JP2012168122A - Sonar system, transmission device, receiving device, method for identifying sonar target, and program thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To identify the correct position of a target even in a case where a reflection sound from the target is Doppler-shifted.SOLUTION: A sonar system comprises a transmitter 20 and receiver 30 which transceives a fan-shaped fan beam transmitting-sound toward a target, a receiving direction setting part 34 which sets the reflection sound receiving-direction of the receiver 30, and reception signal processing means 37 which identifies the target based on the reflection sound. The transmitter 20 and the receiver 30 are disposed by shifting 90° from each other. A generation circuit part 22 is disposed to generate an excitation signal for each transmitting element. The excitation signal constitutes bulk waves having a constant cycle. The bulk waves are composed of frequency-hopping signals d having at least two-unit excitation signals in line having a different frequency. The reception signal processing means includes: a sample hold circuit 39 which identifies a reflection reception signal from the target for each direction; a replica correlation part 40 for correlating a plurality of unit-excitation signals constituting the sample-held reflection reception signal with a plurality of Doppler-shifted replica signals.

Description

  The present invention uses a cross fan beam formed by a transmitter and a receiver to receive and process a reflected sound (echo) obtained by reflecting the transmitted fan beam sound by the target object, and to display a front image of the target object. The present invention relates to a sonar system, a transmitting device, a receiving device, a sonar target specifying method, and a program thereof.

Conventionally, a plurality of underwater image sonars using a cross fan beam method (also called Mills Cross method) formed by a transmitter and a receiver have been proposed.
According to the cross-fan beam method, the sonar head is arranged so that the transmitter, which is the line array of the transmitting elements, and the receiver, which is the line array of the receiving elements, are orthogonal to each other. A beam (fan beam) spreading in a fan shape to the left and right is transmitted, and an orthogonal receiver also waits for reflection in a fan-shaped beam shape, thereby obtaining a measured value at each intersection.

The following patent documents 1 to 3 are conventionally known documents of this type of underwater image sonar. Among these, the underwater image sonar disclosed in Patent Document 1 discloses the following contents as operations during transmission and reception.
First, the transmission timing control signal output from the transmission timing control circuit is supplied to the phase shift / frequency control circuit, and the phase shift / frequency control circuit uses the number of frequency data corresponding to the number of transmitters based on the transmission timing control signal, and Generate and output phase shift data. The frequency data is supplied to a transmission pulse generation circuit, where each excitation signal is generated by pulse modulation for each frequency data corresponding to each transmitter. Further, each excitation signal is supplied to the corresponding variable phase shift circuit, and each phase shift data is supplied from the phase shift / frequency control circuit to the corresponding variable phase shift circuit, and the phase shift data for the excitation signal in each variable phase shift circuit. The phase according to is given. Each excitation signal given a predetermined phase is amplified in power and then applied to the corresponding transmitter to drive each transmitter. Thus, the transmitting fan beam is transmitted from each transmitter in a time series and in a direction crossing the beam flat plane by a minute angle toward the target in the water.

At the time of reception, first, in the receiver, a receiving fan beam (receiving directivity) is formed in which the flat surface of the beam intersects with the flat surface of the transmitting fan beam with a 90 degree deviation and expands into a fan shape. It waits for the reflected sound that is obtained when the transmitted fan beam sound is reflected by an underwater target. The receiving fan beam is shifted by a minute angle from one side to the other for each transmitting fan beam, and this is performed for all the transmitting fan beams, and the receiving device is received for each receiving fan beam. Receive at. The reflected sound is received by each receiver at a position where it crosses the received fan beam, and converted into a received signal (electric signal). The received signal is amplified by each corresponding amplifier circuit, further input to each corresponding frequency separation circuit, separated as a frequency separation signal for each predetermined frequency, and input to the image reproduction processing apparatus.
In the image reproduction processing device, level data developed in the vertical and horizontal directions of the frequency separation signal input from the receiver is calculated and output to the display as image data. On the display, the level is replaced with the luminance and displayed.

  On the other hand, the underwater image sonar described in Patent Document 1 has a problem that a specific portion of a target cannot be extracted and the vertical resolution cannot be increased. To solve this problem, the following description will be given. An underwater image sonar disclosed in Japanese Patent Application Laid-Open No. H10-228561 is proposed.

The underwater image sonar described in Patent Literature 2 includes a sweep control circuit in place of the phase shift / frequency control circuit shown in Patent Literature 1 in order to improve the vertical resolution. This sweep control circuit generates frequency data for sweeping the frequency within the transmission pulse and phase shift data for scanning the direction of the transmitted fan beam. The frequency data is input to the transmission pulse generation circuit, and the transmission pulse generation circuit generates an excitation signal that continuously changes from the first frequency to the second frequency within the transmission pulse based on the frequency data.
Each transmission element receives phase shift data and an excitation signal via a corresponding variable phase shift circuit and amplifier. Each transmitter transmits a transmitting fan beam sound whose frequency continuously changes from the first frequency to the second frequency while changing the direction of the transmitting fan beam in the vertical direction according to the phase shift data, for example. Radiates to.

On the receiving side, the frequency range from the third frequency to the fourth frequency arbitrarily set within the frequency range between the first frequency and the second frequency is divided by an integer of 2 or more. The frequency of each divided frequency component of the received signal is selected by the number of division filters that variably control each center frequency and bandwidth, and the level of the received fan beam direction of a plurality of receivers for each divided frequency component Detection is performed to generate image data.
When the frequency range to be imaged is given, the image control circuit variably controls the center frequency and bandwidth of each filter in the frequency separation circuit by setting the third and fourth frequencies. Thus, the specific frequency component / specific angle range of the reflected sound can be extracted.

  Furthermore, an underwater image sonar for carrying out the target position limit method described in Patent Document 3 includes a transmitter and a receiver, and a phasing device that forms a beam signal having directivity. A first frequency analyzer, a second frequency analyzer, a display processor, a replica signal converter, a reception processor, and a detection / display processor are provided.

  This underwater image sonar described in Patent Document 3 transmits a transmitted fan beam sound into water with a transmitter, receives reflected sound from a target with a receiver, and phase-receives the received signal. A beam signal having directivity is formed, the first frequency analyzer analyzes the frequency of the beam signal with a window width of a predetermined time, and the analysis result is stored as data, and the second frequency analyzer uses the stored data to determine the predetermined frequency. The frequency analysis is performed with the frequency analysis width of the first frequency analyzer and the result is displayed, and the correlation analysis between the frequency analysis result of the first frequency analyzer and the replica signal of the transmission signal is performed, and the signal value of the correlation processing result is a predetermined value. When the threshold value is exceeded, this signal is determined to be an echo signal from the target, and the direction and distance of the echo signal are estimated to localize the position of the target.

JP-A-8-5728 Japanese Patent Laid-Open No. 10-132930 Japanese Patent Laid-Open No. 10-332818

  The underwater image sonar for implementing the target position limit method described in Patent Documents 1 and 2 separates the transmitted fan beam by simple frequency division and has no means for detecting Doppler. For this reason, when Doppler is added to the reflected sound from the target due to the movement of the underwater vehicle carrying the sonar or the movement of the target, the reflected sound from the target with the Doppler And the reverberation without Doppler cannot be separated, the pixel coordinates may be shifted due to Doppler, and the target image cannot be accurately displayed.

  In addition, the underwater image sonar described in Patent Document 3 is difficult to develop mathematical expressions in each of the replica correlation processing and the phase adjuster, and takes time for the analysis processing, and improves the distance resolution and time resolution for the received reflected sound. The resolution is low because no measures are taken for this. Furthermore, it is difficult for the received sound of the reflected sound to be vulnerable to interference, interference and interception.

(Object of invention)
The present invention has been made in view of the above, and even if the target moves and the Doppler is added to the reflected reception signal and the reception frequency is changed, the target can be effectively separated from the reverberation of the surrounding environment without Doppler. It is an object of the present invention to provide a sonar system, a transmission device, a reception device, a sonar target identification method, and a program thereof that enable accurate detection for image display.

In order to achieve the above object, a sonar system according to the present invention includes:
Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiver for receiving as a reflected Doppler signal, a receiving direction setting unit for energizing the receiver to set a receiving direction for reflected sound from the target, and a signal processing for the reflected sound received by the receiver And a receiving device section having a received signal processing means for specifying the location of the target for image display, and a main control section for controlling the overall operation of each of these components,
The transmitter is composed of a plurality of transmitting elements arranged in an array facing the target, and the receiver is also arranged in an array facing the target and the array It is comprised by the several receiving element installed in the state rotated 90 degree | times with respect to this transmitter.

Further, the transmitter drive control means includes:
An excitation signal generation circuit unit that generates an excitation signal for exciting each of the plurality of transmission elements described above at the same time is used. At least two unit excitation signals each having a different frequency are formed with different frequency hopping signals d that are intermittently arranged in time series.

And the received signal processing means is
A unit of the frequency hopping signal d that sequentially receives a reflected Doppler signal, which is a reflected received wave from the target, received by the receiver at every preset azimuth angle, and forms the main part of the reflected Doppler signal A sample hold circuit that samples and holds an excitation signal multiple times over time, and a unit Doppler shift of the bulk wave applied to the reflected Doppler signal acquired by the sample hold in advance. A replica correlator that correlates with each of the received replica signals for each reception direction and identifies a reflected signal from the target, and a target that stores the reflected signal identified by the replica correlator for image display And an object specifying information storage unit.

In order to achieve the above object, a transmitting device for a sonar according to the present invention includes a transmitter that repeatedly transmits a fan fan sound spread in a fan shape toward a target and at a constant period, and the transmitter. A transmitter drive control means for controlling the excitation of the motor 20, and a main controller for controlling the overall operation of the transmitter drive control means,
The wave transmitter is constituted by a plurality of wave transmitting elements arranged in an array facing the target.

The transmitter drive control means includes
An excitation signal generation circuit unit that generates and outputs a frequency hopping signal d, which is an excitation signal for exciting the plurality of transmission elements simultaneously, and a phase of the frequency hopping signal d generated by the excitation signal generation circuit unit Transmission azimuth setting provided with a transmission azimuth specifying function for setting a state that is sequentially changed for each of the transmission elements and specifying one transmission azimuth of the transmission fan beam sound by simultaneously applying to each corresponding transmission element Part.

  The transmission azimuth setting unit operates under the control of the main control unit, and sets the transmission azimuth of the transmission fan beam sound output from each of the transmission elements at a predetermined preset timing. A structure having a transmission direction switching setting function for changing the application pattern of the phase set in the excitation signal from one side to the other side and switching sequentially at regular angular intervals. The excitation signal generated by the signal generation circuit unit is a wideband bulk wave that repeats at a constant period, and the bulk wave is configured with the hopping signal composed of at least two unit excitation signals having different frequencies. It is characterized by that.

In order to achieve the above object, a sonar receiver according to the present invention includes:
A transmitter including a plurality of transmitting elements arranged in an array is energized by a broadband bulk wave that repeats at a constant period, and transmits a fan-shaped transmitting fan beam sound toward the target and the target. When a reflected wave from the receiver returns, a receiver that receives the reflected wave, and a plurality of receiving elements provided in the receiver are energized to determine in advance the reception direction for the reflected sound from the target object. A reception direction setting unit to be set, a reception signal processing means for performing signal processing on the Doppler-shifted reflected reception signal received by the receiver and specifying the location of the target, and a main unit for controlling the operation of each of these units And a control unit.

  Among these, the receiving elements of the receiver are arranged in an array so as to face the target and are installed in a state rotated by 90 degrees with respect to the arrayed transmitter.

And the received signal processing means is
When the Doppler-shifted reflected reception wave received from the target received by the receiver is sequentially received for each reception azimuth angle set in advance via the reception azimuth setting unit, the reflected reception signal is changed over time. A sample-and-hold circuit that samples and holds a plurality of times and outputs the sampled and held reflected reception signals to a plurality of unit excitation signals constituting the bulk wave and a plurality of pre-generated signals corresponding thereto A replica correlation unit that correlates the replica signal for each reception direction and thereby identifies a normal reflection signal from the target, and uses the normal reflection signal specified by the replica correlation as target specifying information for image display. And a target specifying information storage unit to be stored.

