JPH0530231B2 - - Google Patents
Info
- Publication number
- JPH0530231B2 JPH0530231B2 JP59228276A JP22827684A JPH0530231B2 JP H0530231 B2 JPH0530231 B2 JP H0530231B2 JP 59228276 A JP59228276 A JP 59228276A JP 22827684 A JP22827684 A JP 22827684A JP H0530231 B2 JPH0530231 B2 JP H0530231B2
- Authority
- JP
- Japan
- Prior art keywords
- azimuth
- distance
- component
- velocity component
- difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000000034 method Methods 0.000 claims description 5
- 238000012935 Averaging Methods 0.000 claims description 2
- 238000000605 extraction Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Radar Systems Or Details Thereof (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は雨雲の移動速度情報を得るレーダ装置
に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a radar device that obtains information on the moving speed of rain clouds.
（従来の技術）
従来、雨雲の移動速度情報を得るために次に記
述する方法が用いられている。(Prior Art) Conventionally, the method described below has been used to obtain information on the moving speed of rain clouds.
(1) 同じレーダ性能諸元を有する２台のレーダ装
置を所定の位置関係で設置する。(1) Two radar devices with the same radar performance specifications are installed in a predetermined positional relationship.
(2) 各レーダ装置の空中線ビームを目標とする雨
雲が存在する方位方向及び仰角方向に向けて、
各レーダ装置から同時にパルス高周波信号を放
射する。(2) Aim the antenna beam of each radar device in the azimuth and elevation direction where the target rain cloud exists.
Pulse high-frequency signals are emitted simultaneously from each radar device.
(3) 目標とする雨雲から反射されたパルス高周波
信号を受信し、この反射受信信号が有するドツ
プラ情報より雨雲の移動速度に係わる距離方向
速度成分を得る。(3) Receive the pulsed high-frequency signal reflected from the target rain cloud, and obtain the distance direction velocity component related to the moving speed of the rain cloud from the Doppler information included in this reflected received signal.
(4) 各レーダ装置で抽出された距離方向速度成分
と各レーダ装置の空中線ビームの方位／仰角情
報と２台のレーダ装置の設置位置関係の情報よ
り雨雲の移動速度に係わる方位方向速度成分を
算出する。(4) Calculate the azimuth velocity component related to the moving speed of the rain cloud from the distance velocity component extracted by each radar device, the azimuth/elevation angle information of the antenna beam of each radar device, and the information on the installation position relationship of the two radar devices. calculate.
上記方法を用いて雨雲の移動速度情報を得る例
を開示した文献としては「Dual−Doppler
Radar Observation and Study of sea Breeze
Convetive Storm Development」JOURNAL
OF APPLIED METEOROLOGY Volume 14
（1975）がある。 A document that discloses an example of obtaining information on the moving speed of rain clouds using the above method is “Dual-Doppler
Radar Observation and Study of sea Breeze
Convetive Storm Development” JOURNAL
OF APPLIED METEOROLOGY Volume 14
(1975).
（発明が解決しようとする問題点）
このような従来の方法によれば、上記実施例に
みられるように雨雲の移動速度情報を正確に得る
ことができるが、同じレーダ性能諸元を有する２
台のレーダ装置を所定の位置関係で設置し動作さ
せる必要がある。(Problems to be Solved by the Invention) According to such a conventional method, it is possible to accurately obtain information on the moving speed of rain clouds as seen in the above embodiment.
It is necessary to install and operate two radar devices in a predetermined positional relationship.
本発明は、雨雲からの反射受信信号から雨雲の
移動速度に係わる距離方向速度成分の差分から所
定の方位間隔に係わる方位方向速度成分の差分を
推定する方法を用いることにより、１台のレーダ
装置のみで雨雲の推定移動速度情報を得ることが
できるようにしたレーダ装置を提供するものであ
る。 The present invention utilizes a method of estimating the difference in the azimuth velocity component related to a predetermined azimuth interval from the difference in the distance direction velocity component related to the moving speed of the rain cloud from the reflected reception signal from the rain cloud. The present invention provides a radar device that can obtain information on the estimated moving speed of rain clouds using only the following information.
