JPH05150037A - Radar signal processor - Google Patents
Radar signal processorInfo
- Publication number
- JPH05150037A JPH05150037A JP3312377A JP31237791A JPH05150037A JP H05150037 A JPH05150037 A JP H05150037A JP 3312377 A JP3312377 A JP 3312377A JP 31237791 A JP31237791 A JP 31237791A JP H05150037 A JPH05150037 A JP H05150037A
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- Prior art keywords
- target
- unit
- output
- phase difference
- calculation unit
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、アレイアンテナを使
用し、ＤＢＦ（Ｄｉｇｉｔａｌ ＢｅａｍＦｏｒｍｉｎ
ｇ）技術によりビーム形成を行なう検索、追尾レーダ、
例えば地上設置用ＤＢＦレーダ、または艦船搭載用ＤＢ
Ｆレーダに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention uses an array antenna and has a DBF (Digital Beam Formin).
g) Search, tracking radars that perform beamforming by technology,
For example, a ground-based DBF radar or a ship-mounted DB
It relates to the F radar.
【０００２】[0002]
【従来の技術】図３は、従来のフェーズドアレイアンテ
ナを使用した捜索、追尾レーダの信号処理装置の構成ブ
ロック図である。図において、１はアンテナ素子、１７
は移相器、１８はマイクロ波ビーム合成器、５は目標検
出部である。2. Description of the Related Art FIG. 3 is a block diagram showing the configuration of a conventional signal processing device for a search and tracking radar using a phased array antenna. In the figure, 1 is an antenna element, 17
Is a phase shifter, 18 is a microwave beam combiner, and 5 is a target detector.
【０００３】従来の装置は、上記のように構成され、ア
レイアンテナのアンテナ素子１で受信された信号は素子
毎に移相器１７により移相された後、マイクロ波ビーム
合成器１８に入力され、加算される。その結果はビーム
として目標検出部５に入力され目標の検出処理が施され
た後、後段の信号処理部または目標情報処理部へ出力さ
れる。The conventional apparatus is constructed as described above, and the signal received by the antenna element 1 of the array antenna is phase-shifted by the phase shifter 17 for each element and then input to the microwave beam combiner 18. , Is added. The result is input to the target detection unit 5 as a beam, subjected to target detection processing, and then output to the signal processing unit or target information processing unit in the subsequent stage.
【０００４】上記のレーダ信号処理方法について図４を
用いて説明する。図４（ａ）はアレイアンテナに対し対
向接近する目標とドップラ周波数の関係を、図４（ｂ）
はアレイアンテナに対し仰角方向すなわち垂直方向に運
動する目標とドップラ周波数の関係を示す。図におい
て、１９はアレイアンテナ、２０は山などの固定目標、
２１はアレイアンテナ１９に対し対向接近する目標、２
２は対向接近目標２１の速度ベクトル、２３は固定目標
２０のスペクトル、２４は対向接近目標２１のドップラ
周波数、２５は垂直方向に運動する目標、２６は垂直方
向に運動する目標２５の速度ベクトル、２７は垂直方向
に運動する目標２５のドップラ周波数を表わす。従来の
レーダ信号処理方法では、図４（ａ）に示すように山な
どの固定目標と対向接近する目標とではドップラ周波数
が分離しているため、固定目標を除去し移動目標を抽出
することにより目標検出を行っていた。従って、図４
（ｂ）に示すように、垂直方向に運動する目標について
はドップラ周波数が固定目標と重なってしまうため、固
定目標を除去する際に目標も消去されていた。The above radar signal processing method will be described with reference to FIG. FIG. 4 (a) shows the relationship between the target approaching the array antenna and the Doppler frequency, and FIG.
Shows the relationship between the Doppler frequency and the target moving in the elevation direction, that is, the vertical direction with respect to the array antenna. In the figure, 19 is an array antenna, 20 is a fixed target such as a mountain,
Reference numeral 21 denotes a target that approaches the array antenna 19 so as to face it, 2
2 is the velocity vector of the oncoming approach target 21, 23 is the spectrum of the fixed target 20, 24 is the Doppler frequency of the oncoming approach target 21, 25 is the target moving vertically, 26 is the speed vector of the target 25 moving vertically, 27 represents the Doppler frequency of the target 25 moving vertically. In the conventional radar signal processing method, as shown in FIG. 4A, since the Doppler frequency is separated between the fixed target such as a mountain and the target approaching in the opposite direction, the fixed target is removed and the moving target is extracted. The target was detected. Therefore, FIG.