In order to achieve the above object, the sonar target identification method according to the present invention includes:
Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiving receiver, a receiving direction setting unit for energizing the receiving set to set a receiving direction for a reflected sound from the target, and a signal processing of the reflected sound received by the receiver and the target A receiving device having reception signal processing means for specifying the location of the component for image display, and a main control unit for controlling the operation of all of these components, and facing the transmitter to the target The receiver is arranged in an array facing the target and rotated by 90 degrees with respect to the array transmitter. A plurality of receiving elements installed in the In the toner system,

  As an excitation signal for exciting each of the plurality of transmission elements simultaneously, the excitation signal generation circuit unit of the transmitter drive control means is a broadband bulk wave that repeats at a constant period and at least two or more intermittent units of different frequencies A different frequency hopping signal d composed of an excitation signal is newly generated for each repetition period of the bulk wave (frequency hopping signal d generation step), and an excitation signal generated based on the frequency hopping signal d is transmitted as the transmission wave. And the transmission direction setting unit of the transmitter drive control means is operated corresponding to the repetition period of the bulk wave, and simultaneously drives the arrayed transmission elements to the target. The direction of the fan-shaped transmitting fan beam sound transmitted toward the transmitting element is intermittently switched from one side to the other side of each transmitting element (transmitting fan beam). Originating process),

The receiver receives the reflected wave from the target of the transmitted fan beam sound transmitted from the transmitter as a Doppler-shifted reflected reception signal. When receiving the reflected wave, the reception direction setting is received. And the receiving direction for the reflected sound from the target is intermittent in the direction orthogonal to the spread of the fan-shaped transmitting fan beam sound and from one side of the array-shaped receiving elements to the other side. The reception direction is switched and set automatically (reflection signal reception process),
Based on a plurality of replica signals with Doppler shift prepared in advance corresponding to each unit excitation signal, the received signal correlation processing unit correlates the reflected received signal received by the receiver with a normal signal. Sequentially identify the reflected signal (received signal processing step),
Based on the Doppler information of the identified reflected signal, transmission / reception timing information and reflected intensity information relating to the reflected signal, the image value data processing unit identifies the position and moving direction of the target for image display. (Image display data specifying step).

In order to achieve the above object, the sonar target identifying program of the present invention includes:
Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiving receiver, a receiving direction setting unit for energizing the receiving set to set a receiving direction for a reflected sound from the target, and a signal processing of the reflected sound received by the receiver and the target A receiving device having reception signal processing means for specifying the location of the component for image display, and a main control unit for controlling the operation of all of these components, and facing the transmitter to the target The receiver is arranged in an array facing the target and rotated by 90 degrees with respect to the array transmitter. A plurality of receiving elements installed in the In the toner system,

As the excitation signals for exciting the plurality of transmitting elements simultaneously, different frequency hopping signals d composed of at least two or more intermittent unit excitation signals of wide-band bulk waves and different frequencies that are repeated at a constant period are used as the bulk signals. A frequency hopping signal generation processing function (frequency hopping signal d generation step) newly generated every wave repetition period;
An excitation signal generated based on the frequency hopping signal d is applied to the transmitter, and the transmission direction setting unit of the transmitter drive control means 21 is operated corresponding to the repetition period of the bulk wave. The direction of the fan-shaped transmitted fan beam sound that drives the array-shaped transmitting elements simultaneously and transmits them toward the target is intermittently changed from one side of the transmitting elements to the other side. Transmission direction switching setting function for switching setting (transmission fan beam sound transmission process),

The receiver receives the reflected wave from the target of the transmitted fan beam sound transmitted from the transmitter as a Doppler-shifted reflected reception signal (a reflected signal receiving step), and receives the reflected wave. In this case, the reception direction setting unit is operated to change the reception direction for the reflected sound from the target in a direction orthogonal to the spread of the fan-shaped transmission fan beam sound and from one side of each of the array-shaped reception elements. Reception direction switching setting function for intermittently switching the reception direction toward the other side (reflection signal reception process)
Based on a plurality of replica signals with Doppler shift prepared in advance corresponding to each unit excitation signal, the received signal correlation processing unit correlates the reflected received signal received by the receiver with a normal signal. Reflection signal specifying processing function (received signal processing step) for sequentially specifying the reflected signals of

  The image value data processing unit specifies the position and moving direction of the target for image display based on the Doppler information, transmission / reception timing information and reflection intensity information related to the reflected signal. An image display data storage processing function for storing processing in the storage unit is provided, and this is realized by a computer provided in the main control unit 10.

  Since the present invention is configured as described above, according to this, a plurality of intermittent frequency hopping signals are used as transmission waves, and a plurality of replica signals prepared in advance corresponding to the frequency hopping signals are used for reflected reception signals. Therefore, even if the reflected sound from the target is Doppler shifted due to the movement of the target and the frequency of the transmitted wave changes, the target is not affected by this. To provide a sonar system, a transmitting device, a receiving device, a sonar target specifying method, and a program thereof capable of effectively and accurately receiving and specifying the reflected signal and information thereof for image display. it can.

It is a block diagram which shows one Embodiment of the sonar system which concerns on this invention. It is a block diagram which shows the received signal processing means part in the sonar system disclosed in FIG. It is a front view which shows the arrangement | positioning relationship of a transmitter and a receiver in the sonar system disclosed in FIG. FIG. 4A is a diagram showing a transmitting fan beam formed by the transmitter disclosed in FIG. 3 and its excitation signal, and FIG. 4A is an example of hopping frequency data which is a fan-shaped transmitting fan beam and an excitation signal corresponding thereto. FIG. 4A is an explanatory diagram showing an example of a frequency hopping signal d as a bulk wave B applied to the transmitter. It is explanatory drawing which shows the example of the receiving beam area | region which the receiver disclosed in FIG. 3 forms with respect to the exterior. FIG. 2 is a diagram illustrating a field of correlation processing between a replica signal and a reflected reception signal in the replica correlation unit disclosed in FIG. 1, and is an explanatory diagram illustrating an example in which q = 50 replica signals are provided for each unit excitation signal. It is. It is explanatory drawing which shows the state of the pixel value data processing by the pixel value data processing part in the sonar system of FIG. It is explanatory drawing which shows the position on the screen of the acquired said received signal in the case of a two-dimensional display with the image display apparatus in the sonar system of FIG. It is explanatory drawing which shows displaying three-dimensionally with the image display apparatus in the sonar system of FIG. It is a flowchart which shows the operation | movement in the transmission apparatus part in the sonar system of FIG. It is a flowchart which shows the operation | movement in the receiver apparatus part in the sonar system of FIG.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
First, in FIG. 1 to FIG. 4, the sonar system 100 sequentially transmits transmission fan beam sounds TF1, TF2,..., TFY (Y is 800 in the present embodiment) that spreads in a fan shape toward a target. 100 A of transmitters provided with the transmitter 20 and the transmitter drive control means 21 which carries out excitation control of the said transmitter 20, the receiver 30 which receives the reflected sound from the said target as a reflected Doppler signal, and the said receiver A receiving direction setting unit 34 for energizing the waver 30 to set a receiving direction for the reflected sound from the target, and the signal processing of the reflected sound received by the wave receiver 30 to display the location of the target And a receiving device section 100B including a received signal processing means 37 that specifies the reflected received signal for use.

  Further, the sonar system 100 includes a main control unit 10 that controls the overall operation of each of the above-described components, and the reception device unit 100B displays reflected signal image processing for displaying the received reflected reception signal on a sonar screen. Means 45 are provided.

[Transmitting device section and main control section]
The transmitter 20 provided in the transmitter 100A is composed of a plurality of transmitting elements 20 ₁ , 20 ₂ ,..., 20 _n arranged in an array facing the detection target. ing. The wave receiver 30 is also arranged in an array facing the target, and a plurality of wave receiving elements 30 ₁ installed in a state of being rotated 90 degrees with respect to the wave transmitter 20 in the array shape. , 30 ₂ ,..., 30 _m . Here, in this embodiment, m = n = 10 is set. FIG. 3 shows an example of an arrangement state of the transmitter 20 and the receiver 30.

Here, with respect to the transmission direction of the transmission fan beam sound TF spreading in a fan shape, the repetition period T ₀ of the transmission fan beam sound TF, as will be described later, by the transmitter drive control means 21 that controls the excitation of the transmitter 20. (Refer to FIG. 4 (B)).
FIG. 4A shows an example of the transmission direction of the transmitted fan beam sound TF (TF ₁ , TF ₂ ,..., TF _Y ) in this case. Here, in this embodiment, Y = 800 is set.

In addition, each of the transmitting elements 20 _{1 to} 20 _n and the receiving elements 30 ₁ to 30 _n described above is formed of a piezoelectric element in the present embodiment, and the sound wave output surface of the transmitting fan spreads in the above-described fan shape. In order to be able to transmit the beam sound TF, the one whose section is formed in a gentle arc shape is used.

Then, this arcuately formed the wave transmitting device 20 ₁ to 20 _n and the wave receiving element 30 ₁ to 30 _n and by setting the curvature radius in advance moderately, the transmitting fan beam sound The fan-shaped divergence angle α can be set in advance for each arbitrary divergence (swath angle), for example, 30 degrees, 50 degrees, or 70 degrees.

Further, the transmitter drive control means 21 generates and outputs an excitation signal for exciting the plurality of transmission elements 20 _{1 to} 20 _n simultaneously, and this excitation signal generation circuit. The excitation signal generated by the unit 22 is applied to the transmitter 20 and the transmission direction of the transmitted fan beam sound TF is changed from one side to the other side (for each repetition period (see FIG. 4B)). (FIG. 4 (in a) from the top downwards) and the transmission direction setting unit 21 sequentially variably set in stages, each transmitting device 20 ₁ corresponding to the excitation signal to be applied to the wave transmitter 20 amplifies individually 20 amplifier ₂₆ 1 to feed individually to _n, 26 _{2, ......,} it is constituted by a 26 _n.

  Among them, the excitation signal generation circuit unit 22 generates a broadband bulk wave B that repeats at a constant cycle as each of the excitation signals. Here, the bulk wave B shown in FIG. 4 (B) is a transmission signal in the case of transmitting a transmission fan beam sound that spreads in a fan shape toward a target, and in this embodiment, it differs for each repetition period. It is configured with different frequency hopping signals d formed by intermittently arranging four unit excitation signals having frequencies and arranging them in time series. However, it is configured to use two, three, or five or more unit excitation signals. May be.

  Specifically, the excitation signal generation circuit unit 22 specifies, as frequency information necessary for frequency modulation, a hopping pattern signal c including four frequency data for modulation having different frequencies in this embodiment based on a random value. The frequency hopping pattern generator 22a to be output and the frequency to generate and output the frequency hopping signal d which is an excitation signal by pulse-modulating the basic pulse a output from the main controller 10 based on the hopping pattern signal c. And a synthesizer 22b.

That is, the hopping pattern generator 22a, as well as having a pre-random number generating circuit, effective of the wideband excitation signal obtained at reduced Q at resonance at the resonant frequency of the wave transmitting device 20 ₁ to 20 _n The minimum and maximum random number values corresponding to the minimum and maximum frequencies at which resonance is obtained are preset, and a combination of arbitrary frequency values corresponding to a plurality of random number values sequentially output from the random number generation circuit A function of specifying as the hopping pattern signal c is provided.

More specifically, first, the transmitting elements 20 _{1 to} 20 _n can perform excitation effective for transmission unless the excitation signal composed of the applied frequency hopping signal is close to the resonance frequency of the transmitting element 20. It is not possible to generate a transmitted fan beam sound. Therefore, the hopping pattern generator 22a is configured to output a hopping pattern signal that is at least two signals (four signals in the present embodiment) for frequency modulation (pulse modulation) based on a random number value. Is used.

  As described above, as the frequency synthesizer 22b, the hopping pattern generator 22a outputs the minimum value of the broadband excitation signal that can obtain an effective resonance in a state where the resonance frequency of the transmission element 20 at the resonance frequency is lowered. And the maximum value of the broadband excitation signal is made to correspond to the maximum random value output from the hopping pattern generator 22a, and the frequency hopping signal d is output based on the hopping pattern signal c described above. (See FIG. 1).

  In this case, the hopping pattern signal c is a pulse modulation signal (into a carrier wave) for pulse-modulating the basic signal a input from the main controller 10 by the frequency synthesizer 22b and outputting four unit excitation signals in this embodiment. Equivalent). The hopping pattern generator 22a includes a random number generator, and a hopping pattern is generated based on the random number output from the random number generator.

  As a specific example, the hopping pattern generator 22a alternately outputs an arbitrary small value in the range of 1 to 10 random numbers and an arbitrary large value in the range of 11 to 20 alternately and a small value and a large value. Are configured to output a hopping pattern signal composed of four random numbers so that there are two each. Further, the frequency synthesizer 22b corresponds to the random value = 1 output from the hopping pattern generator 22a, which is the minimum value of the broadband excitation signal for obtaining effective resonance with the Q at the resonance frequency of the transmitting element lowered. And the frequency hopping signal corresponding to the four random numbers of the hopping pattern signal is output by associating the maximum value of the broadband excitation signal with the random value = 20 output by the hopping pattern generator 22a. Yes.