（問題点を解決するための手段）
本発明によるレーダ装置は上記問題点を解決す
るために、雨雲からの反射受信信号から雨雲の移
動速度に係わる距離方向成分を得る手段と、所定
の距離間隔を係わる距離方向速度成分の差分を得
る手段と、この距離方向速度成分の差分の複数個
の平均化処理を用いて所定の方位間隔に係わる方
位方向速度成分の差分を推定する手段と、方位方
向速度成分初期値に方位方向速度成分の差分を逐
次累積して方位方向速度成分を得る手段と、距離
方向速度成分と方位方向速度成分とから雨雲移動
速度を算出する手段にて構成される。この結果、
１台のレーダ装置のみで雨雲の推定移動速度情報
を得ることができる。(Means for Solving the Problems) In order to solve the above problems, the radar device according to the present invention includes means for obtaining a distance direction component related to the moving speed of a rain cloud from a reflected received signal from a rain cloud, and means for estimating a difference in velocity components in the azimuth direction related to a predetermined azimuth interval using averaging processing of a plurality of differences in the velocity components in the azimuth direction; It is comprised of means for obtaining an azimuth velocity component by sequentially accumulating the difference between the azimuth velocity component and the initial value of the velocity component, and a means for calculating the rain cloud moving velocity from the distance velocity component and the azimuth velocity component. As a result,
Estimated movement speed information of rain clouds can be obtained with only one radar device.
本発明によるレーダ装置のより具体的構成は次
の各手段を含む。即ち、所定のパルス幅と繰返し
周期で変調された送信高周波信号を発生する手段
と、送信高周波信号をレーダ捜索空間に放射し、
レーダ捜索空間に存在する物体で反射された高周
波信号を受信する手段と、受信高周波信号を増幅
し、中間周波信号に変換・増幅し、同期検波（又
は位相検波）して受信複素信号の同相成分信号と
直交成分信号とを得る手段と、送信高周波信号に
同期しそのパルス幅に係わる所定の時間を距離基
準単位とし、その繰返し周期に係わる所定の時間
を方位基準単位として、送信高周波信号の１繰返
し周期に係わる受信信号の同相成分信号と直交成
分信号を距離基準単位で分割し、分割された同相
成分信号と直交成分信号の各々についてｍ個（ｍ
は１以上の整数）の距離基準単位間隔でＭ個（Ｍ
は１以上の整数）の距離基準単位分割信号を得、
更にそのＭ個の分割信号をｎ個（ｎは１以上の整
数）の方位基準単位間隔でＮ個（Ｎは２以上の整
数）の方位基準単位分得て（すなわち同相成分信
号と直交成分信号とを合せて２×Ｍ×Ｎ個の分割
信号を得て）構成される距離／方位基準信号群を
得る手段と、レーダ捜索空間に存在する目標とす
る物体に係る距離／方位基準信号群よりこの物体
の距離方向速度成分を得る手段と、距離方向に相
隣る２つの距離／方位基準信号群に係る各々の距
離方向速度成分の差分を得る手段と、前記の目標
とする物体に係る距離方向速度成分の差分とこの
距離方向速度成分の差分と、方位方向において係
わる所定数の距離方向速度成分の差分と、距離方
向に相隣る２つの距離／方位基準信号群の距離間
隔情報と、方位方向に相隣る２つの距離／方位基
準信号群の方位間隔情報とにより前記の目標とす
る物体の方位方向速度成分の差分を推定する手段
と、方位方向速度成分初期値に方位方向速度成分
の差分推定値を逐次累積して目標とする物体の方
位方向速度成分を得る手段と距離方向速度成分と
方位方向速度成分より目標とする物体の移動速度
を得る手段とを含み構成される。 A more specific configuration of the radar device according to the present invention includes the following means. That is, means for generating a transmission high frequency signal modulated with a predetermined pulse width and repetition period, radiating the transmission high frequency signal into a radar search space,
A means for receiving a high frequency signal reflected by an object existing in the radar search space, amplifying the received high frequency signal, converting and amplifying it to an intermediate frequency signal, and performing synchronous detection (or phase detection) to detect the in-phase component of the received complex signal. means for obtaining a signal and an orthogonal component signal; and a means for obtaining a signal and an orthogonal component signal; The in-phase component signal and quadrature component signal of the received signal related to the repetition period are divided in distance reference units, and m (m