As shown in (b), since the Doppler frequency of the target moving in the vertical direction overlaps with the fixed target, the target was also deleted when the fixed target was removed.
【０００５】[0005]
【発明が解決しようとする課題】レーダが対象とする目
標の将来動向として、今後ますます機動性の向上やステ
ルス化が進むことが予想される。一方、レーダを運用す
る環境の将来動向としても電磁妨害の多様化や妨害能力
の向上が予想される。こうした動向を踏まえ、将来の捜
索、追尾レーダでは、あらゆる方向に運動する目標を対
象とし迅速に対処することが必要である。従来のレーダ
信号処理方法では、図４（ａ）に示すような対向接近目
標に対しては探知、追尾処理を行なっていたが、図４
（ｂ）に示すような垂直方向に運動する目標、例えば地
上および地下、または艦船上から垂直方向に発射される
目標に対しては発射後の初期段階、すなわち垂直方向に
運動している間は目標からの反射波は固定目標からの反
射波と共に消去され、探知されないという課題があっ
た。[Problems to be Solved by the Invention] As future trends of targets targeted by radar, it is expected that maneuverability will be improved and stealth will be further advanced in the future. On the other hand, diversification of electromagnetic interference and improvement of interference capability are expected as future trends in the environment in which radar is operated. Based on these trends, it is necessary for future search and tracking radars to quickly deal with targets moving in all directions. In the conventional radar signal processing method, detection and tracking processing are performed for an oncoming target as shown in FIG.
For vertically moving targets such as those shown in (b), for example targets launched vertically from the ground and underground, or on ships, during the initial phase after launch, ie during vertical motion. There was a problem that the reflected wave from the target was erased together with the reflected wave from the fixed target and could not be detected.
【０００６】この発明はこのような課題を解決するため
になされたもので、垂直方向に運動する目標をも対象と
し、ＤＢＦの特徴を生かしてアレイアンテナのアンテナ
素子毎の受信信号を利用することにより垂直方向に運動
する目標の速度を求めることを目的とするものである。The present invention has been made in order to solve such a problem, and also aims at a vertically moving target and utilizes the received signal for each antenna element of the array antenna by utilizing the characteristics of the DBF. The purpose is to obtain the target velocity that moves in the vertical direction.
【０００７】[0007]
【課題を解決するための手段】この発明に係るレーダ信
号処理方法およびその装置は、垂直方向に運動する目標
を検出して距離情報を求め、かつアレイアンテナのアン
テナ素子のうち方位角が同一で仰角が異なる任意の２素
子間の受信信号の位相差の時間微分を算出することによ
り、垂直方向に運動する目標の速度を算出する手段を設
けたものである。SUMMARY OF THE INVENTION A radar signal processing method and apparatus according to the present invention detect a target moving in a vertical direction to obtain distance information, and the antenna elements of an array antenna have the same azimuth angle. A means for calculating a target speed for moving in the vertical direction is provided by calculating the time derivative of the phase difference of the received signal between any two elements having different elevation angles.
【０００８】[0008]
【作用】この発明においては、ＤＢＦの特徴を生かしア
レイアンテナのアンテナ素子毎の受信信号を利用するこ
とにより、垂直方向に運動する目標の速度を信号処理部
において迅速に求めることができる。According to the present invention, by utilizing the characteristics of the DBF and utilizing the received signal for each antenna element of the array antenna, the target speed of movement in the vertical direction can be quickly obtained in the signal processing section.
【０００９】[0009]
実施例１．図１は、この発明による一実施例の全体構成
図である。図中１および５は上記の従来装置と同一のも
のであり、２は受信機、３はＡ／Ｄ変換器、４はディジ
タルビーム形成部、６は位相検出部、７は位相差算出
部、８は垂直方向速度算出部、９は遅延器、１０は位相
差変化量算出部、１１は目標検出部５より出力される目
標の距離情報、１２は微分演算部である。Example 1. FIG. 1 is an overall configuration diagram of an embodiment according to the present invention. In the figure, 1 and 5 are the same as those of the above-mentioned conventional device, 2 is a receiver, 3 is an A / D converter, 4 is a digital beam forming unit, 6 is a phase detecting unit, 7 is a phase difference calculating unit, Reference numeral 8 is a vertical velocity calculation unit, 9 is a delay device, 10 is a phase difference change amount calculation unit, 11 is target distance information output from the target detection unit 5, and 12 is a differential calculation unit.