  Further, the frequency synthesizer 22b functions to output the frequency hopping signal d as an excitation signal by pulse-modulating the pulse signal a sent from the main control unit 10 at regular intervals based on the hopping pattern signal c as described above. It has.

  As a result, the frequency hopping signal d, which is the aforementioned excitation signal, is generated and output by the excitation signal generation circuit unit 22.

In addition, the transmission azimuth setting unit 21 described above inputs the frequency hopping signal d generated by the excitation signal generation circuit unit 22 as a transmitter excitation signal, and the transmitted fan beam sound based on the frequency hopping signal d. A function for processing and generating a plurality of excitation signals whose phases are sequentially different for setting the transmission direction of the TF and simultaneously applying the generated plurality of excitation signals to the corresponding transmitting elements 20 _{1 to} 20 _n is provided. ing.

That is, the transmission azimuth setting unit 21 sets the phase of each of the plurality of excitation signals applied to each of the transmission elements 20 _{1 to} 20 _n to a state in which the phase is sequentially changed, and corresponds to each of the transmission elements 20 _{1 to} 20. a transmission direction identifying function for simultaneously identifying the transmission direction of one of the transmitted fan beam sounds by being applied to _n , and each of the transmission elements at a predetermined timing controlled and operated by the main control unit 10 described above. 20 ₁ to 20 application pattern e ₁ phase of the transmission direction of transmitting a fan beam sounds output from the _n sets of the plurality of the excitation _signal, e _{2, ......,} from one side by changing the e _n And a transmission azimuth switching setting function for setting the switching direction intermittently at regular angular intervals toward the other side.

The transmission azimuth setting unit 21 will be described in more detail. The transmission azimuth setting unit 21 applies a plurality of frequency hopping signals d, which are excitation signals having different phases, to the plurality of transmission elements 20 _{1 to} 20 _n at the same time. The variable frequency shift circuits 25 ₁ , 25 ₂ ,..., 25 _n and the plurality of variable phase shift circuits 25 _{1 to} 25 _n have the same frequency hopping signal d generated by the excitation signal generation circuit unit 22 described above. When the signals are simultaneously input, each of the corresponding variable phase shift circuits 25 ₁ is set so that the phase of the frequency hopping signal d is sequentially changed corresponding to the transmission direction of the transmitted fan beam sound. , 25 ₂ ,..., 25 _n and a phase shift control circuit 24 for instructing. Code _{e 1, e 2, ......,} e n indicates the command signal from the phase control circuit 24 in this case.

That is, the transmission direction specifying function is executed by the variable phase shift circuits 25 _{1 to} 25 _n and the phase shift control circuit 24, and the transmission direction switching setting function is the variable phase shift circuit 25. _{1 to} 25 _n , the phase shift control circuit 24, and the main control circuit 10 that commands the phase shift control circuit 24 to control the switching of the transmission direction.

  Here, when the transmission angle intermittent switching setting of the transmission azimuth angles of the fan-shaped transmission fan beam sounds TF1 to TFY is performed, the main control unit 10 described above can appropriately change the time interval of the switching time according to a preset program. A switching timing setting function 10a for setting is provided.

  4A and 4B schematically show an example of the transmission direction of the fan-shaped transmitted fan beam sounds TF1, TF2,..., TFY, which are sequentially switched by the transmission direction switching setting function of the main control unit 10. Show. The transmission direction of the fan-like transmitted fan beam sounds TF1 to TFY is switched in synchronism with the cycle of repeated transmission of the bulk wave as the transmission wave as described above.

Specifically, the wave transmitter 20 described above, as shown in FIG. 4 (A), the first top of the first transmit fan beam TF1 forms and time-frequency f1a each time elapses t _1, f2a , f3a, is received at the wave receiver 30 when transmitting a fan-beam sound consisting f4a is back as a reflected reflected sound from the transmitted target, the time t ₂ for receiving process is completed has elapsed, from the top Each time the time t ₁ elapses when the second second transmitting fan beam TF ₂ is formed, the transmitting fan beam sound having the frequencies f ₁ b, f 2 b, f 3 b, f 4 b is transmitted. A wave fan beam is formed to transmit a transmitted fan beam sound. In FIG. 4B, symbol T ₀ indicates the repetition period of the transmission wave (bulk wave) set when transmitting the transmission wave. Further, the symbol T _B represents the pulse width of the transmitted wave (bulk wave).

The transmitted fan beam sound transmitted from the transmitter 20 is reflected when it reaches the target and becomes reflected sound (echo). The reflected sound forms a received fan beam (received directivity) and waits for reception. 30 (first to m-th receiving elements 30 ₁ to 30 _m ).

  As a result, the target-search-purpose transmitting fan beam sounds TF1 to TFY output from the above-described transmitter 20 have intermittent bulk waves composed of four unit excitation signals having different frequencies, and are different for each repetition period. The signals are sequentially transmitted while being fan-shaped in the same direction.

[Receiver unit and main control unit]
Next, the receiving device unit 100B according to the present embodiment will be described.
1 to 9, the receiving apparatus unit 100B receives the Doppler-shifted reflected Doppler signal, which is the reflected sound from the target, in the cross beam state with respect to the above-described array-shaped transmitter 20. A receiver 30, a reception direction setting unit 34 that energizes the receiver 30 to set a reception direction for the reflected sound from the target in small increments, and a reflected sound received by the receiver 30. Received signal processing means 37 that performs signal processing and identifies the reflected received signal for image display that displays the location of the target is provided.

Further, between the reception azimuth setting unit 34 and the receiver 30, a transmission fan from the target received by the receiving elements 30 ₁ , 30 ₂ ,..., 30 _m of the receiver 30. Amplifiers 33 ₁ , 33 ₂ ,..., 33 _m for individually amplifying the reflected reception signals (reflected Doppler signals) related to the beam sounds TF1 to TFY, and the reflected reception signals amplified by the amplifiers 33 _{1 to} 33 _m Quadrature modulators 32 ₁ , 32 ₂ ,..., 32 _m and BPF (wide band filter circuit) 31 ₁ that sequentially captures each of the transmitted fan beam sounds TF1 to TFY and performs reception processing for each of the receiving elements 30 ₁ to 30 _m. , 31 ₂ ,..., 31 _m are interposed.

  As a result, when the above-described transmitted fan beam sounds TF1 to TFY are received as reflected sounds, a Doppler frequency assumed in advance based on a signal related to the frequency of each unit excitation signal of the bulk wave B related to the reflected reception signal. Only the reflected reflection signal of the area is received.

Here, the reception azimuth setting unit 34 that functions when receiving the reflected reception signal will be described.
The reception direction setting unit 34 is configured to transmit a transmitted fan beam sound TF1 in which the receiver 30 is a reflected sound.
To receive and sequentially capture TFY at the timing of transmitting the transmitting fan beam sounds TF1 to TFY which are bulk waves from the transmitter 20 described above (directly, the pulse signal a output from the main control unit 10). A receiving direction setting function for setting a fan-shaped receiving area in a direction perpendicular to the fan-shaped surface with respect to the reflected sound of the fan-shaped transmitted fan beam sounds TF1 to TFY; In this embodiment, the receiving element 30 ₁ , 30 ₂ ,... Is divided into 1,000 fan-shaped receiving areas with respect to the transmitted fan beam sound (for example, the reflected sound of TF 1 in FIG. 4A). And a receiving azimuth variable setting function for setting the switching direction intermittently at a constant angle from one side of 30 _{m to} the other.

More specifically, the reception azimuth setting unit 34 specifically activates each of the receiving elements 30 ₁ to 30 _{m of the} receiver 30 at the same time and individually transmits each of the transmitting fan beams. and a plurality of receiving-side variable phase circuit ₃₆ 1 ~ 36 _m to set the received azimuth angle with respect to sounds, wherein each wave receiving devices ₃₀ 1 to 30 _m through the each receiving variable phase circuit ₃₆ 1 ~ 36 _m The receiving operation is controlled to set a fan-shaped receiving beam region in a direction orthogonal to the fan-shaped beam surface of the transmitting fan beam sound, and the fan-shaped receiving beam regions RF1, RF2,..., RFX are set as described above. A fan-shaped receiving beam setting circuit 35 that variably sets at high speed from one side to the other side of each receiving element is provided (see FIGS. 1 and 4A). Here, in this embodiment, X is set to 1,000.

The plurality of receiving-side variable phase shift circuits 36 _{1 to} 36 _m described above are attached to the aforementioned fan-shaped receiving beam setting circuit 35 when individually receiving and driving the receiving elements 30 ₁ to 30 _m simultaneously. The phase shift applied to the reception vibration with respect to each of the wave receiving elements 30 ₁ to 30 _m is variably set individually and sequentially in accordance with the above-described reception azimuth. As a result, as described above, the fan-shaped receiving beam regions RF1 to RFX are intermittently switched and set from one side to the other side.

  In this case, the switching of the fan-shaped receiving beam regions RF1 to RFX that are intermittently switched from one side to the other side described above is performed by switching each of the four unit excitation signals constituting the reflected reception signal in one cycle. It is set 1,000 times for each unit excitation signal (for example, 0.1 second). For this reason, for a single reflected bulk wave composed of four unit excitation signals, this is repeated four times, so that it is set 4,000 times and this is repeated continuously.

  As a result, the resolution of the reflected received wave is set with a probability of 1/1000 for one reflected received signal, and as described later, 1-dot information for 1,000 dots in a horizontal row in the image display is specified. It has become.

That is, for the fan-shaped receiving beam setting circuit 35, _one direction of the fan-shaped receiving beam area that is set to be switched 1,000 times from one side to the other in the horizontal direction with respect to each of the receiving elements 30 ₁ to 30 _m . Corresponds to one dot in image display.

  Then, it is received through a plurality of fan-shaped receiving beam regions RF1 to RFx divided into 1,000, which are sequentially and repeatedly set from one side to the other side set by the receiving direction setting unit 34. The reflected reception signal is sent to the reception signal processing means 37 described above.

The received signal processing means 37 adds and processes the reflected received signals received individually by the receiving elements 30 ₁ to 30 _m simultaneously through the fan-shaped received beam region set by the receiving direction setting section 34 described above. An addition processing unit 38 that sequentially generates reception data corresponding to each image dot for each of the fan-shaped reception beam regions RF1 to RFx, and a reflected reception signal corresponding to each dot that is sequentially specified by the addition. In addition, each unit received signal (signal portion corresponding to the above-described unit excitation signal) is sampled, for example, four times, and the received data (reception sensitivity and reception frequency) at that time is specified and output, and the addition processing unit A sample hold circuit 39 is also provided for sequentially dealing with the reflected reception signal corresponding to the other one dot sent from 38.

Here, the reception timing information of the reception data 30 ₁ to 30 _m of the reception data subjected to the addition processing by the addition processing unit 38 is sent to the main control unit 10 described above. The position information (distance) of the target is calculated and stored based on the timing information.

  Specifically, the sample hold circuit 39 described above applies a reflected Doppler signal, which is a reflected received wave from the target, received by the receiver 30 for each preset reception azimuth angle and the addition processing unit 38. The unit excitation signals f1a, f2a, f3a, and f4a of the frequency hopping signal d, which form the main part of the reflected Doppler signal, are sequentially sampled a plurality of times (for example, four times) over time. The data is held and output to the replica correlator 40, which will be described later, as the target data of the replica correlation process together with the received data relating to the unit excitation signals f1a, f2a, f3a, and f4a.

  The reception signal processing means 37 further includes the unit of the bulk wave applied to the reflection reception signal for replica correlation processing output from the sample hold circuit 39, that is, the reflection Doppler signal acquired by the sample hold. A replica correlator 41 that correlates for each reception azimuth with a plurality of replica signals generated in advance by Doppler shift for the excitation signals f1a, f2a, f3a, and f4a, and identifies a reflected signal from the target. A target specifying information storage unit that stores the reflected signal specified by the replica correlation unit 41 for image display; and a replica signal generation unit 40 that is provided in the replica correlation unit 41 and generates the plurality of replica signals; It has.