is an integer greater than or equal to 1) at distance reference unit intervals of M units (M
is an integer greater than or equal to 1) to obtain a distance reference unit division signal,
Furthermore, the M divided signals are obtained for N (N is an integer of 2 or more) azimuth reference units at intervals of n (n is an integer of 1 or more) azimuth reference units (that is, in-phase component signals and orthogonal component signals). means for obtaining a range/azimuth reference signal group consisting of 2 x M x N divided signals), and a range/azimuth reference signal group related to a target object existing in the radar search space. means for obtaining a velocity component in the distance direction of the object; means for obtaining a difference between the velocity components in the distance direction related to two distance/direction reference signal groups adjacent in the distance direction; and a distance related to the target object. A difference between a direction velocity component, a difference between the distance direction velocity component, a predetermined difference between a predetermined number of distance direction velocity components related in the azimuth direction, and distance interval information of two adjacent distance/azimuth reference signal groups in the distance direction; means for estimating the difference in the velocity component in the azimuth direction of the target object based on the azimuth interval information of two distance/azimuth reference signal groups that are adjacent to each other in the azimuth direction; The apparatus includes means for successively accumulating estimated difference values of the target object to obtain a velocity component in the azimuth direction of the target object, and means for obtaining the moving speed of the target object from the velocity component in the distance direction and the velocity component in the azimuth direction.
（実施例）
次に本発明の実施例について図面を参照して説
明する。(Example) Next, an example of the present invention will be described with reference to the drawings.
本発明になるレーダ装置は、送信部１と、空中
線部２と、受信部３と、距離／方位基準信号群抽
出部４と、距離方向速度成分抽出部５と、距離方
向速度成分の差分抽出部６と、距離／方位基準信
号群の距離間隔情報入力端子７及び方位間隔情報
入力端子８と接続する方位方向速度成分の差分推
定部９と、方位方向速度成分初期値入力端子１０
と接続する方位方向速度成分推定部１１と雨雲移
動速度算出部１２とを含む。 The radar device according to the present invention includes a transmitting section 1, an antenna section 2, a receiving section 3, a distance/azimuth reference signal group extraction section 4, a distance direction velocity component extraction section 5, and a difference extraction of distance direction velocity components. section 6, an azimuth direction velocity component difference estimation section 9 connected to the distance/azimuth reference signal group distance interval information input terminal 7 and azimuth interval information input terminal 8, and azimuth direction velocity component initial value input terminal 10.
It includes an azimuth direction velocity component estimation section 11 and a rain cloud movement speed calculation section 12 connected to the azimuth direction velocity component estimation section 11 and the rain cloud movement velocity calculation section 12 .