【００１０】この発明によるレーダ信号処理方法につい
て図２を用いて説明する。図において、１３および１４
は時刻ｔ＝ｔ１における目標の位置と電波の到来方向を
示す。同様に、１５および１６は時刻ｔ＝ｔ２（ｔ２＞
ｔ１）における目標の位置と電波の到来方向を示す。時
刻＝ｔ１において、距離Ｒ、仰角θ１に存在する目標か
らの電波はアレイアンテナの各アンテナ素子で受信され
るが、このとき方位角が同一で仰角が異なる任意の２素
子、例えばＡklとＡkmで受信された信号の位相差ψｔ１
は次式で表わされる。A radar signal processing method according to the present invention will be described with reference to FIG. In the figure, 13 and 14
Indicates the target position and the arrival direction of the radio wave at time t = t1. Similarly, at 15 and 16, time t = t2 (t2>
The target position and the arrival direction of the radio wave at t1) are shown. At time = t1, the radio waves from the target existing at the distance R and the elevation angle θ1 are received by each antenna element of the array antenna. At this time, two arbitrary elements having the same azimuth angle but different elevation angles, for example, Akl and Akm, are used. Phase difference ψt1 of received signals
Is expressed by the following equation.
【００１１】[0011]
【数１】 [Equation 1]
【００１２】同様に、時刻ｔ＝ｔ２（ｔ２＞ｔ１）にお
けるＡklとＡkmのアンテナ２素子間の受信信号の位相差
ψｔ２は次式で表わされる。Similarly, the phase difference ψt2 of the received signal between the two antenna elements of Akl and Akm at time t = t2 (t2> t1) is expressed by the following equation.
【００１３】[0013]
【数２】 [Equation 2]
【００１４】一方、時刻ｔ＝ｔ１から時刻ｔ＝ｔ２（ｔ
２＞ｔ１）の間に目標が垂直方向に進む距離Ｒｖは次式
で表わされる。On the other hand, from time t = t1 to time t = t2 (t
The distance Rv that the target travels in the vertical direction during 2> t1) is expressed by the following equation.
【００１５】[0015]
【数３】 [Equation 3]
【００１６】従って、垂直方向に運動する目標の速度Ｖ
ｖは数１〜数３を用いて次式のように表わされる。Therefore, the target velocity V moving vertically
v is represented by the following equation using the equations 1 to 3.
【００１７】[0017]
【数４】 [Equation 4]
【００１８】上記のように構成されたレーダ信号処理装
置では、アンテナ素子１で受信された信号は素子毎に設
けられた受信機２およびＡ／Ｄ変換器３を通ってディジ
タル受信信号に変換された後、ディジタルビーム形成部
４に入力されビーム形成される。目標検出部５ではビー
ム形成結果に対し目標検出処理を行ない、検出結果およ
び抽出した目標の情報を後段の信号処理部または目標情
報処理部へ出力する。それと同時に、目標検出部５で得
られた目標の情報のうち距離情報Ｒを垂直方向速度算出
部８に出力する。また、ディジタルビーム形成部４に入
力されるＭ×Ｎ素子分のディジタル受信信号のうち方位
角が同一で仰角の異なる任意の２素子、例えばＡklおよ
びＡkmの素子の受信信号が位相算出部６に入力され、各
受信信号の瞬時瞬時の位相が算出される。位相差算出部
７では、各位相算出部６で算出された結果を入力とし、
数４中ψで既述される各時刻でのアンテナ２素子間の受
信信号の位相差を算出する。垂直方向速度算出部８の遅
延器９では、位相差算出部７の出力を遅延させ、位相差
変化量算出部１０では位相差算出部７の出力と遅延器９
との出力の差を計算し、数４中Δψで記述される位相差
変化量を求める。微分演算部１２では位相差変化量算出
部１０の出力に対し数４に従い、定数λ／（２πｄlm）
および目標検出部５より出力される目標の距離Ｒならび
に遅延器９による遅延時間Δｔの逆数１／Δｔを乗算す
ることにより垂直方向に運動する目標の速度Ｖｖを算出
し後段の信号処理部または目標情報処理部へ出力する。
なお、数４において電波の波長λおよびアンテナ素子間
隔ｄlmは既知とする。In the radar signal processing apparatus configured as described above, the signal received by the antenna element 1 is converted into a digital received signal through the receiver 2 and the A / D converter 3 provided for each element. After that, the beam is input to the digital beam forming unit 4 to form a beam. The target detection unit 5 performs target detection processing on the beam forming result, and outputs the detection result and the extracted target information to the signal processing unit or target information processing unit in the subsequent stage. At the same time, the distance information R of the target information obtained by the target detection unit 5 is output to the vertical direction velocity calculation unit 8. Also, among the digital received signals for M × N elements input to the digital beam forming unit 4, the received signals of any two elements having the same azimuth angle but different elevation angles, for example, the elements of Akl and Akm, are sent to the phase calculation unit 6. The instantaneous phase of each received signal is calculated. In the phase difference calculation unit 7, the result calculated by each phase calculation unit 6 is input,
The phase difference of the received signal between the two antenna elements at each time point described by ψ in the equation 4 is calculated. The delay device 9 of the vertical velocity calculation unit 8 delays the output of the phase difference calculation unit 7, and the phase difference change amount calculation unit 10 delays the output of the phase difference calculation unit 7 and the delay device 9
The difference between the outputs of and is calculated, and the phase difference change amount described by Δψ in Equation 4 is obtained. In the differential operation unit 12, a constant λ / (2πdlm) is applied to the output of the phase difference change amount calculation unit 10 according to Equation 4.
And the target distance R output from the target detection unit 5 and the reciprocal 1 / Δt of the delay time Δt by the delay device 9 are multiplied to calculate the target velocity Vv that moves in the vertical direction, and the signal processing unit or the target in the subsequent stage is calculated. Output to the information processing unit.
In Equation 4, the wavelength λ of the radio wave and the antenna element spacing dlm are known.
【００１９】[0019]
【発明の効果】この発明は、以上説明したとおり、ＤＢ
Ｆの特徴を生かしアレイアンテナのアンテナ素子のうち
方位角が同一で仰角の異なる任意の２素子のディジタル
受信信号より２素子間の受信信号の位相差を求め、その
単位時間当たりの変化量を算出することにより、垂直方
向に運動する目標の速度を信号処理部において迅速に算
出することが可能となる。As described above, the present invention provides a DB.
Taking advantage of the feature of F, the phase difference of the reception signal between two elements is calculated from the digital reception signals of any two elements of the array antenna having the same azimuth angle but different elevation angles, and the amount of change per unit time is calculated. By doing so, it becomes possible to quickly calculate the target speed of moving in the vertical direction in the signal processing unit.
【図１】この発明の実施例１を示すレーダ信号処理装置
の全体構成図である。FIG. 1 is an overall configuration diagram of a radar signal processing device showing a first embodiment of the present invention.
【図２】この発明によるレーダ信号処理方法の原理図で
ある。FIG. 2 is a principle diagram of a radar signal processing method according to the present invention.
【図３】従来のレーダ信号処理装置の全体構成図であ
る。FIG. 3 is an overall configuration diagram of a conventional radar signal processing device.
【図４】従来のレーダ信号処理方法を説明するために目
標の運動方向とドップラ周波数の関係を示す図である。FIG. 4 is a diagram showing a relationship between a target motion direction and a Doppler frequency for explaining a conventional radar signal processing method.
１ アンテナ素子 ２ 受信機 ３ Ａ／Ｄ変換器 ４ ディジタルビーム形成部 ５ 目標検出部 ６ 位相算出部 ７ 位相差算出部 ８ 垂直方向速度算出部 ９ 遅延器 １０ 位相差変化量算出部 １２ 微分演算部 1 Antenna Element 2 Receiver 3 A / D Converter 4 Digital Beam Forming Section 5 Target Detection Section 6 Phase Calculation Section 7 Phase Difference Calculation Section 8 Vertical Velocity Calculation Section 9 Delay Device 10 Phase Difference Change Calculation Section 12 Differential Calculation Section
Claims (1)
ナと、前記アレイアンテナの各アンテナ素子に設けられ
た受信機と、前記各受信機から出力されるアナログ受信
信号をディジタル受信信号に変換するＡ／Ｄ変換器と、
前記Ａ／Ｄ変換器の出力を入力としディジタルビーム形
成を行なうディジタルビーム形成部と、前記ディジタル
ビーム形成部の出力結果より目標検出を行なう目標検出
部と、前記Ａ／Ｄ変換器の出力のディジタル受信信号の
うち方位角が同一で仰角の異なる任意の２素子の受信信
号について時刻ｔ１，ｔ２，……，ｔｎ（ｔ１＜ｔ２＜
……＜ｔｎ）における位相を算出する位相算出部と、前
記２素子に対する各位相算出部の算出結果より時刻ｔ
１，ｔ２，……，ｔｎ（ｔ１＜ｔ２＜……＜ｔｎ）にお
ける２素子間の位相差を算出する位相差算出部と、前記
位相差算出部の出力を遅延させる垂直方向速度算出部の
中の遅延器と、前記位相差算出部の出力と前記遅延器の
出力との差を求める垂直方向速度算出部の中の位相差変
化量算出部と、前記位相差変化量算出部の出力に前記目
標検出部より出力される目標の距離および前記遅延器に
よる遅延時間の逆数ならびに定数を乗算し演算結果を後
段の信号処理部または目標情報処理部へ出力する垂直方
向速度算出部の中の微分演算部とを備えたことを特徴と
するレーダ信号処理装置。1. An array antenna for receiving radio waves from a target, a receiver provided in each antenna element of the array antenna, and an A for converting an analog reception signal output from each receiver into a digital reception signal. / D converter,
A digital beam forming unit that receives the output of the A / D converter and forms a digital beam, a target detecting unit that detects a target from the output result of the digital beam forming unit, and a digital output of the A / D converter. Times t1, t2, ..., Tn (t1 <t2 <regarding received signals of arbitrary two elements having the same azimuth angle but different elevation angles among the received signals.
... <tn), the time t is calculated from the phase calculation unit that calculates the phase and the calculation result of each phase calculation unit for the two elements.
1, t2, ..., Tn (t1 <t2 <... <tn), a phase difference calculation unit that calculates a phase difference between the two elements and a vertical speed calculation unit that delays the output of the phase difference calculation unit. To the output of the phase difference change amount calculation unit in the vertical direction speed calculation unit that obtains the difference between the output of the phase difference calculation unit and the output of the delay unit Differentiation in the vertical direction velocity calculation unit that multiplies the target distance output from the target detection unit and the reciprocal of the delay time by the delay unit and a constant and outputs the calculation result to the signal processing unit or the target information processing unit in the subsequent stage. A radar signal processing device comprising: an arithmetic unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3312377A JP2616318B2 (en) | 1991-11-27 | 1991-11-27 | Radar signal processing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3312377A JP2616318B2 (en) | 1991-11-27 | 1991-11-27 | Radar signal processing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05150037A true JPH05150037A (en) | 1993-06-18 |
| JP2616318B2 JP2616318B2 (en) | 1997-06-04 |
Family
ID=18028525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3312377A Expired - Lifetime JP2616318B2 (en) | 1991-11-27 | 1991-11-27 | Radar signal processing equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2616318B2 (en) |
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| US6339395B1 (en) | 1999-03-31 | 2002-01-15 | Denso Corporation | Radar apparatus using digital beam forming techniques |
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| JP2017516116A (en) * | 2014-04-04 | 2017-06-15 | 日本テキサス・インスツルメンツ株式会社 | Antenna configuration for parking assist radar |
| US11467242B2 (en) | 2019-05-29 | 2022-10-11 | Nec Corporation | Direction-of-arrival estimation apparatus, method, and non-transitory medium |
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| JP6037273B2 (en) | 2012-10-16 | 2016-12-07 | パナソニックＩｐマネジメント株式会社 | Radar signal processing apparatus, radar signal processing method, and radar signal processing program |
-
1991
- 1991-11-27 JP JP3312377A patent/JP2616318B2/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6292129B1 (en) | 1999-03-31 | 2001-09-18 | Denso Corporation | Structure of radar system with multi-receiver channel |
| US6339395B1 (en) | 1999-03-31 | 2002-01-15 | Denso Corporation | Radar apparatus using digital beam forming techniques |
| US6646589B2 (en) | 2001-09-17 | 2003-11-11 | Denso Corporation | Radar designed to minimize error in detecting target |
| JP2017516116A (en) * | 2014-04-04 | 2017-06-15 | 日本テキサス・インスツルメンツ株式会社 | Antenna configuration for parking assist radar |
| US11467242B2 (en) | 2019-05-29 | 2022-10-11 | Nec Corporation | Direction-of-arrival estimation apparatus, method, and non-transitory medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2616318B2 (en) | 1997-06-04 |
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