[Replica signal generator 40]
Among these, the replica signal generation unit 40 described above is based on the excitation signals (bulk wave signals) composed of unit excitation signals f1a, f2a, f3a, and f4a having different frequencies output from the frequency synthesizer 22b. A plurality of replica signals (101 in this embodiment) having different frequencies that are sequentially changed in the positive and negative directions assumed in advance with reference to f1a, f2a, f3a, and f4a are generated and sent to the replica correlation unit 41. It has a function to output. The generation of the plurality of replica signals is repeatedly generated and output according to the contents of the excitation signal (bulk wave signal) B every time the excitation signal (bulk wave signal) B is repeatedly output. ing.

That is, the replica signal generated by the replica signal generation unit 40 corresponds to the unit excitation signals f1a, f2a, f3a, and f4a constituting the frequency hopping signal d generated by the excitation signal generation circuit unit 22. Generated. In this case, the numerical values of the Doppler frequencies that change to the maximum and minimum assumed based on the frequency applied to each of the unit excitation signals f1a, f2a, f3a, and f4a are divided into a plurality of equal parts before and after the reference frequency. In the embodiment, the frequency is generated based on a plurality of Doppler frequency values at equally divided positions obtained in the case of 50 equal division.
For this reason, in the present embodiment, a total of 101 replica signals are generated and stored in advance using the same frequency as the unit excitation signals f1a, f2a, f3a, and f4a as reference replica signals.

  Specifically, the replica signal generation unit 40 sets the four frequencies (see FIG. 4) constituting the frequency hopping signal input from the frequency synthesizer 22b as reference to Doppler zero. Here, when the target is moving closer to the transmission side (transmission source), the reflected sound (echo) amplified with the maximum frequency that may be received by the receiver 30 is assumed. Identifies each maximum value (frequency with maximum Doppler) of the four frequencies included in the reflected sound, and is the deviation (frequency) between each maximum frequency with plus Doppler and the reference frequency set to Doppler zero + Q is the maximum Doppler deviation on the plus side, and this + q is divided into 50, for example. Thus, the replica signal generation unit 40 has a Doppler shift signal generation function for generating a replica signal of a frequency having a frequency analysis width of 50 steps on the plus side obtained by adding the Doppler of each step to each of the Doppler zero frequencies. Yes.

In addition, the replica signal generation unit 40 is configured to reduce the frequency that can be received by the receiver 30 to a minimum when the target is moving away from the transmission side (transmission source). Estimate (echo), set each minimum value of the four frequencies included in this reflected sound (echo), and the deviation (frequency) between each minimum frequency with minus Doppler and the reference frequency set to Doppler zero -Q is a negative maximum Doppler deviation, and -q is divided into 50, for example, and a frequency replica having a frequency analysis width of 50 steps on the minus side obtained by subtracting the Doppler of each step from each of the Doppler zero frequencies. It has a Doppler shift function for generating a signal.
In this way, in this example, the replica signal generation unit 40 generates 101 replica signals including the Doppler zero frequency. Note that setting the number of replica signals to 101 is merely an example.

  The replica signal generated in this way is partitioned for each of the unit excitation signals f1a, f2a, f3a, and f4a as shown in FIG. 6 and temporarily stored in the replica signal storage unit 42b of the replica correlation unit 41. It is designed to be stored.

[Replica correlation unit 41]
As shown in FIGS. 1 and 2, the replica correlation unit 41 includes a replica signal storage unit 42b that stores a plurality of replica signals generated by the replica signal generation unit 40, and a reflection sampled by the sample hold circuit 39 described above. A signal storage unit 42 having a reception signal storage unit 42a for storing unit excitation signals f1a, f2a, f3a, f4a of the reception signal, and the stored replica signal for the reflected reception signal stored in the signal storage unit And a received signal correlation processing unit 44 that performs correlation processing based on the received signal.

  Among these, the reception signal correlation processing unit 44 specifies the regular reflection signal, and each unit frequency signal f1a, f2a, f3a, f4a of the frequency hopping signal constituting the reflection reception signal obtained for each reception azimuth angle described above. Are compared with each other for all of the plurality of replica signals having the same azimuth angle and corresponding rank stored in the replica signal storage unit 43, and the replica signal having the same or the closest value to the replica signal. Is provided as a reflected signal related to the reflected wave.

  The received signal correlation processing unit 44 also moves the target and the size of the target based on the Doppler information of the reflected received signal specified by the correlation processing function 44a and the received level information of the reflected received signal. Is provided with a target specifying function 44b.

  Further, the received signal correlation processing unit 44 stores target size data (reception signal level) and moving direction data relating to the reflected signal specified by the received signal correlation processing unit 44. An information storage unit 45 is also provided.

  By this replica correlation, even if a regular reflection signal from the target is received in a state where the frequency is changed by Doppler shift accompanying the movement of the target, it is not confused by the reflected reception signal of this Doppler shifted frequency, A regular reflected signal from the target can be received with high accuracy and reliability, and at the same time, the moving direction and speed of the target can be specified together.

  Here, in the reception signal correlation processing unit 44, the information of 1,000 dots (on the scanning line in the horizontal direction on the image) relating to the reflected reception signal specified at the same azimuth angle is the transmission device unit described above. The fan-shaped transmitted fan beam sounds TF1, TF2,..., TFY that are sequentially switched at 100A are sequentially specified by the number of transmission directions (for example, Y = 800) and stored in the target specifying information storage unit 45. It has become so.

  The target object specifying information storage unit 45 corresponds to the dot information for the image display, and the position information (the target position information) for each dot information calculated by the main control unit 10 based on the transmission / reception information at the same timing. Distance information from the sonar system 100) is input and stored in the target specifying information storage unit 45 together with the corresponding dot information.

[Reflected signal image processing means 50]
Further, at the output stage of the reception signal processing means 37, the location of the target and its location based on the transmission / reception timing information and the reflection level related to the reflected reception signal stored in the target specifying information storage unit 45 are described. Performs pixel value data processing for specifying each piece of information related to the size of the shape, attaches coordinate data for display corresponding to each reception direction of the reflected reception signal, generates coordinate data, and equips the coordinate data separately in advance. Reflected signal image processing means 50 for displaying an image is provided in the sonar image display section.

  Specifically, the reflected signal image processing means 50 sequentially converts the position information and sensitivity information (reflection level information) of the target processed by the reception signal processing means 37 and sequentially sent to the pixel value data. A pixel value data processing unit 46 that outputs image data with coordinate data for display, a coordinate value data storage unit 47 that stores data processed by the pixel value data processing unit 46, and a coordinate value data storage unit And a display control unit 48 for converting and controlling the coordinate value data stored in 47 into a two-dimensional or third-order perspective view display or the like.

  Here, the pixel value data processing unit 46 is a replica of the Doppler frequency related to 101 replica signals corresponding to the specified one dot stored in the target specifying information storage unit 45 and the received signal information related thereto. The correlation value is read out, collated with the threshold value of the image display condition set in advance, and the replica correlation value having the highest sound pressure exceeding the threshold value is selected, and the gradation data corresponding to the sound pressure is converted into pixel value data. Is provided with a pixel value data processing function for processing pixel value data to be output. This pixel value data processing is performed on all corresponding replica correlation values for each transmission fan beam stored in each storage unit.

  Specifically, the pixel value conversion processing by the pixel value data processing unit 46 is, specifically, as shown in FIG. 7, for example, the left end of the horizontal axis is a negative q value that is a negative maximum deviation applied to the Doppler frequency, and the center is It is assumed that there is a target on a graph with zero deviation on the Doppler frequency, plus q as the positive maximum deviation on the Doppler frequency, and a correlation level (sound pressure) on the vertical axis. A threshold area (hatching area or image display area) is set, and it is sequentially determined whether 101 replica correlation values of the same pixel corresponding orientation are included in the threshold area (image display area) one by one.

  Then, one replica correlation value that generates the maximum correlation peak (maximum sound pressure) included in the threshold area is extracted, and this is replaced with gradation data as a pixel in which the target exists, and stored. Reference numeral 47 denotes a coordinate data storage unit for storing gradation data in this case.

  When this pixel value conversion process is performed, even a reflected reception signal with a Doppler frequency can be reliably captured and specified with a high correlation level by the threshold area. Further, this pixel value conversion process is sequentially performed for one screen corresponding to one dot, whereby the reflected signal from the target can be reliably detected and captured.

  The display control unit 48 operates based on the request from the main control unit 10 described above, reads the pixel value data stored in the coordinate data storage unit 47, and performs matrix arrangement processing as shown in FIG. And an image display control function for displaying it on the sonar image display unit.

  In this case, on the basis of a request from the main control unit 10, two-dimensional display can be performed by outputting pixels of the matrix arrangement at the same time, and a plurality of sampled and held screens are superimposed in the depth direction. If output, three-dimensional display can be performed as shown in FIG. Furthermore, if a screen obtained by transmitting and receiving one cycle of waves by the transmitter 20 and the receiver 30 is superimposed and output, three-dimensional display can be performed more effectively.

[Operation of this embodiment]
Next, the overall operation of the sonar system in the above embodiment will be described with reference to FIGS.
First, the generation and transmission operation of a fan-shaped transmitted fan beam sound transmitted underwater for searching for a target will be described, and then the reception operation for the reflected wave from the target and the signal processing for the received signal will be sequentially described. To do.

(Overview of operation)
In the sonar system 100 shown in FIG. 1, on the transmitting device unit 100A side, the excitation signal generation circuit unit 22 transmits n (10 in the present embodiment) different excitation signals composed of frequency hopping signals to the transmitting elements 20 ₁ to 20. By repeating the simultaneous application to 20 _n Y times (800 times in this embodiment), as shown in FIG. 4A, the transmitter 20 causes the first to y-th transmission fan beams TF ₁ to TF ₁ to. TF _Y is sequentially formed and transmitted toward the water as a transmitted fan beam sound.

On the other hand, on the receiving device unit 100B side, as shown in FIG. 5, spatial reception is performed spatially with respect to each one frequency constituting the transmitting fan beam by the directivity synthesis input of the receiving direction setting unit 34. First to xth received fan beams (received directivities) RF _{1 to} RF _X intersecting with a 90 degree deviation are formed and waited.

On the receiving device section 100B side, the receiver 30 receives and receives the reflected sound (echo) that the transmitted fan beam sound reaches the target and reflects to the transmission source. The reflected reception signal is subjected to directivity synthesis processing for each direction of the transmission fan beam and the reception fan beam, and the Doppler shift of the reflected reception signal subjected to the directivity synthesis processing and the frequency hopping signal corresponding to the reflected reception signal is performed. By performing replica correlation with the replica signal prepared in advance, excluding Doppler, Y × X dots relating to the exact position, distance, moving speed and image of the target in water (Y is the number of dots in the vertical direction, X is the number of dots in the horizontal direction) and the target image is displayed on the image display device 50.
Here, in the present embodiment, n = m = 10 is assumed, and X = 1,000 and Y = 800 are assumed.
This will be specifically described below.

(Transmission operation of the transmission fan beam)
When the entire system is set to the operating state, first, the excitation signal generation circuit unit 22 of the transmitter drive control means 21 is set to have a constant period as an excitation signal for simultaneously exciting the plurality of transmission elements 20 _{1 to} 20 _n. Different frequency hopping signals d composed of at least two or more intermittent unit excitation signals (in this embodiment, four unit excitation signals) of a wideband bulk wave B and different frequencies are repeated. Each time a new one is generated and output (FIG. 10: S101 to S105 / frequency hopping signal generation step).

  An excitation signal generated based on the frequency hopping signal d is applied to the transmitter 20 (excitation signal applying step). In this case, the transmission direction setting unit 34 of the transmitter drive control means 21 is operated corresponding to the repetition period of the bulk wave, and simultaneously drives the arrayed transmission elements toward the target. The direction of the fan-shaped transmitted fan beam sound is transmitted from one side to the other side of each of the transmitting elements (in this embodiment, as shown in FIG. 4, it is spread horizontally from the upper part of the figure). The fan-shaped transmitting fan beam sound is switched and set intermittently at a constant angular interval (toward the lower part of the figure) (FIG. 10: S106 / transmitting fan beam sound transmitting step).

  This will be described in more detail. First, in FIG. 10, the main control unit 10 operates and a reference signal a (bulk wave) that repeats at a constant cycle is output for the transmitter 20 (FIG. 10: Step S101). At the same time, the main control unit 10 outputs a timing control signal b that sets the operation timing of the entire system.

  At the same time, the main control unit 10 outputs a timing control signal b (FIG. 10: step S102). This timing control signal b is input to each of the interlocking components (hopping pattern generator 22a, phase shift control circuit 24, replica signal generator 42, fan-shaped received beam setting circuit 35, etc.) (FIG. 1).

  Next, the hopping pattern generator 22a generates and outputs four types of hopping pattern signals c whose frequencies are set irregularly as described above in response to the input of the timing control signal b (FIG. 10: Step S103). The hopping pattern signal c is input to the frequency synthesizer 22b (see FIG. 1).

Next, the frequency synthesizer 22b performs hopping pattern modulation (pulse modulation) on the reference signal a based on the hopping pattern signal c and outputs a frequency hopping signal d (FIG. 10: step S104). The frequency hopping signal d is input to the variable phase shift circuits 25 _{1 to} 25 _n and a replica signal generation unit 42 described later (see FIG. 1).

On the other hand, phase shift control circuit 24, phase control signals e1, e2 corresponding to each individual transmitting elements 20 ₁ to 20 _n based on the input of the timing control signal b, to generate a ...... en, phase setting this The command signals are individually sent to the above-described variable phase shift circuits 25 _{1 to} 25 _n (FIG. 10: Step S104).

As a result, the variable phase shift circuits 25 _{1 to} 25 _n perform delay processing on the input frequency hopping signal b based on different phase control signals (thus setting the transmission direction) and perform the delay processing. A frequency hopping signal in which the transmission direction is set is output (FIG. 10: Step S104), and this is applied to each of the transmitting elements 20 _{1 to} 20 _n via the corresponding amplifiers 26 _{1 to} 26 _n (FIG. 10 ( A): Steps S105 to S106).

Accordingly, each of the transmission elements 20 _{1 to} 20 _n is individually excited by applying an excitation signal, and the whole cooperates to perform a transmission output operation having directivity as the transmitter 20. The first transmission fan beam TF ₁ is formed and the transmission fan beam sound is transmitted (FIG. 10: step S106). Thereafter, this operation is executed at regular intervals, and first, third,... Transmitted fan beams TF ₁ , TF ₂ ,..., TF _Y are sequentially transmitted (FIG. 10: Step S107).

(Reception fan beam reception and received signal processing)
Next, when the transmitted fan beam sound transmitted from the transmitter 20 is reflected from the target, the receiver 30 first receives the reflected wave as a Doppler-shifted reflected reception signal.

At the time of reception of the reflected wave, the reception direction setting unit 34 is operated in advance at the same time, and the direction of reception with respect to the reflected sound from the target is perpendicular to the spread of the fan-shaped transmitted fan beam sound (this embodiment). Then, the array-shaped receiving elements 30 ₁ to 30 _X are intermittently extended from one side to the other side (from the right hand direction to the left hand direction as viewed from the receiving side). The reception direction is switched and set (FIG. 11: Step S201 / reflection signal reception step).

In the reflected signal reception process of step S201, first, the fan-shaped received beam RF _{1 in} a state orthogonal to the spread of the transmitted fan beam sounds TF _{1 to} TF _Y expanded in a fan shape by the transmitter 20. ˜RF _X is set repeatedly in advance by the reception direction setting unit 34 from one end side of the receiver 30 to the other end side in advance (FIG. 11: Step S202 / fan-shaped reception) Beam setting process).
At the same time, the received signals relating to the Doppler-shifted reflected waves captured by the respective fan-shaped received beams are simultaneously received by the receiving elements 20 _{1 to} 20 _n of the transmitter 20 (FIG. 11: Step S202 / signal individual reception step).

Next, the reflected wave received by each of the receiving elements 20 _{1 to} 20 _n is specified by the azimuth information for each set fan-shaped received beam, amplified by the amplifiers 31 _{1 to} 31 _n , and then the quadrature modulator 32 _1. To 32 _n and a broadband filter circuit (BPF) 33 _{1 to} 33 _n , and then added to the reception side variable transfer circuits 36 _{1 to} 36 _n of the reception direction setting unit 34 described above. (FIG. 11: Step S203 / noise processing step).

  Then, addition processing is performed by the addition processing unit 38 and position information of a single dot on the image is added, and then sampling processing is performed. Thereafter, for each unit excitation signal, a Doppler shift with a corresponding preparation is added. Based on the plurality of replica signals, the received signal correlation processing unit 44 correlates and thereby sequentially identifies the regular reflected signal for one dot (FIG. 11: steps S204 to S206 / received signal processing step).

In the received signal processing step of steps S204 to S206, first, the addition processing unit 38 adds the entire received signal in one setting direction received by each receiving element to the receiving direction setting unit 34. The receiving side variable transfer circuits 36 _{1 to} 36 _n are used for addition processing. This addition processing is executed 1,000 times in the horizontal direction for the above-described one transmission fan beam, thereby generating 1,000 dots of reflected reception information on the horizontal scanning line in the image processing (FIG. 11: FIG. 11). Step S204 / addition processing step).

  Next, the reflected Doppler signal obtained by the addition processing is divided into the plurality of unit excitation signals by dividing the frequency and sensitivity information for each reception azimuth angle set by the reception azimuth setting unit 34 and in time series. The sample and hold circuit 39 samples and holds each received signal corresponding to the signal (FIG. 11: step S205 / sample hold step).

  By this sample and hold process, target data necessary for stereoscopic display in image display to be described later is obtained. The sampled and received reception signals are sequentially stored in the reception signal storage unit of the replica correlation unit (FIG. 11: step S205 / reception signal storage step).

  On the other hand, in replica correlation processing in the replica correlation unit, a plurality of replica signals and an excitation signal (frequency hopping signal d) including the four unit excitation signals described above are output from the excitation signal generation circuit unit 22 in advance. Each time a plurality of Doppler-shifted replica signals are generated based on the excitation signal (for each repeated output of the excitation signal), the replica signal storage unit included in the replica correlation unit described above is shown in FIG. (Form corresponding to four unit excitation signals) is temporarily stored (FIG. 11: step S206 / replica signal generation step).

  In the replica signal generation step, the replica signal generation unit 42 generates the frequency corresponding to each frequency of the unit excitation signal constituting the frequency hopping signal d. In this case, the numerical values of the maximum and minimum Doppler frequencies assumed based on the frequency of one unit excitation signal constituting the frequency hopping signal d are divided into 50 equal parts before and after the reference frequency. Is generated based on a plurality of Doppler frequency values at equally divided positions. In the present embodiment, 101 replica signals are generated in advance for each unit excitation signal and stored in the replica signal storage unit as described above.

  Then, the received signal correlation processing unit performs correlation processing based on the plurality of replica signals in which the sampled and held reflected received signals are previously Doppler shifted correspondingly, and thereby reflected signals from the target object. Are identified together with the Doppler amount (FIG. 11: Steps S206 to S207 / Replica Correlation Processing Step).

Here, the replica correlation processing will be described in detail.
In the replica correlation processing, four received signals having the same pixel correspondence azimuth and sampled and held ranks for the four frequencies with respect to the reflected received signal temporarily stored in the replica correlation unit 41 are used as a set of data. As a signal, each replica signal storage unit 42b temporarily stores and reads the replica signal, and correlates a set of read data signals with the corresponding replica signal, and combines the sound pressure intensity of the beam signal and the Doppler. The replica correlation value is output. This correlation processing is repeated for the number of times of sample hold reception, and the replica correlation for one pixel corresponding direction is completed. In this way, replica correlation is performed for each orientation corresponding to the pixels.

Subsequently, the correlation process is performed on the second transmission fan beam TF _{2 in} the same manner as in the case of the first transmission fan beam TF ₁ described above, and thereafter the y-th transmission fan beam TF _Y Until then, the same steps are repeated.

  Here, in the replica correlation processing step, when specifying the Doppler-shifted reflected reception signal, each unit excitation signal applied to the Doppler-shifted reflected reception signal obtained for each reception azimuth angle of each reflected wave is obtained. The received signal correlation processing unit 44 compares the frequencies of all the plurality of replica signals having the same azimuth angle and corresponding rank stored in the replica signal storage unit 42 as shown in FIG. A replica signal having a frequency of the same value or the closest value is specified as a reflected signal applied to the reflected wave.

  At the same time, based on the Doppler information of the identified reflected signal and the transmission / reception timing information of the reflected Doppler signal corresponding to the reflected signal, information on the position and velocity of the target and the moving direction is received in the received signal correlation process. The unit 44 specifies and performs storage processing on the target specifying information storage unit 46.

  Then, the image value data processing unit images the position and moving direction of the target related to the reflected reception signal based on the Doppler information of the identified reflected signal, the transmission / reception timing information related to the reflected signal, and the reflection intensity information. It is specified for display and stored in the target specifying information storage unit 45 (FIG. 11: step S207 / image display data specifying step).

  Next, the information related to the regular reflection signal stored in the target object specifying information storage unit 45 is effectively displayed on the sonar image display unit 49 by the display control unit 48 of the reflection signal image processing means 50. Specifically, the position information and sensitivity information (reflection level information) of the target processed and sequentially sent by the reception signal processing unit 37 are sequentially converted into pixel value data by the pixel value data processing unit, and image display is performed. Is added and stored in the coordinate value data storage unit 47 (FIG. 11: step S208 / coordinate data storage step).

  Thereafter, the coordinate value data stored in the coordinate value data storage unit 47 is converted and controlled by the display control unit 48 into two-dimensional or three-dimensional perspective view display data, and sent to the sonar image display unit 49 described above. Then, an image is displayed (FIG. 11: Step S209 / target image display step).

  Here, as described above, the pixel value data processing unit 46 converts the identified one dot stored in the target object specifying information storage unit 45 and 101 replica signals corresponding to the received signal information. A gradation correlation corresponding to the sound pressure is selected by reading the replica correlation value of the Doppler frequency and collating it with the threshold value of the image display condition set in advance and selecting the replica correlation value having the highest sound pressure exceeding the threshold value. A pixel value data processing function for performing pixel value data processing for outputting data as pixel value data is provided. This pixel value data processing is performed on all corresponding replica correlation values for each transmission fan beam stored in each storage unit.

  Specifically, in the pixel value conversion processing by the pixel value data processing function, for example, as shown in FIG. 7, the left end of the horizontal axis is a negative q value that is a negative maximum deviation applied to the Doppler frequency, and the center is the Doppler frequency. The threshold area where the target is assumed to be present on the graph in which the deviation is zero and the right end is the positive maximum deviation plus q which is the Doppler frequency and the vertical axis indicates the correlation level (sound pressure). (Hatching area or image display area) is set, and it is sequentially determined whether 101 replica correlation values of the same pixel corresponding orientation are included in the threshold area (image display area) one by one.

  Thereafter, one replica correlation value that produces the maximum correlation peak (maximum sound pressure) included in the threshold area is extracted, and this is replaced with gradation data as a pixel in which the target exists, and stored. Reference numeral 47 denotes a coordinate data storage unit for storing gradation data in this case.

  When this pixel value conversion process is performed, even a reflected reception signal with a Doppler frequency can be reliably captured and specified with a high correlation level by the threshold area. Further, this pixel value conversion process is sequentially performed for one screen corresponding to one dot, whereby the reflected signal from the target can be reliably detected and captured.

  The display control unit 48 operates based on the request from the main control unit 10 described above, reads the pixel value data stored in the coordinate data storage unit 47, and performs matrix arrangement processing as shown in FIG. It is displayed on the sonar image display section.

  In this case, on the basis of a request from the main control unit 10, two-dimensional display can be performed by outputting pixels of the matrix arrangement at the same time, and a plurality of sampled and held screens are superimposed in the depth direction. If output, three-dimensional display can be performed as shown in FIG. Furthermore, if a screen obtained by transmitting and receiving one cycle of waves by the transmitter 20 and the receiver 30 is superimposed and output, three-dimensional display can be performed more effectively.

  Here, in each execution process disclosed in the above operation in the present embodiment, the contents of each operation function may be programmed and executed by a computer. In this case, as the computer, a computer previously installed in the main control unit described above may be used.

(Effect of embodiment)
As described above, according to the sonar system 100 having the above-described configuration, the transmitter 20 forms the _first to y-th transmitted fan fan beams TF _{1 to} TF _Y and transmits the transmitted fan beam sound having different frequencies into the water. The receiver 30 receives the reflected sound by switching to the _{first to} xth receiving fan beams RF _{1 to} RF _X for one frequency of one transmitting fan beam. The reception direction setting unit 34 generates and waits for a replica signal corresponding to the frequency hopping signal and acquires a beam signal having directivity, and the replica correlation unit 40 performs replica correlation between the beam signal and the replica signal. The replica correlation value is output, and the pixel value data processing unit 47 reads the replica correlation value stored in the target object specifying information storage unit 46 and performs pixel value data processing. Input data and display Y × X dots (Y is the number of dots in the vertical direction and X is the number of dots in the horizontal direction) on the display screen regarding the exact position, distance, moving speed and image of the target in the water. Can do.