送信部１で発生した所定のパルス幅と繰返し周
期で変調された高周波信号を、空中線部２より所
定の空中線ビームによりレーダ捜索空間に放射
し、レーダ捜索空間に存在する雨雲で反射された
高周波信号を空中線部２により所定の空中線ビー
ムにより受信する。受信部３で受信高周波信号を
増幅し、中間周波信号に変換・増幅し、同期検波
して受信複素信号の同相成分信号と直交成分信号
に分離して距離／方位基準信号群抽出部４へ入力
する。 A high frequency signal modulated with a predetermined pulse width and repetition period generated by the transmitter 1 is radiated into the radar search space by a predetermined antenna beam from the antenna section 2, and the high frequency signal is reflected by rain clouds existing in the radar search space. is received by the antenna section 2 using a predetermined antenna beam. The receiving section 3 amplifies the received high frequency signal, converts and amplifies it into an intermediate frequency signal, performs synchronous detection, and separates the received complex signal into an in-phase component signal and a quadrature component signal, which are input to the distance/direction reference signal group extraction section 4. do.
距離／方位基準信号群抽出部４においては、先
ず、受信部３から入力された送信高周波信号の１
繰返し同期に係わる受信信号の同相成分信号及び
直交成分信号を距離基準単位（送信高周波信号に
同期しそのパルス幅に係わる所定の時間）で分割
する。次に、分割された同相成分信号と直交成分
信号の各々についてｍ個（ｍは１以上の整数）の
距離基準単位間隔でＭ個（Ｍは１以上の整数）の
距離基準単位分割信号を抽出する。 In the distance/azimuth reference signal group extracting section 4, first, one of the transmission high frequency signals input from the receiving section 3 is extracted.
The in-phase component signal and quadrature component signal of the received signal related to repetitive synchronization are divided by a distance reference unit (a predetermined time synchronized with the transmitted high-frequency signal and related to its pulse width). Next, for each of the divided in-phase component signal and quadrature component signal, M distance reference unit divided signals (M is an integer of 1 or more) are extracted at m distance reference unit intervals (m is an integer of 1 or more). do.
そして、このＭ個の分割信号をｎ個（ｎは１以
上の整数）の方位基準単位（送信高周波信号に同
期しその繰返し周期に係わる所定の時間）間隔で
Ｎ個（Ｎは２以上の整数）の方位基準単位分抽出
する。すなわち同相成分信号と直交成分信号とを
合わせて２×Ｍ×Ｎ個の分割信号を抽出する。こ
の２×Ｍ×Ｎ個の分割信号で距離／方位基準信号
群を構成する。距離／方位基準信号群は距離方向
速度成分抽出部５に入力される。 Then, these M divided signals are sent to N units (n is an integer of 1 or more) at azimuth reference units (predetermined time synchronized with the transmission high-frequency signal and related to its repetition period) (N is an integer of 2 or more). ) is extracted for the direction reference unit. That is, the in-phase component signal and the orthogonal component signal are combined to extract 2×M×N divided signals. These 2×M×N divided signals constitute a distance/direction reference signal group. The distance/azimuth reference signal group is input to the distance direction velocity component extraction section 5.
距離方向速度成分抽出部５においては、入力さ
れた距離／方位基準信号群より、この距離／方位
基準信号群に係わる雨雲のドツプラ周波数を検出
し、検出されたドツプラ周波数に基づく距離方向
速度成分を抽出する。距離方向速度成分の差分抽
出部６は、入力された距離方向に相隣る２つの距
離／方位基準信号群に係る各々の距離方向成分か
ら、その差分を抽出する。距離方向速度成分の差
分は方位方向速度成分の差分推定部９に入力され
る。 The range direction velocity component extraction unit 5 detects the Doppler frequency of the rain cloud related to the range/direction reference signal group from the input range/direction reference signal group, and extracts the range direction velocity component based on the detected Doppler frequency. Extract. The distance direction speed component difference extracting unit 6 extracts the difference from each distance direction component related to two adjacent distance/direction reference signal groups inputted in the distance direction. The difference between the velocity components in the distance direction is input to the difference estimator 9 between the velocity components in the azimuthal direction.
方位方向速度成分の差分推定部９においては、
次に示す方法により方位方向速度成分の差分を推
定する。 In the azimuth direction velocity component difference estimation unit 9,
The difference in azimuthal velocity components is estimated using the following method.
