JP2000065927A - Secondary radar device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a secondary radar device which exhibits effective anti-collision performance even under high clutter environment and enables safe navigation of a ship or the like. SOLUTION: A first question is transmitted to a counterpart device via a first antenna, a first response from the counterpart device to the first question is received, and via a second antenna, A second question is received from the partner device, and a second response of the secondary radar device to the question is transmitted.
Then, the position of the partner device is detected based on the first response,
The second response notifies the position of the secondary radar device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a secondary radar device, and more particularly to a secondary radar device for preventing collision of a ship or the like.

[0002]

2. Description of the Related Art For example, Japanese Patent Application Laid-Open No. HEI 5-19673 discloses a system in which a plurality of ships notify a partner ship of the state of operation of their own ships.
There is an apparatus disclosed in Japanese Patent Publication No. FIG. 11 is a block diagram showing a configuration of a conventional route information notification device disclosed in the publication. The apparatus shown in FIG. 1 includes a receiving antenna 108 for receiving radar radio waves, a receiver 109, a transmitting antenna 110 for transmitting radio waves, a transmitter 111 for performing frequency modulation in a radar frequency band, and a saw-tooth shape for generating a saw-tooth wave described later. When the wave generators a, b, c (112, 113, 114) and the receiver 109 receive radar waves, the transmitter 11
Controller 115 for operating the first and the like, and the signal generator 1
16, the sawtooth wave generators a,
A switch 117 for switching between b and c is provided.

[0003] Among the sawtooth wave generators a, b and c, a sawtooth wave generator a (112) generates one predetermined sawtooth wave,
The sawtooth wave generator b (113) generates two predetermined sawtooth waves, and the sawtooth wave generator c (114) generates three predetermined sawtooth waves.

The operation of the conventional route information notifying apparatus shown in FIG. 11 will be briefly described. When this device receives a radar wave from another ship with its receiving antenna 108,
Receiver 109 transmits the received signal to controller 115. Therefore, the controller 115 controls the transmitter 111, the sawtooth wave generator a (112), the sawtooth wave generator b (113),
A signal is transmitted to the sawtooth generator c (114) to operate them simultaneously.

[0005] On the other hand, a signal generator 116 for generating a signal indicating the ship maneuvering state of the own ship sends a signal indicating a right turn to the switch 117 when the steer turns so that the own ship makes a right turn. The switch 117 connects the saw-tooth wave generator a to the switch 117. Similarly, turning your rudder so that your ship makes a left turn,
From the signal generator 116, a signal indicating a left turn is output from the switch 1
17, the switch 117 is connected to the sawtooth wave generator b, and when the ship moves backward, the signal generator 116
A signal indicating reverse is sent to the switch 117, and the switch 1
17 and the sawtooth wave generator c are connected.

Here, frequency modulation is performed on the transmitter 111 by sawtooth waves output from the sawtooth wave generators a, b, and c. The frequency width of this frequency modulation is 9.3 to 9.5 GHz assigned to the marine radar.
It is. Therefore, every time a radar wave from another nearby ship is received from this kind of route information notifying device, a wave is transmitted according to the maneuvering state of the ship.

[0007]

However, the above-mentioned conventional route information notifying device uses the radio wave of the primary radar for ships as the radar radio wave, so that the reflected wave from the clutter such as waves, rainfall, etc. It becomes difficult to determine the response wave indicating the ship maneuvering state. Therefore, the conventional route information notification device has a problem that the anti-collision performance under bad weather and poor visibility, which should be exerted by itself, that is, under high clutter environment, is insufficient.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object the purpose of exhibiting effective anti-collision performance even in a high clutter environment to prevent the collision of a ship or the like, thereby achieving a safe operation. An object of the present invention is to provide a secondary radar device that enables navigation of a ship or the like.

[0009]

In order to achieve the above object, the present invention is provided with at least first and second antennas, and transmits and receives signals to and from a partner device via these antennas. In the secondary radar device to be performed, the first
Means for transmitting a first question to the other device via the antenna of the first means, means for receiving a first response from the other device to the first question via the first antenna, Means for receiving, via the second antenna, a second query from the partner device; and, via the second antenna, a second response of the secondary radar device to the second query. Transmitting means for detecting the position of the counterpart device based on the first response and notifying the position of the secondary radar device by the second response.