The transmission device unit 100A having the above configuration generates a frequency hopping signal, changes the phase of the frequency hopping signal as an excitation signal, and inputs the excitation signal to the _{first to nth} transmission elements 20 _{1 to} 20 _n to form a transmission fan beam. It is characterized by transmitting and synthesizing the transmitted fan beam sound.

Further, reception apparatus unit 100B of the above configuration, generating a plurality of replica signals by Doppler shift, the wave receiving devices 30 _1, 30 _2, ..., waiting a reflected sound wave transmission fan beam sound 30 _m To obtain a beam signal by performing directivity control for reception, to perform replica correlation between the replica signal and the received beam signal for each azimuth, and to obtain image data by comparing the replica correlation value with a threshold value. It is a control circuit to perform.

  The wave receiving device unit 100B having the above configuration corresponds to the wave transmitting device unit 100A and forms and receives the first to xth wave receiving fan beams for each frequency of the wave transmitting fan beam. Receiving the reflected signals by repeatedly forming the first to xth received fan beams as many times as the number of hops of the frequency constituting the wave fan beam, and the reflected received signals divided by frequency for each direction It is characterized by replica correlation with the beam signal after being collected.

  Therefore, the transmitted fan beam sound and reflected sound are composed of frequency hopping signals, and the Doppler attached to the reflected sound can be detected and the target with Doppler can be separated from the reverberation without Doppler. -It is resistant to interference and interception, has a high time resolution and distance resolution, and can acquire accurate image data with high cross-range resolution and accurate image display with no pixel coordinate deviation.

  Furthermore, according to the sonar system according to the present embodiment, the transmitted fan beam sound that is strong against interference, interference, and interception is generated, transmitted to the target, and reflected by the target. By detecting the attached Doppler and separating the target with Doppler and the reverberation without Doppler, it is possible to display an accurate image without causing a pixel coordinate shift, and to display an image with high distance resolution and time resolution.

  Also, the sonar transmission device (transmission device section), the sonar reception device (reception device section), the sonar image display method, and the program thereof, as disclosed in the overall description of the above embodiment, It has a configuration and operational effects that can achieve the same purpose.

Here, the present invention is not limited to the above-described embodiment, and includes various modifications within the scope not departing from the gist of the claims.
For example, as described above, the hopping pattern generator 22a may output a different hopping pattern signal to the frequency synthesizer 22b randomly every time the timing control signal b is input. Different hopping patterns for one cycle corresponding to the number of transmission fan beams formed by the wave elements 20 _{1 to} 20 _n are prepared, and each time the timing control signal b is input, a different hopping pattern signal is generated. The data may be output to the synthesizer 22b.

The above-mentioned wave transmitting elements are arranged side by side to transmit the transmitting fan beams in the horizontal direction, and the wave receiving elements described above are arranged vertically to form the wave receiving fan beams in a line. Then, it may be set to wait for the reflected sound.
Further, scanning may be performed until the transmitting fan beam formed by the transmitting elements 20 _{1 to} 20 _n is formed in the order in which the transmitting direction is changed from the downward angle to the upward angle, contrary to the present embodiment.

(Appendix)
Here, the main points of the new technical contents of the above-described embodiments are shown below. This is the gist of the technical contents, and the present invention is not limited to this.

[Appendix 1]
Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiver for receiving as a reflected Doppler signal, a receiving direction setting unit for energizing the receiver to set a receiving direction for reflected sound from the target, and a signal processing for the reflected sound received by the receiver And a receiving device section having a received signal processing means for specifying the location of the target for image display, and a main control section for controlling the overall operation of each of these components,
The transmitter is composed of a plurality of transmitting elements arranged in an array facing the target, and the receiver is also arranged in an array facing the target and the array In a sonar system constituted by a plurality of receiving elements installed in a state rotated by 90 degrees with respect to the transmitter of
The transmitter drive control means is
An excitation signal generation circuit that generates an excitation signal for exciting each of the plurality of transmission elements at the same time, and the excitation signal is a broadband bulk wave that repeats at a constant period, and the bulk wave is repeated at each repetition period. Comprising at least two unit excitation signals having different frequencies and having different frequency hopping signals d intermittently arranged in time series,
The received signal processing means;
The reflected Doppler signal, which is a reflected received wave from the target received by the receiver, is sequentially received for each reception azimuth angle set in advance, and the frequency hopping signal d constituting the main part of the reflected Doppler signal is received. A sample and hold circuit that samples and holds a unit excitation signal multiple times over time;
For each unit excitation signal of the bulk wave applied to the reflected reception wave obtained by this sample and hold, a correlation is made for each reception azimuth with a plurality of replica signals generated by Doppler shift in advance, and the target A replica correlation unit for identifying a reflected signal from an object;
A sonar system comprising: a target specifying information storage unit for storing the reflected signal specified by the replica correlation unit for image display.

[Appendix 2]
In the sonar system described in Appendix 1,
A pixel value for specifying each information related to the location and shape of the target based on the transmission / reception timing information and the reflection level related to the reflected signal stored in the target specifying information storage unit in the received signal processing means Reflection signal image processing means for performing data processing, generating coordinate data by attaching display coordinate data corresponding to each reception direction, and displaying the coordinate data on a sonar image display unit separately provided in advance. A sonar system characterized by the addition.

[Appendix 3]
In the sonar system described in Appendix 1,
The excitation signal generation circuit unit specifies and outputs a hopping pattern signal c including at least two modulation frequency data as frequency information necessary for frequency modulation based on a random value, and the hopping pattern signal c And a frequency synthesizer that generates the frequency hopping signal d that is an excitation signal based on the pulse wave a that is output from the main control unit at a constant cycle and outputs the frequency hopping signal d that is repeated at a constant cycle. A sonar system characterized by that.

[Appendix 4]
In the sonar system described in Appendix 3,
The hopping pattern generator has a random number generation circuit in advance, and a minimum level at which resonance can be effectively obtained from a broadband resonance signal obtained in a state where Q at resonance at the resonance frequency of the transmission element is lowered and A minimum and maximum random number value corresponding to each frequency of the maximum limit is set in advance, and an arbitrary combination of frequency values corresponding to a plurality of random number values sequentially output from the random number generation circuit is specified as the hopping pattern signal c. With functionality,
The frequency synthesizer 22b has a function of pulse-modulating a pulse signal a sent from the main control unit at regular intervals based on the hopping pattern signal c and outputting the frequency hopping signal d as an excitation signal as the bulk wave. A sonar system characterized by

[Appendix 5]
In the sonar system described in Appendix 4,
The transmitter drive control means includes:
The frequency hopping signal d generated by the excitation signal generation circuit unit is input as a transmitter excitation signal, and the number corresponding to each of the transmission elements based on the frequency hopping signal d and the frequency of the transmitted fan beam sound. A transmission azimuth setting section for generating a plurality of excitation signals having different phases set corresponding to the transmission azimuth and applying the generated plurality of excitation signals to the corresponding transmitting elements simultaneously; Sonar system.

[Appendix 6] (Transmission direction switching)
In the sonar system described in appendix 5,
The transmission azimuth setting unit
The phase of each of the plurality of excitation signals applied to each of the transmitting elements is set to a state that is sequentially changed, and the transmitting direction of one of the transmitting fan beam sounds is specified by simultaneously applying to the corresponding transmitting elements. Transmission direction identification function,
A phase application pattern for setting the transmission direction of the transmitted fan beam sound to each of the plurality of excitation signals at a predetermined timing controlled and operated by the main control unit. A sonar system comprising: a transmission azimuth switching setting function that changes and sets switching sequentially and intermittently at regular angular intervals from one side to the other side.

[Appendix 7]
In the sonar system described in Appendix 4,
The transmission azimuth setting unit includes a plurality of variable phase shift circuits that simultaneously apply frequency hopping signals d having different phases to the plurality of transmission elements, and the excitation signal generation circuit for the plurality of variable phase shift circuits. When the frequency hopping signal d generated by the unit is input, the variable hopping signal d is set so that the phase of the frequency hopping signal d is sequentially changed corresponding to the transmission direction of the transmitted fan beam sound. A sonar system comprising a phase shift control circuit 24 for instructing a phase shift circuit in advance.

[Appendix 8] (Time interval when changing direction)
In the sonar system described in appendix 6,
The main control unit has a switching timing setting function for variably setting the time interval of the switching time according to a preset program when setting the transmission angle intermittent switching of the transmission azimuth angle of the transmitted fan beam sound. A sonar system characterized by that.

[Appendix 9]
In the sonar system according to any one of appendices 1 to 6,
The receiving direction setting section of the receiving device section,
A plurality of receiving-side variable phase-shift circuits for individually energizing each receiving element of the receiver to set a receiving azimuth angle for each transmitting fan beam sound, and via each receiving-side variable phase-shifting circuit The receiving operation of each receiving element is controlled to set a fan-shaped receiving beam region in a direction orthogonal to the fan-shaped beam surface of the transmitted fan beam sound, and the fan-shaped receiving beam region is set to each receiving element. A sonar system comprising a fan-shaped receiving beam setting circuit variably set from one side to the other side.

[Appendix 10]
In the sonar system described in appendix 9,
One direction of the fan-shaped receiving beam region switched and set to each receiving element by the fan-shaped receiving beam setting circuit corresponds to one dot on a screen set at the time of image display. Sonar system.

[Appendix 11]
In the sonar system described in appendix 9,
Received signal processing means of the receiving device section,
An addition processing unit that performs addition processing on the Doppler-shifted reflected reception signals at the same timing received by each of the receiving elements and taken in via each reception-side variable phase shift circuit of the reception direction setting unit;
The sample-and-hold circuit samples and holds the reflected reception signal formed by the addition processing by the addition processing unit, and stores the sampled and held reflected reception signal for each transmission azimuth angle and reception azimuth angle. A received signal storage unit,
A replica signal generation unit that generates a plurality of replica signals, which are frequency signals that have been Doppler shifted in advance corresponding to the sampled and held reflected signals, for each unit excitation signal based on the frequency hopping signal d. When,
A replica signal storage unit that stores a plurality of replica signals generated by the replica signal generation unit for each transmission azimuth angle;
The stored replica signal and the reflected reception signal are matched with the transmission azimuth angle and correlated for each reception azimuth angle, and the reflected signal from the target and the Doppler amount for the reflected reception signal are sequentially specified. Including a correlation processing unit,
The sample and hold circuit;
A plurality of units constituting the reflected reception signal for each reception azimuth angle specified by the fan-shaped reception beam setting circuit with respect to the frequency and sensitivity information of the reflected reception signal obtained by the addition processing by the addition processing unit A sonar system characterized by a sample-and-hold configuration for each excitation signal.

[Appendix 12]
In the sonar system described in appendix 9,
The replica signal generated by the replica signal generation unit is generated corresponding to each unit excitation signal constituting the frequency hopping signal d generated by the excitation signal generation circuit unit, and is applied to each unit excitation signal. Generated based on a plurality of Doppler frequency values at equally divided positions obtained by dividing a numerical value of a maximum and minimum assumed Doppler frequency based on the frequency and equally dividing the numerical value before and after the reference frequency. A sonar system characterized by being a thing.

[Appendix 13]
In the sonar system described in appendix 11,
The received signal correlation processor is
When specifying the reflected signal and its Doppler amount, the unit azimuth angle of each unit frequency signal of the frequency hopping signal constituting the reflected received signal obtained for each reception azimuth angle is stored in the replica signal storage unit. And a correlation processing function for comparing the frequencies of all of the plurality of replica signals of the corresponding ranks and specifying a replica signal of one frequency having the same or closest value as a reflected signal applied to the reflected wave;
A target specifying function for specifying the position and moving direction of the target based on the Doppler information of the specified reflected reception signal and the transmission / reception timing information related to the reflected reception signal, and
The reception signal correlation processing unit is further provided with a target specifying information storage unit that stores information on the position and movement direction of the target related to the reflected signal specified by the reception signal correlation processing unit. Sonar system.

[Appendix 14]
In the sonar system described in appendix 9,
Reflected signal image processing means for subjecting the received signal processing means of the receiving device section to image processing for the reflected signal from the target sequentially specified by the received signal correlation processing section and information relating to the reflected signal for image display. A sonar system characterized by the addition of

[Appendix 15]
Transmitter for transmitting fan fan sound spread in fan shape toward target and repeatedly transmitting at a constant period, transmitter drive control means for controlling excitation of this transmitter, and this transmitter drive control A sonar transmission device comprising a main control unit for controlling the overall operation of the means;
The transmitter is configured with a plurality of transmitting elements arranged in an array facing the target,
The transmitter drive control means,
An excitation signal generation circuit unit that generates and outputs a frequency hopping signal d, which is an excitation signal for exciting the plurality of transmission elements simultaneously, and a phase of the frequency hopping signal d generated by the excitation signal generation circuit unit Transmission azimuth setting provided with a transmission azimuth specifying function for setting a state that is sequentially changed for each of the transmission elements and specifying one transmission azimuth of the transmission fan beam sound by simultaneously applying to each corresponding transmission element And a configuration having a part,
The transmission azimuth setting unit is controlled by the main control unit to operate, and the transmission azimuth of the transmitted fan beam sound output from each of the transmission elements at a predetermined fixed timing is set for each of the plurality of excitation signals. It is configured with a transmission azimuth switching setting function that changes the phase application pattern for each transmission fan beam sound that is repeatedly transmitted and switches from one side to the other side sequentially and at a constant angular interval.
The excitation signal generated by the excitation signal generation circuit unit is a broadband bulk wave that repeats at a constant period, and the bulk wave has the hopping signal that is composed of two or more unit excitation signals having at least different frequencies. A transmitting device for sonar characterized by comprising.

[Appendix 16]
This occurs when a broadband fan-shaped fan fan sound transmitted repeatedly from a transmitter having a plurality of transmitter elements arranged in an array is transmitted from a target object and reflected back from the target. A receiver having a plurality of receiving elements for receiving the wave, and each receiving element of the receiver are installed in a direction orthogonal to the arrayed transmitting element of the transmitter and reflected from the target A reception direction setting unit that presets a reception direction for sound as a fan-shaped reception beam in a direction orthogonal to a fan-shaped transmission fan beam sound, and signal processing of a Doppler-shifted reflected reception signal received by the receiver And a sonar receiving device comprising a received signal processing means for specifying the location of the target and a main control unit for controlling the operation of each of these parts,
A wide-band fan-shaped transmitting fan beam sound that is repeatedly transmitted from the transmitter at a constant period is a transmitting fan beam that is repeatedly transmitted using a bulk wave composed of a plurality of unit excitation signals having different frequencies as an excitation signal. With sound,
The received signal processing means;
When the Doppler-shifted reflected reception signal received from the target received by the receiver is sequentially received for each reception azimuth angle set in advance via the reception azimuth setting unit, the reflected reception signal is changed over time. A sample-and-hold circuit that samples and outputs multiple times,
The sampled and held reflected reception signal is subjected to correlation processing for each reception azimuth with respect to a plurality of unit excitation signals constituting the bulk wave and a plurality of replica signals generated in advance corresponding thereto. A replica correlator for identifying a reflected signal from the target and its Doppler amount;
A sonar receiving apparatus comprising: a target specifying information storage unit for storing, as image specifying target specifying information, information relating to a reflected signal specified by the replica correlation and its Doppler amount.

[Supplementary Note 17] (Invention of Method / Corresponding to Supplementary Note 1)
Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiving receiver, a receiving direction setting unit for energizing the receiving set to set a receiving direction for a reflected sound from the target, and a signal processing of the reflected sound received by the receiver and the target A receiving device having reception signal processing means for specifying the location of the component for image display, and a main control unit for controlling the operation of all of these components, and further, facing the transmitter toward the target And a plurality of transmitting elements arranged in an array, and the receiver is also arranged in an array facing the target and is 90 degrees with respect to the arrayed transmitter. Consists of multiple receiving elements installed in a rotated state. In the sonar system,
A frequency hopping signal d used as an excitation signal for exciting each of the plurality of transmission elements at the same time is constituted by at least two or more intermittent unit excitation signals having a wideband bulk wave repeated at a constant period and different frequencies, This is newly generated by the excitation signal generation circuit unit of the transmitter drive control means for each repetition period of the bulk wave (frequency hopping signal d generation step),
When the frequency hopping signal d is applied as an excitation signal to the plurality of transmission elements, a transmission direction setting unit of the transmitter drive control unit is activated, and the frequency hopping signal d corresponds to the repetition period of the bulk wave. A fan-shaped transmission fan that individually controls the phase for each of the plurality of transmission elements and simultaneously applies the phase-controlled frequency hopping signal d to each of the arrayed transmission elements and transmits it to the target. The direction of the beam sound is intermittently switched from one side to the other side of each of the transmission elements (transmission fan beam sound transmission step),
The receiver receives the reflected wave from the target of the transmitted fan beam sound transmitted from the transmitter as a Doppler-shifted reflected reception signal, and upon reception of the reflected wave, the reception direction The setting unit is activated so that the reception direction with respect to the reflected sound from the target is in a direction orthogonal to the spread of the fan-shaped transmitted fan beam sound and from one side to the other side of each array-shaped receiving element. Intermittently set the receiving direction (reflection signal reception process)
Based on a plurality of replica signals with Doppler shift prepared in advance for each unit excitation signal, the received signal correlation processing unit performs correlation processing on the reflected received signal received by the receiver, and thereby the reflected received signal is converted into the reflected received signal. Specify sequentially the intensity of the reflected signal from the target and its Doppler amount (received signal processing step),
A sonar target specifying method characterized in that the pixel value data processing unit specifies Doppler information and intensity information of the specified reflected signal for image display (image display data specifying step).

[Appendix 18] (Invention of Method / Corresponding to Appendix 5)
In the sonar target identifying method according to appendix 17,
In the transmission fan beam sound transmission step, when applying the excitation signal to the transmitter, the excitation signal generation circuit unit combines a unit excitation signal having a different frequency every time the transmission azimuth angle is switched. A target identification method for sonar, characterized in that a frequency hopping signal d comprising:

[Supplementary Note 19] (Invention of Method / Corresponding to Supplementary Note 9)
In the sonar target identifying method according to appendix 17,
In the received signal processing step,
The entire reception signal received by each receiving element, the addition processing unit equipped in advance for each reception azimuth is taken in through the reception azimuth setting unit, and the addition processing,
For each received signal corresponding to the plurality of unit excitation signals, the frequency and sensitivity information of the reflected Doppler signal formed by the addition process is divided in time series for each reception azimuth angle set by the reception azimuth setting unit. The sample and hold circuit samples and holds
The reception signal correlation processing unit is configured to correlate the sampled and held reflected reception signal and the plurality of Doppler shifted replica signals generated in advance and stored in the storage unit. The target identification method for sonar characterized by this.

[Appendix 20] (Invention of Method)
In the sonar target identification method according to attachment 15,
The replica signal corresponds to each frequency of the unit excitation signal constituting the frequency hopping signal d and has a Doppler frequency that changes to a maximum and a minimum assumed based on the frequency applied to the one unit excitation signal. The sonar target generated by the replica signal generation unit based on a plurality of Doppler frequency values at equally divided positions obtained when a numerical value is divided into a plurality of parts before and after the reference frequency, respectively. Item identification method.

[Appendix 21] (Invention of Method)
In the sonar target identifying method according to appendix 20,
When specifying the Doppler-shifted reflected reception signal in the received signal processing step, each unit excitation signal of the frequency hopping signal d applied to the Doppler-shifted reflected reception signal obtained for each azimuth angle is replicated. The received signal correlation processing unit compares the frequencies of all of the plurality of replica signals having the same azimuth angle and corresponding rank stored in the signal storage unit, and one of the same or closest values is used. Specify a frequency replica signal as a reflected signal applied to the reflected wave,
At the same time, the received signal correlation processing unit specifies the position, velocity, and moving direction of the target based on the Doppler information of the identified reflected signal and the transmission / reception timing information of the reflected Doppler signal corresponding to the reflected signal. And a target specifying method for sonar, wherein the target specifying information storage unit performs storage processing.

[Appendix 22] (Program invention / Appendix 17)
Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiving receiver, a receiving direction setting unit for energizing the receiving set to set a receiving direction for a reflected sound from the target, and a signal processing of the reflected sound received by the receiver and the target A receiving device having reception signal processing means for specifying the location of the component for image display, and a main control unit for controlling the operation of all of these components, and further, facing the transmitter toward the target And a plurality of transmitting elements arranged in an array, and the receiver is also arranged in an array facing the target and is 90 degrees with respect to the arrayed transmitter. Consists of multiple receiving elements installed in a rotated state. In the sonar system,
A frequency hopping signal d used as an excitation signal for exciting each of the plurality of transmission elements at the same time is constituted by at least two or more intermittent unit excitation signals having a wideband bulk wave repeated at a constant period and different frequencies, A frequency hopping signal generation processing function for newly generating this every repetition period of the bulk wave,
An excitation signal generated based on the frequency hopping signal d and phase-controlled corresponding to each of the plurality of transmission elements is applied to the transmitter, and the array-like shape is corresponding to the repetition period of the bulk wave. Transmitting direction for switching and setting intermittently the direction of the fan-shaped transmitted fan beam sound that drives each of the transmitting elements simultaneously and transmits toward the target from one side of the transmitting elements to the other side Switching setting function,
The receiver receives the reflected wave from the target of the transmitted fan beam sound transmitted from the transmitter as a Doppler-shifted reflected reception signal, and upon receiving the reflected wave, the target The reception azimuth of the reflected sound from the fan is intermittently switched from one side to the other side of the array-shaped receiving elements in a direction orthogonal to the fan-shaped transmission fan beam sound spread. Receiving direction switching setting function,
The reflected reception signal received by the receiver is subjected to correlation processing based on a plurality of replica signals with Doppler shift prepared in advance corresponding to each unit excitation signal, and based on this, the intensity of the reflected signal, Received signal processing function that sequentially identifies the amount of Doppler,
Then, the position and moving direction of the target are specified for image display based on the Doppler information, transmission / reception timing information and reflection intensity information related to the reflected signal, and stored in the storage unit. Image display data storage processing function,
And a sonar target specifying program characterized in that each of these processing functions is realized by a computer provided in the main control unit.

[Appendix 23] (Program invention / Appendix 19 correspondence)
In the target identification program for sonar described in appendix 22,
In the signal reception processing function,
An addition processing function that takes in the entire reflected Doppler signal received by each receiving element for each reception direction and performs addition processing;
Unit frequency corresponding to the plurality of unit excitation signals by dividing the frequency and sensitivity information of the reflected Doppler signal obtained by the addition processing in time series for each reception azimuth angle set by the reception azimuth setting unit 34 Sample hold processing function to hold this temporarily after sample hold for each signal,
A replica signal of a Doppler frequency signal corresponding to a reflected wave of the transmitted fan beam sound that has been previously Doppler shifted in response to the sampled and held reflected Doppler signal is obtained based on the frequency hopping signal d. A replica signal generating and storing process for generating a plurality of unit excitation signals and dividing the generated replica signals for each frequency hopping signal d specified by the transmission azimuth angle and storing the replica signal in the replica signal storage unit 43 function,
And correlation processing of the sampled and held reflected Doppler signal based on the stored replica signal, and sequentially specifying the reflected signal and Doppler amount from the target from the reflected Doppler signal and storing them in the storage unit Processing function,
And a sonar target specifying program for causing the computer to realize them.

[Appendix 24] (Program invention / Appendix 20 correspondence)
In the sonar target identifying program described in appendix 23,
In the replica signal generation storage processing function,
The replica signal is generated corresponding to the frequency of the unit excitation signal constituting the frequency hopping signal d, and changes to the maximum and minimum assumed based on the frequency applied to the one unit excitation signal. Provided with a replica signal generation processing function for generating based on a plurality of Doppler frequency values at equally divided positions obtained when dividing a plurality of frequency values before and after the reference frequency,
A sonar target specifying program characterized in that the computer realizes this.

[Appendix 25] (Program invention / Appendix 21 correspondence)
In the sonar target identifying program described in appendix 27,
In the received signal correlation processing function,
When specifying a reflected signal based on the Doppler-shifted reflected reception signal, each unit excitation signal of the frequency hopping signal applied to the reflected Doppler signal obtained for each azimuth angle is stored in the replica signal storage unit. The frequencies of the plurality of replica signals having the same azimuth angle and corresponding ranks are compared, and a replica signal having the same frequency or a frequency closest to the replica signal is used as a reflected signal applied to the reflected wave. Identify,
At the same time, based on the Doppler information and the transmission / reception timing information of the reflected signal corresponding to the identified reflected signal, the position and speed of the target and the moving direction are specified and stored in the target specifying information storage unit,
A sonar target specifying program characterized in that these are realized by the computer.

Claims (10)

Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiver for receiving as a reflected Doppler signal, a receiving direction setting unit for energizing the receiver to set a receiving direction for reflected sound from the target, and a signal processing for the reflected sound received by the receiver And a receiving device section having a received signal processing means for specifying the location of the target for image display, and a main control section for controlling the overall operation of each of these components,
The transmitter is composed of a plurality of transmitting elements arranged in an array facing the target, and the receiver is also arranged in an array facing the target and the array In a sonar system constituted by a plurality of receiving elements installed in a state rotated by 90 degrees with respect to the transmitter of
The transmitter drive control means is
An excitation signal generation circuit that generates an excitation signal for exciting each of the plurality of transmission elements at the same time, and the excitation signal is a broadband bulk wave that repeats at a constant period, and the bulk wave is repeated at each repetition period. Comprising at least two unit excitation signals having different frequencies and having different frequency hopping signals d intermittently arranged in time series,
The received signal processing means;
The reflected Doppler signal, which is a reflected received wave from the target received by the receiver, is sequentially received for each reception azimuth angle set in advance, and the frequency hopping signal d constituting the main part of the reflected Doppler signal is received. A sample and hold circuit that samples and holds a unit excitation signal multiple times over time;
For each unit excitation signal of the bulk wave applied to the reflected reception wave obtained by this sample and hold, a correlation is made for each reception azimuth with a plurality of replica signals generated by Doppler shift in advance, and the target A replica correlation unit for identifying a reflected signal from an object;
A sonar system comprising: a target specifying information storage unit for storing the reflected signal specified by the replica correlation unit for image display. The sonar system according to claim 1,
The excitation signal generation circuit unit specifies and outputs a hopping pattern signal c including at least two modulation frequency data as frequency information necessary for frequency modulation based on a random value, and the hopping pattern signal c And a frequency synthesizer that generates the frequency hopping signal d that is an excitation signal based on the pulse wave a that is output from the main control unit at a constant cycle and outputs the frequency hopping signal d that is repeated at a constant cycle. A sonar system characterized by that. The sonar system according to claim 1,
The transmitter drive control means includes:
The frequency hopping signal d generated by the excitation signal generation circuit unit is input as a transmitter excitation signal, and the number corresponding to each of the transmission elements based on the frequency hopping signal d and the frequency of the transmitted fan beam sound. A transmission azimuth setting section for generating a plurality of excitation signals having different phases set corresponding to the transmission azimuth and applying the generated plurality of excitation signals to the corresponding transmitting elements simultaneously; Sonar system. The sonar system according to any one of claims 1 to 3,
The receiving direction setting section of the receiving device section,
A plurality of receiving-side variable phase-shift circuits for individually energizing each receiving element of the receiver to set a receiving azimuth angle for each transmitting fan beam sound, and via each receiving-side variable phase-shifting circuit The receiving operation of each receiving element is controlled to set a fan-shaped receiving beam region in a direction orthogonal to the fan-shaped beam surface of the transmitted fan beam sound, and the fan-shaped receiving beam region is set to each receiving element. A sonar system comprising a fan-shaped receiving beam setting circuit variably set from one side to the other side. The sonar system according to claim 4,
Received signal processing means of the receiving device section,
An addition processing unit that performs addition processing on the Doppler-shifted reflected reception signals at the same timing received by each of the receiving elements and taken in via each reception-side variable phase shift circuit of the reception direction setting unit;
The sample-and-hold circuit samples and holds the reflected reception signal formed by the addition processing by the addition processing unit, and stores the sampled and held reflected reception signal for each transmission azimuth angle and reception azimuth angle. A received signal storage unit,
A replica signal generation unit that generates a plurality of replica signals, which are frequency signals that have been Doppler shifted in advance corresponding to the sampled and held reflected signals, for each unit excitation signal based on the frequency hopping signal d. When,
A replica signal storage unit that stores a plurality of replica signals generated by the replica signal generation unit for each transmission azimuth angle;
The stored replica signal and the reflected reception signal are matched with the transmission azimuth angle and correlated for each reception azimuth angle, and the reflected signal from the target and the Doppler amount for the reflected reception signal are sequentially specified. Including a correlation processing unit,
The sample and hold circuit;
A plurality of units constituting the reflected reception signal for each reception azimuth angle specified by the fan-shaped reception beam setting circuit with respect to the frequency and sensitivity information of the reflected reception signal obtained by the addition processing by the addition processing unit A sonar system characterized by a sample-and-hold configuration for each excitation signal. Transmitter for transmitting fan fan sound spread in fan shape toward target and repeatedly transmitting at a constant period, transmitter drive control means for controlling excitation of this transmitter, and this transmitter drive control A sonar transmission device comprising a main control unit for controlling the overall operation of the means;
The transmitter is configured with a plurality of transmitting elements arranged in an array facing the target,
The transmitter drive control means,
An excitation signal generation circuit unit that generates and outputs a frequency hopping signal d, which is an excitation signal for exciting the plurality of transmission elements simultaneously, and a phase of the frequency hopping signal d generated by the excitation signal generation circuit unit Transmission azimuth setting provided with a transmission azimuth specifying function for setting a state that is sequentially changed for each of the transmission elements and specifying one transmission azimuth of the transmission fan beam sound by simultaneously applying to each corresponding transmission element And a configuration having a part,
The transmission azimuth setting unit is controlled by the main control unit to operate, and the transmission azimuth of the transmitted fan beam sound output from each of the transmission elements at a predetermined fixed timing is set for each of the plurality of excitation signals. It is configured with a transmission azimuth switching setting function that changes the phase application pattern for each transmission fan beam sound that is repeatedly transmitted and switches from one side to the other side sequentially and at a constant angular interval.
The excitation signal generated by the excitation signal generation circuit unit is a broadband bulk wave that repeats at a constant period, and the bulk wave has the hopping signal that is composed of two or more unit excitation signals having at least different frequencies. A transmitting device for sonar characterized by comprising. This occurs when a broadband fan-shaped fan fan sound transmitted repeatedly from a transmitter having a plurality of transmitter elements arranged in an array is transmitted from a target object and reflected back from the target. A receiver having a plurality of receiving elements for receiving the wave, and each receiving element of the receiver are installed in a direction orthogonal to the arrayed transmitting element of the transmitter and reflected from the target A reception direction setting unit that presets a reception direction for sound as a fan-shaped reception beam in a direction orthogonal to a fan-shaped transmission fan beam sound, and signal processing of a Doppler-shifted reflected reception signal received by the receiver And a sonar receiving device comprising a received signal processing means for specifying the location of the target and a main control unit for controlling the operation of each of these parts,
A wide-band fan-shaped transmitting fan beam sound that is repeatedly transmitted from the transmitter at a constant period is a transmitting fan beam that is repeatedly transmitted using a bulk wave composed of a plurality of unit excitation signals having different frequencies as an excitation signal. With sound,
The received signal processing means;
When the Doppler-shifted reflected reception signal received from the target received by the receiver is sequentially received for each reception azimuth angle set in advance via the reception azimuth setting unit, the reflected reception signal is changed over time. A sample-and-hold circuit that samples and outputs multiple times,
The sampled and held reflected reception signal is subjected to correlation processing for each reception azimuth with respect to a plurality of unit excitation signals constituting the bulk wave and a plurality of replica signals generated in advance corresponding thereto. A replica correlator for identifying a reflected signal from the target and its Doppler amount;
A sonar receiving apparatus comprising: a target specifying information storage unit for storing, as image specifying target specifying information, information relating to a reflected signal specified by the replica correlation and its Doppler amount. Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiving receiver, a receiving direction setting unit for energizing the receiving set to set a receiving direction for a reflected sound from the target, and a signal processing of the reflected sound received by the receiver and the target A receiving device having reception signal processing means for specifying the location of the component for image display, and a main control unit for controlling the operation of all of these components, and further, facing the transmitter toward the target And a plurality of transmitting elements arranged in an array, and the receiver is also arranged in an array facing the target and is 90 degrees with respect to the arrayed transmitter. Consists of multiple receiving elements installed in a rotated state. In the sonar system,
A frequency hopping signal d used as an excitation signal for exciting each of the plurality of transmission elements at the same time is constituted by at least two or more intermittent unit excitation signals having a wideband bulk wave repeated at a constant period and different frequencies, The excitation signal generation circuit unit of the transmitter drive control means newly generates this every repetition period of the bulk wave,
When the frequency hopping signal d is applied as an excitation signal to the plurality of transmission elements, a transmission direction setting unit of the transmitter drive control unit is activated, and the frequency hopping signal d corresponds to the repetition period of the bulk wave. A fan-shaped transmission fan that individually controls the phase for each of the plurality of transmission elements and simultaneously applies the phase-controlled frequency hopping signal d to each of the arrayed transmission elements and transmits it to the target. The direction of the beam sound is intermittently switched from one side to the other side of each of the transmitting elements.
The receiver receives the reflected wave from the target of the transmitted fan beam sound transmitted from the transmitter as a Doppler-shifted reflected reception signal, and upon reception of the reflected wave, the reception direction The setting unit is activated so that the reception direction with respect to the reflected sound from the target is in a direction orthogonal to the spread of the fan-shaped transmitted fan beam sound and from one side to the other side of each array-shaped receiving element. Intermittently set the receiving direction,
Based on a plurality of replica signals with Doppler shift prepared in advance for each unit excitation signal, the received signal correlation processing unit performs correlation processing on the reflected received signal received by the receiver, and thereby the reflected received signal is converted into the reflected received signal. The intensity of the reflected signal from the target and its Doppler amount are sequentially identified,
A sonar target specifying method characterized in that the pixel value data processing unit specifies Doppler information and intensity information of the specified reflected signal for image display. The sonar target identifying method according to claim 8,
In the received signal processing step,
The entire reception signal received by each receiving element, the addition processing unit equipped in advance for each reception azimuth is taken in through the reception azimuth setting unit, and the addition processing,
For each received signal corresponding to the plurality of unit excitation signals, the frequency and sensitivity information of the reflected Doppler signal formed by the addition process is divided in time series for each reception azimuth angle set by the reception azimuth setting unit. The sample and hold circuit samples and holds
The reception signal correlation processing unit is configured to correlate the sampled and held reflected reception signal and the plurality of Doppler shifted replica signals generated in advance and stored in the storage unit. The target identification method for sonar characterized by this. Transmitter unit comprising a transmitter for transmitting fan fan sound transmitted in a fan shape toward a target, and a transmitter drive control means for controlling excitation of the transmitter, and a reflected sound from the target A receiving receiver, a receiving direction setting unit for energizing the receiving set to set a receiving direction for a reflected sound from the target, and a signal processing of the reflected sound received by the receiver and the target A receiving device having reception signal processing means for specifying the location of the component for image display, and a main control unit for controlling the operation of all of these components, and further, facing the transmitter toward the target And a plurality of transmitting elements arranged in an array, and the receiver is also arranged in an array facing the target and is 90 degrees with respect to the arrayed transmitter. Consists of multiple receiving elements installed in a rotated state. In the sonar system,
A frequency hopping signal d used as an excitation signal for exciting each of the plurality of transmission elements at the same time is constituted by at least two or more intermittent unit excitation signals having a wideband bulk wave repeated at a constant period and different frequencies, A frequency hopping signal generation processing function for newly generating this every repetition period of the bulk wave,
An excitation signal generated based on the frequency hopping signal d and phase-controlled corresponding to each of the plurality of transmission elements is applied to the transmitter, and the array-like shape is corresponding to the repetition period of the bulk wave. Transmitting direction for switching and setting intermittently the direction of the fan-shaped transmitted fan beam sound that drives each of the transmitting elements simultaneously and transmits toward the target from one side of the transmitting elements to the other side Switching setting function,
The receiver receives the reflected wave from the target of the transmitted fan beam sound transmitted from the transmitter as a Doppler-shifted reflected reception signal, and upon receiving the reflected wave, the target The reception azimuth of the reflected sound from the fan is intermittently switched from one side to the other side of the array-shaped receiving elements in a direction orthogonal to the fan-shaped transmission fan beam sound spread. Receiving direction switching setting function,
The reflected reception signal received by the receiver is subjected to correlation processing based on a plurality of replica signals with Doppler shift prepared in advance corresponding to each unit excitation signal, and based on this, the intensity of the reflected signal, Received signal processing function that sequentially identifies the amount of Doppler,
Then, the position and moving direction of the target are specified for image display based on the Doppler information, transmission / reception timing information and reflection intensity information related to the reflected signal, and stored in the storage unit. Image display data storage processing function,
And a sonar target specifying program characterized in that each of these processing functions is realized by a computer provided in the main control unit.

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