雨雲の移動状態を非圧縮系の流体の移動状態に
近似した場合、雨雲の移動速度をＶとすると
divV＝０が成立する。雨雲の移動速度Ｖを距離
方向速度成分Vx、方位方向速度成分Vy、距離／
方位両方向に直角な方向速度成分Vzに分けた場
合、近似的にδVx／δx＋δVy／δy＋δVz／δz＝０が
成立す
る。 If the moving state of the rain cloud is approximated to the moving state of an incompressible fluid, and the moving speed of the rain cloud is V, then
divV=0 holds true. The moving speed V of the rain cloud is expressed as a velocity component in the distance direction V x , a velocity component in the azimuth direction V y , and a distance/
When divided into directional velocity components V z perpendicular to both directions, δV x /δ x +δV y /δ y +δV z /δ z =0 holds approximately.
差分式で表現するとΔVx／Δx＋ΔVy／Δy＋ΔVz／Δ
z＝０
Δx：距離方向に関する変化分
ΔVx：Δx間の距離方向速度成分の差分
Δy：方位方向に関する変化分
ΔVy：Δy間の方位方向速度成分の差分
Δz：距離／方位に直角方向に関する変化分
ΔVz：Δz間の距離／方位に直角方向速度成分
の差分
以上の関係式から位置（ｘ，ｙ，ｚ）に存在す
る目標とする雨雲の方位方向速度成分の差部は次
のように求められる。 Expressed as a difference formula, ΔV x /Δx+ΔV y /Δy+ΔV z /Δ
z=0 Δx: Change in distance direction ΔV x : Difference in velocity component in distance direction between Δx Δy: Change in velocity component in azimuth direction ΔV y : Difference in velocity component in azimuth direction between Δy Δz: Direction perpendicular to distance/azimuth ΔV z : Difference in velocity component perpendicular to the distance/azimuth between Δz From the above relational expression, the difference in the velocity component in the azimuth direction of the target rain cloud at position (x, y, z) is as follows: You are asked to do so.
ΔVy＝−Δy（ΔVx／Δx＋ΔVz／Δz）
＝−Δy｛（Vx+〓x/2,y−Vx-〓y/2,y）／Δx＋ΔVz
／Δz｝
Vx+〓x/2,y及びVx-〓y/2,yはレーダ装置で測定可能
な距離ｘ＋Δx／２、方位ｙ及び距離ｘ−Δx／２、方位
ｙに存在する雨雲の距離方向速度成分であり、
ΔVzは距離／方位に直角方向速度成分の差分の推
定値である。推定値ΔVzは次のように求められ
る。 ΔV y = −Δy (ΔV x / Δx + ΔV z / Δz) = −Δy {(V x+ 〓 x/2,y −V x- 〓 y/2,y ) / Δx+ΔV z
/Δz} V x+ 〓 x/2,y and V x- 〓 y/2,y is the distance measurable by the radar device x + Δx/2, the direction y and the distance x - Δx/2, and the distance of the rain cloud existing in the direction y. is the velocity component in the distance direction,
ΔV z is an estimate of the difference in velocity components perpendicular to the distance/azimuth. The estimated value ΔV z is obtained as follows.