According to another aspect of the present invention, a suppression signal having a peak value smaller than the peak value indicated by the first query in the main radiation direction of the first antenna is generated at a timing delayed by a predetermined time from the first query. A third antenna to be transmitted, and means for comparing the peak value of the suppressed signal with the second query when the second question from the partner device is accompanied by the suppressed signal. If the difference between the peak value of the second interrogation and the peak value of the suppression signal is equal to or greater than a predetermined value, the radar device transmits the second response, and the difference between the peak values of the second interrogation and the suppression signal is Provided is a secondary radar apparatus that does not transmit the second response if the value is smaller than a predetermined value.

In another aspect of the invention, the secondary radar device includes means for setting an emergency response corresponding to an emergency in advance, and the secondary radar device transmits the emergency response as the second response in the emergency. I will provide a.

Further, another invention provides a secondary radar device comprising means for transmitting and receiving signals as a primary radar device, wherein the first antenna shares the antenna of the primary radar device.

Another invention provides a secondary radar apparatus comprising means for transmitting and receiving signals as a wireless communication apparatus, wherein the second antenna shares the antenna of the wireless communication apparatus.

Another invention provides a secondary radar apparatus comprising means for performing a predetermined tracking process based on the position information of the partner apparatus.

[0015] In another aspect, the present invention provides a method for transmitting and receiving a signal as a primary radar device, a position information of the partner device, and a position information based on a received signal received by the primary radar device. Means for performing the following tracking processing, wherein the first antenna shares the antenna of the primary radar apparatus.

[0016] Preferably, radio waves of different frequencies are allocated to the first inquiry and the second response. Also,
Preferably, a single pulse is used for the first question, the second question, the first response, and the second response.

[0017]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Embodiment 1 FIG. FIG. 1 is a block diagram illustrating a configuration of a secondary radar apparatus for monitoring a ship-mounted vessel according to Embodiment 1 of the present invention (hereinafter, simply referred to as a secondary radar apparatus; the same applies to the following embodiments). FIG. The secondary radar device 100 shown in FIG. 1 includes two functional units described below.

That is, a part composed of an antenna 1 (hereinafter referred to as an antenna 1) having a directivity for transmitting and receiving a query, an interrogator 2, an answering receiver 3, and a decoder 4 for detecting the position of another ship. Issue a question to another ship and detect a response from the other ship to the question; omnidirectional question reception / response transmission antenna 5 (hereinafter referred to as antenna 5); question receiver 6; And a part for receiving a question signal of the other ship and returning a response to the question in order to notify the other ship of the position of the own ship.

The operation of the secondary radar apparatus according to the embodiment shown in FIG. 1 will be described. As described above, the antenna 1 is an antenna having directivity, and the secondary radar apparatus 100 transmits the interrogation signal from the interrogator 2 to the other ship via the antenna 1 and responds to the interrogation. ,
A response signal from another ship is received and input to the response receiver 3.

The response signal input to the response receiver 3 is then sent to the decoder 4, which detects the position of the other ship by a method described later. In the secondary radar apparatus 100, radio waves having different frequencies are used for the interrogation signal and the response signal in order to determine the interrogation signal and the response signal.

On the other hand, the omnidirectional antenna 5 receives an interrogation signal from another ship, and the received signal is input to the interrogation receiver 6. When the question receiver 6 recognizes the reception of the question, the transponder 7 receives the result and outputs a response signal to the above-mentioned question. Finally, the response signal is transmitted from the antenna 5 to another ship. Done.

FIG. 2 is a diagram showing the timing of the interrogation signal and the response signal in the secondary radar device 100.
As shown in the figure, the radar device 100 as a secondary radar device emits an interrogation radio wave and receives a response from, for example, a transponder mounted on another ship. However, in this embodiment, a single pulse is used for exchanging these signals without using a discrimination pulse train such as a response of a secondary radar such as mode 3 / A.

Usually, the discrimination pulse train used in the secondary radar is a pulse train of 20.3 μs, and a pulse train of this length is equivalent to about 1.6 NM (nautical miles) in terms of distance. Since the responses from the targets within this distance are overlapped (referred to as garble), the accurate position of the target may not be specified.

Therefore, the secondary radar apparatus according to the present embodiment issues, for example, an interrogation signal Q1 as shown in FIG. 2 to another ship using a single pulse instead of a discrimination pulse train. As a result, the secondary radar device receives a response signal R1 from another ship 1 after T1 time, and receives a response signal R2 from another ship 2 after T2 time. Then, the decryption device 4 converts the distance based on the time T1 and the time T2 together with the arrival direction of the radio wave, obtains the direction and distance of the other ship, and detects the position of the other ship from the result.

As described above, according to the present embodiment, in order to detect the position of another ship, a question is issued to the other ship and a response from the other ship to the inquiry is detected. In order to notify the other ship of the position, it also has a structure to receive the interrogation signal from the other ship and return a response to the inquiry, and at the same time, change the frequency of the interrogation signal and the response signal, A ship located in the vicinity can be accurately monitored, and a reflected wave from the clutter is not erroneously recognized as a response signal even in a high clutter environment, so that collision of the ship can be reliably prevented.

Further, by using a single pulse for an interrogation signal to another ship and a response signal from the other ship to the interrogation, garble can be prevented, and the response from a plurality of adjacent ships can be accurately determined. The distance to the ship can be detected.

Embodiment 2 FIG. FIG. 3 is a block diagram showing a configuration of the secondary radar device according to Embodiment 2 of the present invention. In the secondary radar device 200 shown in FIG.
Secondary radar device 1 according to Embodiment 1 shown in FIG.
The same reference numerals are given to the same components as 00, and here,
A description thereof will be omitted. FIG. 4 is a diagram illustrating a relationship between an interrogation signal and an SLS pulse described later in the secondary radar device according to the present embodiment.

The secondary radar apparatus 200 shown in FIG. 3 is obtained by adding a side lobe suppression (SLS) function to the secondary radar apparatus 100 according to the first embodiment. That is, the SLS antenna 18 in the figure is an omnidirectional antenna, and the SLS antenna 18 is weaker than the output (main lobe) of the query transmission / response reception antenna 1 in the main radiation direction from the antenna 18.
Transmit the LS pulse.

Specifically, as shown in FIG. 4A, an interrogation signal and an SLS pulse having a lower peak value are transmitted from the secondary radar device 200 at a predetermined period,
They are received by the other ship.

On the other hand, when the secondary radar apparatus 200 is at the time of receiving a query, it receives a query having a waveform shown in FIG. 4 (b) or (c) from the partner ship. More specifically, the secondary radar device 2 including the question receiver 6 and the like
The side lobe interrogation detector 19 of the interrogation receiver 00 compares the intensity (amplitude) of the received interrogation signal with the SLS pulse. Then, as shown in FIG. 4B, if there is an intensity difference A1 greater than or equal to the specified value, it is determined that this is a question from the main lobe, and the question is answered.

However, as shown in FIG. 4C, the received interrogation signal and the SL
If it is determined that the intensity difference A2 between the two S-pulses is smaller than the specified value, it is determined that the question is from the side lobe, and no response is made to the query (that is,
Do not return a response signal to the other party.)

As described above, according to the embodiment of the present invention, the SLS function is added, the interrogation signal and the SLS pulse are transmitted as a set, and the interrogation signal from the other ship and the intensity of the SLS pulse are transmitted. Is compared, and based on the result, it is possible to determine whether the question is issued from the main lobe or the side lobe, thereby preventing an erroneous response to the question.

Embodiment 3 FIG. 5 is a block diagram showing a configuration of a secondary radar device according to Embodiment 3 of the present invention. In the secondary radar device shown in the figure, the same components as those of the secondary radar device 100 according to the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here. I do.

The secondary radar device 300 according to the present embodiment shown in FIG. 5 is obtained by adding an emergency response function to the secondary radar device 100 according to the first embodiment. That is, an emergency response is set in advance in the emergency response setting device 20 of FIG. 5, and the ship equipped with the radar device falls into an emergency state such as distress, for example.
However, if he or she knows the condition,
The emergency response in the emergency response setting device 20 is output.

FIG. 6 is a diagram showing the timing relationship between the interrogation signal and the response signal in the secondary radar device according to the present embodiment. As shown in the figure, when the radar device 300 issues an interrogation signal Q10, for example, a response R10 of the ship 1 is received as a response signal from another ship, and as a response from the ship 2 in an emergency state. , The emergency response R20 is received.

As described above, according to the present embodiment, an emergency response stored in the emergency response setting device 20 is returned in response to a question from another ship in an emergency,
It is possible to notify the other ship of the emergency condition of the own ship, and to quickly respond to an emergency such as distress.

Embodiment 4 FIG. Hereinafter, Embodiment 4 of the present invention will be described. At present, most ships are required to carry a primary radar, and the ships are equipped with antennas (antennas) for the primary radar. However, when the secondary radar device according to the first embodiment and the primary radar are mounted on the same ship, an antenna for the secondary radar device (the antenna 1 in the example shown in FIG. 1) and the primary radar Equipped with both antennas for a ship goes against the viewpoint of reducing equipment costs and reducing the weight of a ship.

Therefore, the secondary radar apparatus according to the present embodiment has a configuration in which one antenna is used as both an antenna for transmitting / receiving an inquiry and an antenna for a primary radar. FIG.
FIG. 3 is a block diagram showing a configuration of a secondary radar device 400 according to the present embodiment. The secondary radar device 4 shown in FIG.
At 00, the same components as those of the secondary radar apparatus 100 according to Embodiment 1 shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here.

The secondary radar apparatus 400 shown in FIG. 7 transmits a transmission signal from a primary radar transceiver 22 via a query transmission / response reception / primary radar antenna 21 and a reflected signal from a target via the antenna 21. To receive. Then, the reflected signal from the target, which is received by the question transmission / response reception / primary radar antenna 21 is input to the primary radar transceiver 22 as a reception signal.

That is, in the secondary radar apparatus according to the present embodiment, the antenna 21 and the primary radar transceiver 22 function as a normal primary radar, and the function thereof is the same as the function of the above-mentioned secondary radar. The configuration can be realized by the above device.

As described above, according to the present embodiment, the query transmission / response reception antenna is shared with the antenna for the primary radar, so that the query transmission / response reception can be performed by a single antenna.
A secondary radar function of receiving a response and a primary radar function of receiving a reflected signal from a target can be realized, and the functions can be increased, while reducing costs and reducing the weight of a ship.

Embodiment 5 FIG. FIG. 8 is a block diagram showing a configuration of a secondary radar device according to Embodiment 5 of the present invention. In the secondary radar device shown in the figure, the same components as those of the secondary radar device 100 according to the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here. I do.

In the secondary radar device 500 shown in FIG. 8, the inquiry reception / response transmission / wireless communication antenna 23
The antenna also serves as a response transmitting antenna and a wireless communication antenna, and receives a communication signal from the other ship via the antenna 23 and transmits a transmission signal from the wireless communication transceiver 24 to the other ship. The communication signal received from the antenna 23 from the partner ship is input to the wireless communication transceiver 24.

In other words, the secondary radar apparatus according to the present embodiment realizes the question reception / response transmission function and the radio communication function with the single antenna 23, and even if the functions are increased. Instead of providing a dedicated antenna, the antenna is used in common with an antenna used for other functions.

As described above, according to the present embodiment, the query reception / response transmission antenna and the radio communication antenna are shared, so that the question reception / response transmission function and the radio communication can be performed with a single antenna. The functions can be realized, and the increase in the functions of the radar device and the reduction in cost and weight of the ship can be realized at the same time.

Embodiment 6 FIG. FIG. 9 is a block diagram showing a configuration of a secondary radar device according to Embodiment 6 of the present invention. In the secondary radar device shown in the figure, the same components as those of the secondary radar device 100 according to the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here. I do.

The secondary radar device 600 shown in FIG. 9 is obtained by adding a tracking processing function to the secondary radar device 100 according to the first embodiment. In other words, the tracking processor 25 in FIG. 9 obtains the position information of the partner ship from the decryptor 4 and performs a process for avoiding a collision by continuously tracking, for example, the wake of the partner ship. .

That is, similarly to the secondary radar device according to the first embodiment, a response signal from the partner ship is input to the response receiver 3 and sent to the decryption device 4. And
Since the decryption device 4 always detects the position of another ship by the method described above (see the description of the first embodiment),
The tracking processor 25 periodically receives the detection result and executes tracking processing of another ship.

As described above, according to the present embodiment, a tracking processor for performing a tracking processing function is added to continuously track the wake of another ship, and collision is avoided based on the result. By performing such processing, it is possible to provide accurate support for the own ship to prevent collision with other ships.

Embodiment 7 FIG. FIG. 10 is a block diagram showing a configuration of a secondary radar device according to Embodiment 7 of the present invention. The secondary radar device 700 shown in FIG. 10 is obtained by adding a tracking processing function integrating the received signals of the primary radar to the secondary radar device 100 according to the first embodiment shown in FIG. That is, the function of the radar device shown in FIG. 7 and the function of the radar device shown in FIG. 9 are integrated in this secondary radar device.

[0051] Secondary radar apparatus 700 according to the present embodiment.
Is provided with a query transmission / response reception / primary radar antenna 21 which is a single antenna that also serves as a question transmission / response reception antenna and a primary radar antenna. Then, via the antenna 21, a primary radar transceiver 22
The transmission signal from the target is sent to the outside, and the reflection signal from the target is received.

The reflected signal from the target, which is received by the question transmission / response reception / primary radar antenna 21 is input to the primary radar transceiver 22 as a reception signal. The secondary radar device 700 further includes a decryption device 4, and the tracking processor 25 integrates the position information from the primary radar transceiver 22 and the position information of the partner ship from the decryption device 4, Execute a predetermined tracking processing function.

That is, the tracking processor 25 performs a tracking process based on the two pieces of position information.
For example, it is possible to continuously and closely track the wake of the other ship and the movement of the drifting object, and as a result, it is possible to reliably avoid collision between the ship and the ship.

As described above, according to this embodiment, the antenna for question transmission / response reception and the antenna for the primary radar are shared, and the primary radar function and the secondary radar function are realized by a single antenna. In addition, by adding a tracking processor and executing continuous tracking processing integrating the received signals of the primary radar, the ship and other ships, including ships without secondary radar, etc. It is possible to provide accurate collision prevention support for avoiding a collision.

In each of the above embodiments, the case where the secondary radar device according to the present invention is mounted on a ship is described as an example. However, the present invention is not limited to this. Needless to say, the present invention can be applied to a vehicle, an aircraft, and the like that moves on land, or in the air.

[0056]

As described above, according to the present invention,
A first query is transmitted to the partner device via the first antenna, a first response to the first query is received from the partner device, and a second response from the partner device is received via the second antenna.
Is received, a second response of the secondary radar device is transmitted in response to the inquiry, the position of the partner device is detected based on the first response, and the secondary radar is detected by the second response. By notifying the position of the device, it is possible to accurately monitor other devices located around the own device, and even in a high clutter environment, the reflected wave is not erroneously recognized as a response signal,
It is possible to reliably prevent collision with the other party.

According to another aspect of the present invention, there is provided a third antenna for transmitting a suppression signal of a predetermined peak value at a predetermined timing, and means for comparing the second inquiry from the partner device with the peak value of the suppression signal. If the difference between the peak value of the second interrogation and the peak value of the suppression signal is equal to or greater than a predetermined value, the second response is transmitted. If the difference is smaller than the predetermined value, the second response is not transmitted. It is possible to judge whether the question is issued from the main lobe or the side lobe, thereby preventing an erroneous response to the question from the other party.

According to another aspect of the present invention, there is provided a means for setting an emergency response corresponding to an emergency in advance, and transmitting an emergency response as a second response in an emergency so that the emergency state of the own apparatus is transmitted to another apparatus. Notify and respond quickly to emergencies.

According to another aspect of the present invention, a means for transmitting and receiving signals as a primary radar device is provided, and the first antenna and the antenna of the primary radar device are shared, so that a single antenna can be used for two antennas. The primary radar function and the primary radar function can be realized, and the functions can be increased, while reducing the cost and the weight of the ship.

According to another aspect of the present invention, a means for transmitting and receiving signals as a wireless communication device is provided, and the second antenna and the antenna of the wireless communication device are used in common, so that a single antenna can be used to receive and receive a query. The response transmission function and the wireless communication function can be realized, and the increase in the function of the radar device and the reduction in cost and weight of the ship can be realized at the same time.

According to another aspect of the present invention, by providing a means for performing a predetermined tracking process based on the position information of the partner device, it is possible to appropriately assist the device itself in preventing collision with another device. Becomes possible.

According to another aspect of the present invention, a predetermined signal is transmitted and received using a means for transmitting and receiving a signal as a primary radar device, position information of a partner device, and position information based on a received signal received by the primary radar device. Means for performing tracking processing of the primary radar device, the first antenna shares the antenna of the primary radar device, so that the primary radar function and the secondary radar function can be realized with a single antenna, and in addition, the secondary radar It is possible to accurately avoid a physical collision between the own device and another device, including a partner not equipped with the device.

By allocating radio waves of different frequencies to the first question and the second response, it is possible to reliably determine the question signal and the response signal. Also, by using a single pulse for the first question, the second question, the first response, and the second response, garble can be prevented, and accurate responses from a plurality of close partner devices can be obtained. The distance between them can be detected.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a secondary radar device for monitoring a ship-mounted ship according to Embodiment 1 of the present invention.

FIG. 2 is a diagram showing timings of an interrogation signal and a response signal in the secondary radar device according to the first embodiment.

FIG. 3 is a block diagram showing a configuration of a secondary radar device according to a second embodiment.

FIG. 4 is a diagram showing a relationship between an interrogation signal and an SLS pulse in the secondary radar device according to the second embodiment.

FIG. 5 is a block diagram showing a configuration of a secondary radar device according to a third embodiment.

FIG. 6 is a diagram showing a timing relationship between an interrogation signal and a response signal in the secondary radar device according to the third embodiment.

FIG. 7 is a block diagram showing a configuration of a secondary radar device according to a fourth embodiment.

FIG. 8 is a block diagram showing a configuration of a secondary radar device according to a fifth embodiment.

FIG. 9 is a block diagram showing a configuration of a secondary radar device according to a sixth embodiment.

FIG. 10 is a block diagram showing a configuration of a secondary radar device according to a seventh embodiment.

FIG. 11 is a block diagram showing a configuration of a conventional route information notification device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Question transmission / response reception antenna, 2 ... Interrogator, 3 ... Response receiver, 4 ... Decryptor, 5 ... Omnidirectional question reception / response transmission antenna, 6 ... Question receiver, 7 ... Transponder, 18 … SLS
Antenna, 19: Sidelobe question detector, 20: Emergency response setting machine, 21: Question transmission / response reception / primary radar antenna, 22: Primary radar transceiver, 23 ... Question reception / response transmission / wireless communication antenna, 24 ... Wireless communication transceiver, 25
... Tracking machine, 100-700 ... Secondary radar device

Claims (9)

[Claims] 1. A secondary radar device equipped with at least first and second antennas and transmitting / receiving a signal to / from another device via these antennas, wherein: Means for transmitting a first question to the partner device; means for receiving a first response from the partner device to the first query via the first antenna; and Via the second device from the partner device
And a means for transmitting, via the second antenna, a second response of the secondary radar apparatus to the second question, based on the first response. Detecting the position of the partner device,
The secondary radar device, wherein the position of the secondary radar device is notified by the second response. 2. A method of transmitting a suppression signal having a peak value smaller than a peak value indicated by the first query in a main radiation direction of the first antenna at a timing delayed by a predetermined time from the first query. And a means for comparing the peak value of the second inquiry with the peak value of the suppression signal when the second inquiry from the partner device is accompanied by the suppression signal. If the difference between the peak value of the second query and the peak value of the suppression signal is equal to or greater than a predetermined value, the second response is transmitted, and the difference between the peak values of the second query and the suppression signal is greater than a predetermined value. The secondary radar device according to claim 1, wherein the second response is not transmitted if the value is smaller. 3. A secondary radar apparatus comprising: means for setting an emergency response corresponding to an emergency in advance;
2. The secondary radar device according to claim 1, wherein the emergency response is transmitted as a response to the secondary radar. 4. The secondary radar apparatus according to claim 1, further comprising means for transmitting and receiving a signal as a primary radar apparatus, wherein the first antenna shares an antenna of the primary radar apparatus. 5. The secondary radar apparatus according to claim 1, further comprising means for transmitting and receiving signals as a wireless communication apparatus, wherein the second antenna shares an antenna of the wireless communication apparatus. 6. The secondary radar apparatus according to claim 1, further comprising: means for performing a predetermined tracking process based on position information of the partner apparatus. 7. A predetermined tracking process is performed using means for transmitting and receiving a signal as a primary radar device, position information of the partner device, and position information based on a received signal received by the primary radar device. 2. The secondary radar device according to claim 1, wherein the first antenna shares the antenna of the primary radar device. 3. 8. The secondary radar apparatus according to claim 1, wherein radio waves of different frequencies are allocated to the first query and the second response. 9. The method according to claim 1, wherein a single pulse is used for the first question, the second question, the first response, and the second response. Next radar equipment.