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JP2006266821A - Radar device - Google Patents

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JP2006266821A
JP2006266821A JP2005084343A JP2005084343A JP2006266821A JP 2006266821 A JP2006266821 A JP 2006266821A JP 2005084343 A JP2005084343 A JP 2005084343A JP 2005084343 A JP2005084343 A JP 2005084343A JP 2006266821 A JP2006266821 A JP 2006266821A
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video signal
moving
moving target
target
doppler frequency
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Rei Ito
礼 伊藤
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Mitsubishi Electric Corp
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Abstract

【課題】 受信系の構成を複雑化することなく、移動目標に対する測角精度を向上させたレーダー装置を提供する。
【解決手段】 移動体に搭載され、レーダー波を送信するとともに、指向性を有する空中線４を介して移動目標による反射波を受信し、受信信号に基づいて空中線４の指向方向を制御するレーダー装置１であって、受信信号を復調し、ビデオ信号を生成する受信機５と、移動体の移動速度に基づいて、移動体の移動によるビデオ信号の位相変動を補償する自機運動補償回路６と、受信信号に基づいて移動目標のレンジ方向に関する速度成分を求め、移動目標の移動によるビデオ信号の位相変動を補償する目標運動補償回路８と、各運動補償回路による位相変動補償後のビデオ信号に基づいて、ドップラー周波数を推定するドップラー周波数推定回路９と、ドップラー周波数に基づいて、移動目標の方位を判定する測角回路１０により構成される。
【選択図】 図１
PROBLEM TO BE SOLVED: To provide a radar device with improved angle measurement accuracy for a moving target without complicating the configuration of a receiving system.
A radar device mounted on a moving body for transmitting a radar wave, receiving a reflected wave from a moving target via a directional antenna 4 and controlling a directional direction of the antenna 4 based on a received signal. 1, a receiver 5 that demodulates a received signal and generates a video signal, and a self-motion compensation circuit 6 that compensates for a phase variation of the video signal due to movement of the moving body based on a moving speed of the moving body, Then, a velocity component in the range direction of the moving target is obtained based on the received signal, and the target motion compensation circuit 8 for compensating for the phase variation of the video signal due to the movement of the moving target, and the video signal after the phase variation compensation by each motion compensation circuit Based on the Doppler frequency estimation circuit 9 for estimating the Doppler frequency and the angle measuring circuit 10 for determining the direction of the moving target based on the Doppler frequency. .
[Selection] Figure 1

Description

本発明は、レーダー装置に係り、さらに詳しくは、航空機などの移動体に搭載され、移動目標の方位を測角して空中線の指向方向の制御を行うレーダー装置の改良に関する。   The present invention relates to a radar apparatus, and more particularly, to an improvement of a radar apparatus that is mounted on a moving body such as an aircraft and that controls the direction of an antenna by measuring the direction of a moving target.

航空機などの移動体に搭載され、目標画像を表示させるレーダーとして、ＩＳＡＲ（Inverse Synthetic Aperture Radar：逆合成開口レーダー）がある。このＩＳＡＲは、移動体の移動を利用して受信信号を合成することにより、クロスレンジ方向の分解能を向上させている。この種のレーダー装置では、目標画像を生成する際、合成開口に要する期間（通常、１〜数秒程度）中、レーダー波を目標に安定して照射し続ける必要がある。そこで、目標の方位を測角して空中線の指向方向を制御する追尾動作が行われる。   There is an ISAR (Inverse Synthetic Aperture Radar) as a radar that is mounted on a moving body such as an aircraft and displays a target image. This ISAR improves the resolution in the cross-range direction by synthesizing received signals using the movement of a moving body. In this type of radar apparatus, when generating a target image, it is necessary to stably irradiate the target with a radar wave during a period required for the synthetic aperture (usually about 1 to several seconds). Therefore, a tracking operation is performed to measure the direction of the target and control the direction of the antenna.