ΔVz＝−Δz〔１／（2N＋１）Δx｛（Vx+〓x/2,y-〓y/2
ΔV z = −Δz [1/(2N+1)Δx{(V x+ 〓 x/2,y- 〓 y/2
Claims (1)
に係わる距離方向速度成分を得る手段と、所定の
距離間隔に係わる距離方向速度成分の差分を得る
手段と、この距離方向速度成分の差分の複数個の
平均化処理を用いて所定の方位間隔に係わる方位
方向速度成分の差分を推定する手段と、方位方向
速度成分初期値に方位方向速度成分の差分を逐次
累積して方位方向速度成分を得る手段と、距離方
向速度成分と方位方向速度成分とから雨雲移動速
度を算出する手段とを備えて成ることを特徴とす
るレーダ装置。1. Means for obtaining a distance direction velocity component related to the moving speed of the rain cloud from a reflected reception signal from the rain cloud, means for obtaining a difference in the distance direction velocity component related to a predetermined distance interval, and a plurality of differences in the distance direction velocity component. means for estimating the difference in azimuth direction velocity components related to a predetermined azimuth interval using an averaging process; and means for obtaining the azimuth velocity component by sequentially accumulating the difference in the azimuth velocity components on the initial value of the azimuth velocity component. and means for calculating a rain cloud moving speed from a distance direction speed component and an azimuth direction speed component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59228276A JPS61107182A (en) | 1984-10-30 | 1984-10-30 | Radar equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59228276A JPS61107182A (en) | 1984-10-30 | 1984-10-30 | Radar equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61107182A JPS61107182A (en) | 1986-05-26 |
| JPH0530231B2 true JPH0530231B2 (en) | 1993-05-07 |
Family
ID=16873939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59228276A Granted JPS61107182A (en) | 1984-10-30 | 1984-10-30 | Radar equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61107182A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000009857A (en) * | 1998-06-26 | 2000-01-14 | Mitsubishi Electric Corp | Weather radar equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006090374A2 (en) * | 2005-02-22 | 2006-08-31 | Paradigm Geophysical Ltd. | Multiple suppression in angle domain time and depth migration |
-
1984
- 1984-10-30 JP JP59228276A patent/JPS61107182A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000009857A (en) * | 1998-06-26 | 2000-01-14 | Mitsubishi Electric Corp | Weather radar equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61107182A (en) | 1986-05-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111537966B (en) | Array antenna error correction method suitable for millimeter wave vehicle-mounted radar field | |
| CN111157981B (en) | MIMO FMCW radar system | |
| WO2021169085A1 (en) | Method for resolving velocity ambiguity by entropy solution of millimeter-wave mimo traffic radar | |
| CN101915928B (en) | Method and device for double-star time difference/frequency difference combined positioning | |
| CN111505618B (en) | A Decoupling Correction Ranging Method Based on Frequency Estimation for Vehicle-mounted Millimeter-Wave Radar | |
| CN105044667B (en) | A kind of double star tracking of moving target, device and system | |
| CN108693524A (en) | Multiple mobile object matching process based on Modulation Continuous Wave Radar and its system | |
| CN114200411A (en) | A Multi-target Velocity Measurement Extension Method for MIMO Radar | |
| US20030156057A1 (en) | Method for HPRF-radar measurement | |
| JP2016151424A (en) | Radar system | |
| CN110161472A (en) | A kind of broadband vehicle-mounted millimeter wave radar solution velocity ambiguity method based on signal multiplexing | |
| JP6324327B2 (en) | Passive radar equipment | |
| CN109031190A (en) | A kind of high repetition pulse signal passive TDOA location method | |
| CN109521418B (en) | Foundation radar angle measurement method based on interference field | |
| Sigg et al. | Over-the-air synchronization for coherent digital automotive radar networks | |
| CN116990800A (en) | Target measurement system and method for ultra-wideband LFMCW millimeter wave radar | |
| CN110609264A (en) | A target echo Doppler frequency estimation method for pulsed lidar | |
| JPH0530231B2 (en) | ||
| JP7704301B2 (en) | Positioning system, vehicle equipped with same, and positioning method | |
| CN115616629B (en) | Moving target detection compensation method based on space-based external radiation source signals | |
| JP2015049075A (en) | Radar and object detection method | |
| CN109343047B (en) | Measurement method for improving target angle detection accuracy of pulse system measurement system | |
| CN107085199A (en) | A kind of space orientation and method for synchronizing time and system | |
| JP5721578B2 (en) | Radar equipment | |
| CN115480236A (en) | Information processing device and sensing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |