequency. The imaginary signal target speed measuring unit 8 measures the target speed based on the transmitted / received imaginary signal based on the beat frequency between the transmitted / received imaginary signals of the first frequency or the beat frequency between the transmitted / received imaginary signals of the second frequency. The target speed reliability determination unit 9 is based on the difference between the target speed based on the transmission / reception real signal and the target speed based on the transmission / reception imaginary signal, and the target speed based on the transmission / reception real signal and the target based on the transmission / reception imaginary signal. Determine speed reliability. However, the reliability of the target speed is considered to be high.

本開示の物標検知装置、システム、方法及びプログラムは、２周波連続波方式の物標検知技術において、受信信号に対してノイズ成分が大きいとき、物標以外の環境による影響があるとき、及び、人間等の動き方による影響があるとき等でも、物標距離の時間変化を不連続にすることなく、物標距離の計測精度を向上させることができる。 The target detection device, system, method and program of the present disclosure are used in the two-frequency continuous wave type target detection technology when the noise component is large with respect to the received signal, when there is an influence from an environment other than the target, and when there is an influence from the environment other than the target. Even when there is an influence of the movement of a human being or the like, the measurement accuracy of the target distance can be improved without discontinuing the time change of the target distance.

Ｔ：物標検知装置
１、１Ｉ、１Ｑ：物標速度計測部
２、２Ｉ、２Ｑ：物標距離計測部
３、３Ｉ、３Ｑ：物標距離出力部
４：実信号物標距離計測部
５：虚信号物標距離計測部
６：物標距離信頼性判定部
７：実信号物標速度計測部
８：虚信号物標速度計測部
９：物標速度信頼性判定部 T: Target detection device 1, 1I, 1Q: Target speed measurement unit 2, 2I, 2Q: Target distance measurement unit 3, 3I, 3Q: Target distance output unit 4: Actual signal Target distance measurement unit 5: False signal target distance measurement unit 6: Target distance reliability determination unit 7: Real signal target speed measurement unit 8: False signal target speed measurement unit 9: Target speed reliability determination unit

Claims (9)

第１周波数及び第２周波数を用いる２周波連続波方式の物標検知装置であって、
前記第１周波数の送受信信号間のビート周波数又は前記第２周波数の送受信信号間のビート周波数に基づいて、物標速度を計測する物標速度計測部と、
前記第１周波数の送受信信号間のビート位相と前記第２周波数の送受信信号間のビート位相との差に基づいて、物標距離を計測する物標距離計測部と、
前記物標速度の時間積算値及び前記物標距離のうちの一方に基づいて、前記物標速度の時間積算値及び前記物標距離のうちの他方を補正し、補正した前記他方又は補正しなかった前記一方を、高精度化した前記物標距離として出力する物標距離出力部と、
を備えることを特徴とする物標検知装置。 It is a two-frequency continuous wave type target detection device that uses the first frequency and the second frequency.
A target speed measuring unit that measures the target speed based on the beat frequency between the transmission / reception signals of the first frequency or the beat frequency between the transmission / reception signals of the second frequency.
A target distance measuring unit that measures the target distance based on the difference between the beat phase between the transmission / reception signals of the first frequency and the beat phase between the transmission / reception signals of the second frequency.
Based on the time-integrated value of the target speed and one of the target distances, the time-integrated value of the target speed and the other of the target distances are corrected, and the corrected other or not corrected. A target distance output unit that outputs one of the above as the highly accurate target distance,
A target detection device characterized by being equipped with. 前記物標距離出力部は、前記物標距離の時間変化が不連続であるときに、前記物標速度の時間積算値に基づいて、前記物標距離を補正し、補正した前記物標距離又は補正しなかった前記物標速度の時間積算値を、高精度化した前記物標距離として出力する
ことを特徴とする、請求項１に記載の物標検知装置。 The target distance output unit corrects the target distance based on the time integration value of the target speed when the time change of the target distance is discontinuous, and the corrected target distance or the corrected target distance or The target detection device according to claim 1, wherein the time-integrated value of the target speed that has not been corrected is output as the highly accurate target distance. 前記物標距離出力部は、計測開始時かつ前記物標距離の時間変化が連続であるときに、又は、一定期間毎かつ前記物標距離の時間変化が連続であるときに、前記物標距離に基づいて、前記物標速度の時間積算値を補正し、補正した前記物標速度の時間積算値又は補正しなかった前記物標距離を、高精度化した前記物標距離として出力する
ことを特徴とする、請求項１又は２に記載の物標検知装置。 The target distance output unit is the target distance at the start of measurement and when the time change of the target distance is continuous, or when the time change of the target distance is continuous at regular intervals. Based on the above, the time integration value of the target speed is corrected, and the corrected time integration value of the target speed or the uncorrected target distance is output as the highly accurate target distance. The target detection device according to claim 1 or 2, wherein the target detection device is characterized. 前記第１周波数の送受信実信号間のビート位相と前記第２周波数の送受信実信号間のビート位相との差に基づいて、前記物標距離を計測する実信号物標距離計測部と、
前記第１周波数の送受信虚信号間のビート位相と前記第２周波数の送受信虚信号間のビート位相との差に基づいて、前記物標距離を計測する虚信号物標距離計測部と、
前記送受信実信号に基づく前記物標距離と前記送受信虚信号に基づく前記物標距離との差に基づいて、前記送受信実信号に基づく前記物標距離及び前記送受信虚信号に基づく前記物標距離の信頼性を判定する物標距離信頼性判定部と、
をさらに備えることを特徴とする、請求項１から３のいずれかに記載の物標検知装置。 A real signal object distance measuring unit that measures the target distance based on the difference between the beat phase between the transmitted and received real signals of the first frequency and the beat phase between the transmitted and received real signals of the second frequency.
An imaginary signal target distance measuring unit that measures the target distance based on the difference between the beat phase between the transmitted / received imaginary signals of the first frequency and the beat phase between the transmitted / received imaginary signals of the second frequency.
Based on the difference between the target distance based on the transmission / reception real signal and the target distance based on the transmission / reception imaginary signal, the target distance based on the transmission / reception real signal and the target distance based on the transmission / reception imaginary signal. Target distance reliability judgment unit that judges reliability,
The target detection device according to any one of claims 1 to 3, further comprising. 前記物標距離信頼性判定部は、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離の信頼性が高いときに、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離のうちの一方又は両方に基づいて、高精度化した前記物標距離を出力する
ことを特徴とする、請求項４に記載の物標検知装置。 When the reliability of the target distance based on the transmission / reception real signal and the transmission / reception imaginary signal is high, the target distance reliability determination unit is among the target distances based on the transmission / reception real signal and the transmission / reception imaginary signal. The target detection device according to claim 4, wherein the target distance with high accuracy is output based on one or both of them. 前記物標距離信頼性判定部は、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離の信頼性が低いときに、前記送受信実信号及び前記送受信虚信号に基づく前記物標距離のうちの前回までの送受信周期の前記物標距離により近い一方に基づいて、又は、前記前回までの送受信周期の前記物標距離に基づいて推定した現時点での送受信周期の前記物標距離に基づいて、高精度化した前記物標距離を出力する
ことを特徴とする、請求項４又は５に記載の物標検知装置。 When the reliability of the target distance based on the transmission / reception real signal and the transmission / reception imaginary signal is low, the target distance reliability determination unit is among the target distances based on the transmission / reception real signal and the transmission / reception imaginary signal. Based on one that is closer to the target distance of the transmission / reception cycle up to the previous time, or based on the target distance of the current transmission / reception cycle estimated based on the target distance of the transmission / reception cycle up to the previous time. The target detection device according to claim 4 or 5, wherein the target distance is output with high accuracy. 請求項１から６のいずれかに記載の物標検知装置と、前記２周波連続波方式のレーダ送受信装置と、を備えることを特徴とする物標検知システム。 A target detection system comprising the target detection device according to any one of claims 1 to 6 and the dual-frequency continuous wave radar transmission / reception device. 第１周波数及び第２周波数を用いる２周波連続波方式の物標検知方法であって、
前記第１周波数の送受信信号間のビート周波数又は前記第２周波数の送受信信号間のビート周波数に基づいて、物標速度を計測する物標速度計測ステップと、
前記第１周波数の送受信信号間のビート位相と前記第２周波数の送受信信号間のビート位相との差に基づいて、物標距離を計測する物標距離計測ステップと、
前記物標速度の時間積算値及び前記物標距離のうちの一方に基づいて、前記物標速度の時間積算値及び前記物標距離のうちの他方を補正し、補正した前記他方又は補正しなかった前記一方を、高精度化した前記物標距離として出力する物標距離出力ステップと、
を順に備えることを特徴とする物標検知方法。 It is a two-frequency continuous wave type target detection method that uses the first frequency and the second frequency.
A target speed measurement step of measuring the target speed based on the beat frequency between the transmission / reception signals of the first frequency or the beat frequency between the transmission / reception signals of the second frequency.
A target distance measurement step for measuring the target distance based on the difference between the beat phase between the transmission / reception signals of the first frequency and the beat phase between the transmission / reception signals of the second frequency.
Based on the time-integrated value of the target speed and one of the target distances, the time-integrated value of the target speed and the other of the target distances are corrected, and the corrected other or not corrected. A target distance output step that outputs one of the above as the highly accurate target distance,
A target detection method characterized in that 第１周波数及び第２周波数を用いる２周波連続波方式の物標検知プログラムであって、
前記第１周波数の送受信信号間のビート周波数又は前記第２周波数の送受信信号間のビート周波数に基づいて、物標速度を計測する物標速度計測ステップと、
前記第１周波数の送受信信号間のビート位相と前記第２周波数の送受信信号間のビート位相との差に基づいて、物標距離を計測する物標距離計測ステップと、
前記物標速度の時間積算値及び前記物標距離のうちの一方に基づいて、前記物標速度の時間積算値及び前記物標距離のうちの他方を補正し、補正した前記他方又は補正しなかった前記一方を、高精度化した前記物標距離として出力する物標距離出力ステップと、
を順にコンピュータに実行させるための物標検知プログラム。 It is a two-frequency continuous wave type target detection program that uses the first frequency and the second frequency.
A target speed measurement step of measuring the target speed based on the beat frequency between the transmission / reception signals of the first frequency or the beat frequency between the transmission / reception signals of the second frequency.
A target distance measurement step for measuring the target distance based on the difference between the beat phase between the transmission / reception signals of the first frequency and the beat phase between the transmission / reception signals of the second frequency.
Based on the time-integrated value of the target speed and one of the target distances, the time-integrated value of the target speed and the other of the target distances are corrected, and the corrected other or not corrected. A target distance output step that outputs one of the above as the highly accurate target distance,
A target detection program that allows a computer to execute
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