従来、追尾動作における目標方位の測角には、モノパルスによる方法や、受信信号の振幅比較による方法が用いられる。モノパルスによる方法は、アレイアンテナ等を用いて目標による反射波を複数の受信面で受信し、受信面ごとの信号強度に基づいて目標方位を推定する測角方法である。この様なモノパルスによる測角方法では、受信面ごとに信号処理しなければならないので、受信系の構成が複雑化し、空中線や受信系などのハードウェアが増加してしまうという問題があった。   Conventionally, a monopulse method or a received signal amplitude comparison method is used to measure the target azimuth in the tracking operation. The monopulse method is an angle measurement method in which a reflected wave from a target is received by a plurality of receiving surfaces using an array antenna or the like, and a target azimuth is estimated based on the signal intensity for each receiving surface. In such a monopulse angle measurement method, since signal processing must be performed for each reception surface, there is a problem in that the configuration of the reception system becomes complicated and hardware such as an antenna and a reception system increases.

受信信号の振幅比較による方法は、空中線を方位方向に走査し、この空中線の走査に応じて変化する受信信号の振幅を方位ごとに検出し、方位ごとの振幅を比較することにより、目標方位を推定する測角方法である。   The received signal amplitude comparison method scans the antenna in the azimuth direction, detects the amplitude of the received signal that changes in accordance with the scanning of the antenna for each azimuth, and compares the amplitude for each azimuth to determine the target azimuth. It is an angle measurement method to estimate.

図４は、従来のレーダー装置を示したブロック図であり、受信信号の振幅比較によって目標方位を測角するＩＳＡＲの機能構成が示されている。このレーダー装置１００は、送信機１０１、送受切替器１０２、空中線１０３、受信機１０４、振幅検出回路１０５、測角回路１０６、運動センサー１０７及び指向方向制御回路１０８からなる。送信機１０１は、送信信号を生成し、電力増幅して出力する動作を行っている。空中線１０３は、レーダー波の送受信を行う指向性アンテナであり、指向方向制御回路１０８によって指向方向の走査制御が行われる。送受切替器１０２は、送信信号及び受信信号の切り替えを行っている。受信機１０４は、受信信号を電力増幅、濾波及び検波してビデオ信号を生成する動作を行っている。振幅検出回路１０５は、受信機１０４からのビデオ信号について、方位ごとに振幅を求める動作を行っている。測角回路１０６は、方位ごとの振幅及び運動センサー１０７からの速度情報に基づいて、目標方位を推定する動作を行っている。すなわち、ビデオ信号における方位ごとの振幅値を比較し、振幅値が最大となる方位によって目標方位が推定される。   FIG. 4 is a block diagram showing a conventional radar apparatus, and shows a functional configuration of an ISAR that measures a target azimuth by comparing amplitudes of received signals. The radar apparatus 100 includes a transmitter 101, a transmission / reception switch 102, an antenna 103, a receiver 104, an amplitude detection circuit 105, an angle measurement circuit 106, a motion sensor 107, and a pointing direction control circuit 108. The transmitter 101 performs an operation of generating a transmission signal, amplifying the power, and outputting the amplified signal. The antenna 103 is a directional antenna that transmits and receives radar waves, and scanning control in the directional direction is performed by the directional control circuit 108. The transmission / reception switch 102 switches between a transmission signal and a reception signal. The receiver 104 performs an operation of generating a video signal by power amplification, filtering and detection of the received signal. The amplitude detection circuit 105 performs an operation for obtaining the amplitude for each direction of the video signal from the receiver 104. The angle measuring circuit 106 performs an operation of estimating the target azimuth based on the amplitude for each azimuth and the speed information from the motion sensor 107. That is, the amplitude value for each azimuth in the video signal is compared, and the target azimuth is estimated from the azimuth with the maximum amplitude value.

この様な振幅比較による測角方法では、振幅比較のために方位ごとの受信信号を得る必要があることから、空中線によって形成される送受信ビームを目標から外さない範囲（送受信ビームのビーム幅程度）で方位方向に走査しなければならない。このため、目標方位の測角に要する時間が長くなり、目標に対する追従性が低下してしまうという問題があった。特に、船舶などの移動目標を追尾する場合では、送受信ビームの走査期間中における移動目標の移動によって受信信号の振幅が変動し、振幅が最大となる方位にずれが生じるので、目標方位を正確に測角するのが困難であるという問題があった。また、空中線の放射パターンが均一でない場合には、送信出力のバラツキによって受信信号の振幅が変調されるので、目標方位の測角精度が低いという問題もあった。
特開平１１−１８３５８１号公報 特開平１１−１６６９６７号公報 In such an angle measurement method based on amplitude comparison, it is necessary to obtain a reception signal for each direction for amplitude comparison, and therefore a range in which the transmission / reception beam formed by the antenna is not excluded from the target (about the beam width of the transmission / reception beam) Must be scanned in the azimuth direction. For this reason, there is a problem that the time required for angle measurement of the target azimuth becomes long and the followability to the target is lowered. In particular, when tracking a moving target such as a ship, the amplitude of the received signal fluctuates due to the movement of the moving target during the scanning period of the transmission and reception beams, and a deviation occurs in the direction where the amplitude becomes maximum. There was a problem that it was difficult to measure the angle. In addition, when the antenna radiation pattern is not uniform, the amplitude of the received signal is modulated due to variations in the transmission output, which causes a problem that the angle measurement accuracy of the target azimuth is low.
Japanese Patent Laid-Open No. 11-183581 JP 11-166967 A

上述した通り、従来のレーダー装置では、空中線や受信系などのハードウェアが増加し、或いは、目標方位を正確に測角するのが困難であるという問題があった。   As described above, the conventional radar apparatus has a problem that hardware such as an aerial line and a reception system is increased, or it is difficult to accurately measure the target direction.

本発明は、上記事情に鑑みてなされたものであり、受信系の構成を複雑化することなく、移動目標に対する測角精度を向上させたレーダー装置を提供することを目的としている。特に、空中線の放射パターンが均一でない場合であっても、目標方位を正確に測角することができるレーダー装置を提供することを目的としている。   The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a radar device that improves the angle measurement accuracy with respect to a moving target without complicating the configuration of the receiving system. In particular, an object of the present invention is to provide a radar device that can accurately measure a target azimuth even when the antenna radiation pattern is not uniform.

本発明によるレーダー装置は、移動体に搭載され、レーダー波を送信するとともに、指向性を有する空中線を介して移動目標による反射波を受信し、受信信号に基づいて上記空中線の指向方向を制御するレーダー装置であって、上記受信信号を復調し、ビデオ信号を生成するビデオ信号生成手段と、上記移動体の移動速度に基づいて、移動体の移動による上記ビデオ信号の位相変動を補償する第１の位相補正手段と、上記受信信号に基づいて上記移動目標のレンジ方向に関する速度成分を求め、移動目標の移動による上記ビデオ信号の位相変動を補償する第２の位相補正手段と、上記各位相補正手段による位相変動補償後のビデオ信号に基づいて、ドップラー周波数を推定するドップラー周波数推定手段と、上記ドップラー周波数に基づいて、上記移動目標の方位を判定する測角手段により構成される。   A radar apparatus according to the present invention is mounted on a moving body, transmits a radar wave, receives a reflected wave from a moving target via a directional antenna, and controls the direction of the antenna based on a received signal. A radar device that demodulates the received signal and generates a video signal; and first compensation that compensates for a phase variation of the video signal due to movement of the moving body based on a moving speed of the moving body. Phase correction means, a second phase correction means for determining a velocity component in the range direction of the moving target based on the received signal, and compensating for phase fluctuations of the video signal due to movement of the moving target, and each phase correction A Doppler frequency estimating means for estimating the Doppler frequency based on the video signal after phase fluctuation compensation by the means, and based on the Doppler frequency. It constituted by angle measuring means for determining the orientation of the moving target.

このレーダー装置では、移動体の移動及び移動目標の移動による位相変動を補償した後のビデオ信号に基づいてドップラー周波数が推定され、このドップラー周波数に基づいて移動目標の方位が判定される。つまり、空中線によって形成される送受信ビームを走査することなく、移動体の移動及び移動目標の移動によるドップラー周波数の変動成分がいずれも除去され、移動目標の方位判定が適切に行われる。この様な構成によれば、送受信ビームを走査する必要がなく、測角に要する時間を短縮化することができるので、移動目標の追尾における追従性を向上させることができる。特に、空中線の放射パターンが均一でない場合であっても、目標方位を正確に測角することができる。   In this radar apparatus, the Doppler frequency is estimated based on the video signal after compensating for the phase fluctuation due to the movement of the moving body and the movement of the moving target, and the direction of the moving target is determined based on the Doppler frequency. That is, without scanning the transmission / reception beam formed by the antenna, any fluctuation component of the Doppler frequency due to the movement of the moving body and the movement of the moving target is removed, and the azimuth determination of the moving target is appropriately performed. According to such a configuration, since it is not necessary to scan the transmission / reception beam and the time required for angle measurement can be shortened, the followability in tracking of the moving target can be improved. In particular, even when the radiation pattern of the antenna is not uniform, the target azimuth can be accurately measured.

本発明によるレーダー装置によれば、送受信ビームを走査する必要がなく、測角に要する時間を短縮化することができるので、移動目標の追尾における追従性を向上させることができる。従って、受信系の構成を複雑化することなく、移動目標に対する測角精度を向上させることができる。   According to the radar apparatus according to the present invention, it is not necessary to scan a transmission / reception beam, and the time required for angle measurement can be shortened, so that the followability in tracking of a moving target can be improved. Therefore, the angle measurement accuracy with respect to the moving target can be improved without complicating the configuration of the receiving system.

実施の形態１．
図１は、本発明の実施の形態１によるレーダー装置の一構成例を示したブロック図である。本実施の形態によるレーダー装置１は、航空機などの移動体に搭載される小型で軽量な追尾レーダーであり、移動目標の方位を測角して空中線４の指向方向の制御を行っている。 Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration example of a radar apparatus according to Embodiment 1 of the present invention. The radar device 1 according to the present embodiment is a small and lightweight tracking radar mounted on a moving body such as an aircraft, and controls the direction of the antenna 4 by measuring the direction of the moving target.

このレーダー装置１は、送信機２、送受切替器３、空中線４、受信機５、自機運動補償回路６、運動センサー７、目標運動補償回路８、ドップラー周波数推定回路９、測角回路１０及び指向方向制御回路１１からなる。   The radar device 1 includes a transmitter 2, a transmission / reception switch 3, an antenna 4, a receiver 5, an own motion compensation circuit 6, a motion sensor 7, a target motion compensation circuit 8, a Doppler frequency estimation circuit 9, an angle measurement circuit 10, and It consists of a directivity direction control circuit 11.

送信機２は、送信信号を生成し、電力増幅して出力する動作を行っている。電力増幅後の送信信号は、送受切替器３を介して空中線４に伝送される。空中線４は、レーダー波の送受信を行う指向性アンテナであり、指向方向制御回路１１によって指向方向の走査制御が行われる。この空中線４を介して空中に放射されたレーダー波は、その一部が移動目標により反射され、その反射波が空中線４を介して受信される。送受切替器３は、送信信号及び受信信号の切り替えを行っている。   The transmitter 2 performs an operation of generating a transmission signal, amplifying the power, and outputting the amplified signal. The transmission signal after power amplification is transmitted to the antenna 4 via the transmission / reception switch 3. The antenna 4 is a directional antenna that transmits and receives radar waves, and scanning control in the directional direction is performed by the directional control circuit 11. A part of the radar wave radiated into the air via the antenna 4 is reflected by the moving target, and the reflected wave is received via the antenna 4. The transmission / reception switch 3 switches between a transmission signal and a reception signal.

受信機５は、受信信号を電力増幅、濾波及び復調（検波）してビデオ信号を生成する動作を行っている。ここでは、Ａ／Ｄ変換器によってデジタル化され、デジタルビデオ信号が生成されるものとする。   The receiver 5 performs an operation of generating a video signal by power amplification, filtering and demodulation (detection) of the received signal. Here, it is assumed that a digital video signal is generated by being digitized by an A / D converter.

運動センサー７は、レーダー装置１を搭載している移動体（ここでは、自機と呼ぶことにする）の移動速度を検出するための速度センサーであり、自機の速さ及び向きからなる速度データの生成を行っている。ここでは、この様な運動センサー７として、自機に備わる航法装置が用いられるものとする。   The motion sensor 7 is a speed sensor for detecting the moving speed of a moving body (herein referred to as own machine) on which the radar device 1 is mounted, and is a speed composed of the speed and direction of the own machine. Data is being generated. Here, as such a motion sensor 7, a navigation device provided in the own aircraft is used.

自機運動補償回路６は、運動センサー７からの速度データに基づいて、自機の移動によるビデオ信号の位相変動を補償する動作を行っている。すなわち、デジタル処理によって信号位相を移相させることにより、自機の移動によるドップラー周波数の変動成分をビデオ信号の位相から除去する位相補正（第１の位相補正）が行われる。このドップラー周波数は、ドップラー効果によって送信信号及び受信信号間に生じる周波数のずれである。   The own motion compensation circuit 6 performs an operation for compensating for the phase variation of the video signal due to the movement of the own device based on the velocity data from the motion sensor 7. That is, phase correction (first phase correction) is performed to remove the Doppler frequency fluctuation component due to movement of the own apparatus from the phase of the video signal by shifting the signal phase by digital processing. This Doppler frequency is a frequency shift generated between the transmission signal and the reception signal due to the Doppler effect.

具体的には、受信機５によって生成されたビデオ信号をＳ1（ｔ）とし、このビデオ信号Ｓ1（ｔ）におけるドップラー周波数をｆｄとすると、Ｓ1（ｔ）は次式（１）によって表される。

Figure 2006266821
Specifically, assuming that the video signal generated by the receiver 5 is S 1 (t) and the Doppler frequency in the video signal S 1 (t) is fd, S 1 (t) is expressed by the following equation (1). expressed.
Figure 2006266821

上式（１）におけるビデオ信号Ｓ1（ｔ）に対し、自機移動による位相変動を補償した後のビデオ信号Ｓ2（ｔ）は、自機の移動速度の大きさ（速さ）をＶ1とし、自機の進行方向と空中線４によって形成される送受信ビームのビーム中心方向とのなす角（方位角）をθ、送信周波数をｆｃ、光速をｃとして、次式（２）によって表される。

Figure 2006266821
With respect to the video signal S 1 (t) in the above equation (1), the video signal S 2 (t) after compensating for the phase fluctuation due to the movement of the own apparatus is expressed by the magnitude (speed) of the moving speed of the own apparatus as V 1 is represented by the following equation (2), where θ is an angle (azimuth angle) between the traveling direction of the own aircraft and the beam center direction of the transmission / reception beam formed by the antenna 4, the transmission frequency is fc, and the speed of light is c. The
Figure 2006266821

上式（２）において、ｅｘｐ｛−ｉ２π（２Ｖ1ｃｏｓθ／ｃ）ｆｃ｝が自機移動による補償項となっている。 In the above equation (2), exp {−i2π (2V 1 cos θ / c) fc} is a compensation term due to own-vehicle movement.

目標運動補償回路８は、受信信号に基づいて移動目標のレンジ方向に関する速度成分を求め、移動目標の移動によるビデオ信号の位相変動を補償する動作を行っている。すなわち、移動目標の移動によるドップラー周波数の変動成分をビデオ信号の位相から除去する位相補正（第２の位相補正）が行われる。   The target motion compensation circuit 8 obtains a velocity component in the range direction of the moving target based on the received signal, and performs an operation for compensating for the phase variation of the video signal due to the movement of the moving target. That is, phase correction (second phase correction) is performed in which a fluctuation component of the Doppler frequency due to movement of the moving target is removed from the phase of the video signal.

具体的には、移動目標の移動による位相変動を補償した後のビデオ信号Ｓ2（ｔ）は、移動目標のレンジ方向に関する速度成分をＶ2として、次式（３）によって表される。

Figure 2006266821
Specifically, the video signal S 2 (t) after compensating for the phase fluctuation due to the movement of the moving target is expressed by the following equation (3), where V 2 is the velocity component in the range direction of the moving target.
Figure 2006266821

上式（３）において、ｅｘｐ｛−ｉ２π（２Ｖ2／ｃ）ｆｃ｝が移動目標の移動による補償項となっている。 In the above equation (3), exp {−i2π (2V 2 / c) fc} is a compensation term due to movement of the moving target.

移動目標のレンジ方向に関する速度成分Ｖ2は、例えば、移動目標までの距離を求め、この距離の時間変化に基づいて算出される。 The velocity component V 2 regarding the range direction of the movement target is calculated based on, for example, the distance to the movement target and the time change of this distance.

ドップラー周波数推定回路９は、位相変動補償後のビデオ信号に基づいて、ドップラー周波数を推定する動作を行っている。具体的には、目標運動補償回路８によって補償されたビデオ信号についてＦＦＴ（Fast Fourier Transformation：高速フーリエ変換）による周波数解析が行われ、送信周波数に対する受信周波数のずれ（ドップラーシフト）がドップラー周波数として求められる。   The Doppler frequency estimation circuit 9 performs an operation of estimating the Doppler frequency based on the video signal after phase fluctuation compensation. Specifically, the video signal compensated by the target motion compensation circuit 8 is subjected to frequency analysis by FFT (Fast Fourier Transformation), and the deviation of the reception frequency (Doppler shift) with respect to the transmission frequency is obtained as the Doppler frequency. It is done.

測角回路１０は、ドップラー周波数推定回路９によって求められたドップラー周波数に基づいて移動目標の方位を判定する動作を行っている。ここでは、送受信ビームのビーム中心方向（方位角θ）からのずれΔθが求められるものとする。この目標方位の判定結果に基づいて、空中線４の指向方向の制御が行われる。   The angle measurement circuit 10 performs an operation of determining the direction of the moving target based on the Doppler frequency obtained by the Doppler frequency estimation circuit 9. Here, it is assumed that a deviation Δθ from the beam center direction (azimuth angle θ) of the transmission / reception beam is obtained. Based on the determination result of the target azimuth, the directivity direction of the antenna 4 is controlled.

図２は、図１のレーダー装置における追尾動作の一例を示した図であり、自機及び自機に接近する移動目標のジオメトリが示されている。また、図３は、図２のジオメトリにおける要部を示した図であり、自機の移動速度Ｖ1に関するビーム中心方向成分及び目標方向成分の様子が示されている。 FIG. 2 is a diagram showing an example of the tracking operation in the radar apparatus of FIG. 1, and shows the own device and the geometry of the moving target that approaches the own device. FIG. 3 is a diagram showing the main part of the geometry of FIG. 2, and shows the state of the beam center direction component and the target direction component regarding the moving speed V 1 of the own aircraft.

目標方位のビーム中心方向からのずれΔθは、自機の移動及び移動目標の移動による位相変動を補償した後のビデオ信号に基づいて推定されるドップラー周波数によって定められる。   The deviation Δθ of the target azimuth from the beam center direction is determined by the Doppler frequency estimated based on the video signal after compensating for the phase fluctuation due to the movement of the own apparatus and the movement of the moving target.

具体的には、受信機５が出力するビデオ信号に含まれているドップラー周波数ｆｄは、次式（４）により表される。

Figure 2006266821
Specifically, the Doppler frequency fd included in the video signal output from the receiver 5 is expressed by the following equation (4).
Figure 2006266821

上式（４）において、自機の移動速度Ｖ1は、運動センサー７によって測定され、ビーム中心方向の方位角θは、指向方向制御回路１１からの制御データによって決定される。従って、自機運動補償回路６により、移動速度Ｖ1に関するビーム中心方向の速度成分Ｖ1ｃｏｓθに相当するドップラー周波数の変動成分をドップラー周波数ｆｄから除去することができる。 In the above equation (4), the moving speed V 1 of the own machine is measured by the motion sensor 7, and the azimuth angle θ in the beam center direction is determined by the control data from the pointing direction control circuit 11. Therefore, the own-motion compensation circuit 6 can remove the Doppler frequency fluctuation component corresponding to the velocity component V 1 cos θ in the beam center direction with respect to the moving velocity V 1 from the Doppler frequency fd.

また、移動目標のレンジ方向に関する速度成分Ｖ2は、移動目標までの距離の時間変化に基づいて決定されるので、目標運動補償回路８により、速度成分Ｖ2に相当するドップラー周波数の変動成分をドップラー周波数ｆｄから除去することができる。これらのドップラー周波数の変動成分を除去した後のドップラー周波数ｆｄ1は、次式（５）により表すことができる。

Figure 2006266821
Further, since the speed component V 2 in the range direction of the moving target is determined based on the time change of the distance to the moving target, the target motion compensation circuit 8 generates a fluctuation component of the Doppler frequency corresponding to the speed component V 2. It can be removed from the Doppler frequency fd. The Doppler frequency fd 1 after removing these fluctuation components of the Doppler frequency can be expressed by the following equation (5).
Figure 2006266821

つまり、位相変動補償後のドップラー周波数ｆｄ1は、移動速度Ｖ1の目標方向成分Ｖ1ｃｏｓ（θ−Δθ）と、ビーム中心方向成分Ｖ1ｃｏｓθとの差によって表すことができる。そこで、このｆｄ1がドップラー周波数推定回路９により求められれば、目標方位としてΔθを、次式（６）から求めることができる。

Figure 2006266821
That is, the Doppler frequency fd 1 after phase fluctuation compensation can be expressed by the difference between the target direction component V 1 cos (θ−Δθ) of the moving speed V 1 and the beam center direction component V 1 cos θ. Therefore, if this fd 1 is obtained by the Doppler frequency estimation circuit 9, Δθ can be obtained from the following equation (6) as the target orientation.
Figure 2006266821

本実施の形態によれば、ドップラー周波数ｆｄ1に基づいて目標方位Δθが測角されるので、送受信ビームを走査して測角を行う従来のものに比べ、目標方位の測角に要する時間を短縮することができ、移動目標の追尾における追従性を向上させることができる。特に、空中線４の放射パターンが均一でない場合であっても、目標方位を正確に測角することができる。 According to the present embodiment, since the target azimuth Δθ is measured based on the Doppler frequency fd 1 , the time required for measuring the target azimuth can be reduced as compared with the conventional one in which the angle is measured by scanning the transmission / reception beam. This can be shortened, and the followability in tracking the moving target can be improved. In particular, even if the radiation pattern of the antenna 4 is not uniform, the target azimuth can be accurately measured.

なお、本実施の形態では、目標方位の判定結果に基づいて空中線４の指向方向が制御され、移動目標が追尾される場合の例について説明したが、本発明はこれに限られるものではない。例えば、目標方位の測角結果に基づいて目標画像をＰＰＩ（Plan Position Indicator）などの表示器に表示させるようなものであっても良い。或いは、ＰＰＩに代えて、ビデオ信号を走査線ごとの信号に変換する走査変換回路を用いて走査型ディスプレイに目標画像を表示させても良い。   In the present embodiment, the example in which the pointing direction of the antenna 4 is controlled based on the determination result of the target direction and the moving target is tracked has been described, but the present invention is not limited to this. For example, the target image may be displayed on a display such as a PPI (Plan Position Indicator) based on the angle measurement result of the target orientation. Alternatively, the target image may be displayed on the scanning display using a scanning conversion circuit that converts the video signal into a signal for each scanning line instead of the PPI.

本発明の実施の形態１によるレーダー装置の一構成例を示したブロック図である。It is the block diagram which showed one structural example of the radar apparatus by Embodiment 1 of this invention. 図１のレーダー装置における追尾動作の一例を示した図であり、自機及び自機に接近する移動目標のジオメトリが示されている。It is the figure which showed an example of the tracking operation | movement in the radar apparatus of FIG. 1, and the geometry of the moving target which approaches the own machine and the own machine is shown. 図２のジオメトリにおける要部を示した図であり、自機の移動速度Ｖ1に関するビーム中心方向成分及び目標方向成分の様子が示されている。A view showing the main part of the geometry of Figure 2, how the beam center direction component and the target direction component regarding the moving speed V 1 of the own apparatus is shown. 従来のレーダー装置を示したブロック図であり、受信信号の振幅比較によって目標方位を測角するＩＳＡＲの機能構成が示されている。It is the block diagram which showed the conventional radar apparatus, and the functional structure of ISAR which measures a target azimuth | direction by the amplitude comparison of a received signal is shown.

符号の説明Explanation of symbols

１ レーダー装置、２ 送信機、３ 送受切替器、４ 空中線、５ 受信機、
６ 自機運動補償回路、７ 運動センサー、８ 目標運動補償回路、
９ ドップラー周波数推定回路、１０ 測角回路、１１ 指向方向制御回路

1 Radar device, 2 transmitter, 3 transmission / reception switch, 4 antenna, 5 receiver,
6 own motion compensation circuit, 7 motion sensor, 8 target motion compensation circuit,
9 Doppler frequency estimation circuit, 10 angle measurement circuit, 11 pointing direction control circuit

Claims (3)

移動体に搭載され、レーダー波を送信するとともに、指向性を有する空中線を介して移動目標による反射波を受信し、受信信号に基づいて上記空中線の指向方向を制御するレーダー装置において、
上記受信信号を復調し、ビデオ信号を生成するビデオ信号生成手段と、
上記移動体の移動速度に基づいて、移動体の移動による上記ビデオ信号の位相変動を補償する第１の位相補正手段と、
上記受信信号に基づいて上記移動目標のレンジ方向に関する速度成分を求め、移動目標の移動による上記ビデオ信号の位相変動を補償する第２の位相補正手段と、
上記各位相補正手段による位相変動補償後のビデオ信号に基づいて、ドップラー周波数を推定するドップラー周波数推定手段と、
上記ドップラー周波数に基づいて、上記移動目標の方位を判定する測角手段とを備えたことを特徴とするレーダー装置。 In a radar device that is mounted on a moving body, transmits a radar wave, receives a reflected wave from a moving target via a directional antenna, and controls the direction of the antenna based on the received signal.
Video signal generating means for demodulating the received signal to generate a video signal;
First phase correction means for compensating for the phase fluctuation of the video signal due to movement of the moving body based on the moving speed of the moving body;
Second phase correction means for obtaining a velocity component in the range direction of the moving target based on the received signal and compensating for phase fluctuation of the video signal due to movement of the moving target;
Doppler frequency estimation means for estimating the Doppler frequency based on the video signal after phase fluctuation compensation by each of the phase correction means,
A radar apparatus comprising angle measuring means for determining the direction of the moving target based on the Doppler frequency. 上記測角手段による方位の判定結果に基づいて上記空中線の指向方向を調整する空中線指向方向制御手段を有することを特徴とする請求項１に記載のレーダー装置。 2. The radar apparatus according to claim 1, further comprising an antenna directivity direction control unit that adjusts the directivity direction of the antenna based on a determination result of a direction by the angle measuring unit. 上記第２の位相補正手段は、移動目標までの距離を求め、この距離の時間変化に基づいて移動目標のレンジ方向に関する速度成分を算出することを特徴とする請求項１に記載のレーダー装置。


2. The radar apparatus according to claim 1, wherein the second phase correction unit obtains a distance to the moving target and calculates a velocity component related to the range direction of the moving target based on a time change of the distance.


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