JP3324530B2 - Radar equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar device mounted on a moving body such as an aircraft.

[0002]

2. Description of the Related Art As a conventional radar apparatus of this kind, an ISAR (Inverse Synthetic Aperture) which is a high-resolution radar is used.
re Radar: reverse synthetic aperture radar. For convenience of description of the operation of the ISAR, the ground-based ISAR will be described first, and then the aircraft-mounted ISAR will be described. FIG. 14 is a basic configuration diagram of an ISAR for ground installation. In FIG. 14, reference numeral 4 denotes a receiver for generating a transmission seed signal;
1 is a transmitter that amplifies the output of the receiver 4 and generates a transmission signal. 2 is a circulator that supplies the output of the transmitter 1 to the antenna 3 and supplies the reception signal from the antenna 3 to the receiver 4. A signal processor including an ISAR processing unit 5a for performing high-resolution processing (ISAR processing) based on the output of the device 4, and a display device 6 for displaying a target high-resolution image based on the output of the signal processor 5.

Next, the operation will be described. The transmission seed signal generated by the receiver 4 is amplified by the transmitter 1 and a high-frequency signal (R
F signal). The RF signal is radiated from the antenna 3 to the free space via the circulator 2. And
The emitted signal is reflected from a target (not shown). The reflected echo received by the antenna 3 is input to the receiver 4 via the circulator 2. The reflected echo is in the range direction (distance direction from the antenna 3) in the receiver 4.
After pulse compression is performed to increase the resolution of A /
The result is digital radar video that has been D-converted. The radar video is quantized and stored in a range cell divided according to the distance from the radar.

On the other hand, the ISAR achieves high resolution in a cross range direction (a direction orthogonal to the range direction) by performing synthesis on an aperture surface. By increasing the resolution in the cross range direction by the ISAR processing and increasing the resolution in the range direction by the above-described pulse compression, a target image signal can be obtained. Transmission and reception last several seconds in the ISAR process. This duration is called the synthetic aperture time. The signal processor 5 performs an ISAR process on the radar video during the synthetic aperture time to synthesize an aperture surface. The processed signal is output from the signal processor 5 to the display 6 as a detection signal. In this manner, the radar image with high resolution in the range direction and the cross range direction is displayed on the display 6. The above is the description of the configuration and operation of the ground-installed ISAR.

FIG. 15 is a basic configuration diagram of an ISAR for an aircraft. The ground-mounted ISAR shown in FIG.
A body navigation device 8 for outputting a speed signal of an aircraft on which the AR is mounted; and a self-oscillation compensation processing unit 5b for compensating a range cell shift and a Doppler frequency shift based on the speed signal in a signal processor 5; The second embodiment is different from the first embodiment in that a built-in antenna controller 7 for correcting a beam shift due to a change in the attitude of the body and controlling the beam (a driving unit of the antenna 3) is built in.

Next, the operation of the conventional aircraft-borne ISAR will be described. The transmission pulse for ISAR processing shown in FIG. 16 is used as a radar until the transmitter 1 shown in FIG. 19 radiates an RF signal from the antenna 3 and receives a reflected echo (RF signal) from a target (not shown) at the receiver 4. Is similar to that of the ground-based ISAR. But,
Airborne ISAR differs in that it compensates for its own motion during the synthetic aperture time to compensate for the effects of the motion of the onboard aircraft.

Therefore, in the aircraft-mounted ISAR, the own motion compensation processing unit 5b for the radar video during the synthetic aperture time based on the own speed signal from the aircraft navigation device 8
Then, for each pulse, the movement amount of the own device from the start of the synthetic aperture is calculated for each range cell, and the movement amount is converted into a phase amount and corrected.

[0008] The radar video from which the influence of the own motion has been removed by the own motion compensation processing unit 5b is then processed by the ISA.
In the R processing unit 5a, the same I
The SAR processing is performed, and the processed signal is output from the signal processor 5 to the display 6 as a detection signal. In this manner, a radar image with high resolution in the range direction and the cross range direction is obtained and displayed on the display 6.

The antenna controller 7 corrects the deviation of the beam direction due to a change in the attitude of the own device, and controls the driving units of the antenna in the AZ and EL directions. Specifically, AZ is obtained from the roll, pitch, and yaw attitude signals from the airframe navigation device 8.
The angle deviation of the beam projected on the plane and the EL plane is calculated, the deviation is converted into a drive signal, and the AZ and E of the antenna are calculated.
It controls the driving unit in the L direction. Fig. 1 is an explanatory diagram of beam control.
FIG.

[0010]

The conventional radar apparatus is configured as described above, and a means for compensating for the degradation of the resolution due to its own motion is provided. No means is provided for compensating for the resolution degradation when the target moves). If the target moves in the beam during the synthetic aperture time, the ISAR target deviates from the beam, and the ISAR Resolution was degraded. That is, when the target moves in the beam, a reflected signal from the target is obtained even when the gain of the antenna is reduced, so that a difference in reflected power level occurs between the pulses, resulting in an amplitude-modulated radar video. For this reason, a false image occurs due to the influence of the side lobe after the FFT in the ISAR image,
There is a problem that the resolution of the ISAR image is deteriorated.

Conventionally, there is a monopulse type tracking radar device or the like as a device for supplementing a target object and tracking its movement. However, a monopulse type device requires two receivers for tracking processing. However, the size of the apparatus is large, and the apparatus is not desirable for being mounted on a moving body such as an aircraft, because the size of the apparatus is large.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a new radar apparatus which can obtain a stable reception signal during the synthetic aperture time and can reduce the scale of the apparatus. And

[0013]

SUMMARY OF THE INVENTION A radar device according to the present invention includes a transmitter mounted on a moving body for generating a transmission signal, and an antenna for radiating the transmission signal and receiving a reflected signal from a target. A receiver for receiving the reflected signal to generate a video signal, and correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device, and performing a synthetic aperture process. A signal processor for generating a high-resolution radar image signal;
A radar configured to display the high-resolution image radar signal, and an antenna controller configured to control an antenna angle in order to correct a deviation in a beam direction based on an attitude signal of the moving object from the navigation device. In the device, the transmitter generates a tracking filter calculation transmission pulse for tracking a target that moves separately from the transmission signal, and the antenna transmits and receives the transmission and reception signal of the tracking filter calculation transmission pulse, The receiver receives and processes the received signal of the tracking filter calculation transmission pulse to generate a video signal for tracking, and the signal processor calculates a target position based on the video signal for tracking, A position signal based on the calculated target position is output to the antenna controller as a control signal, and the antenna controller receives an attitude signal from the navigation device and And controls the antenna angle based on the control signal from the signal processor.

[0014] Further, a transmitter mounted on the moving body and generating a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter generates an AZ angle tracking transmission pulse separately from the transmission signal, and the antenna controls the AZ angle tracking transmission pulse. The receiver shakes in the AZ direction for transmission and reception, the receiver receives and processes the AZ angle tracking transmission pulse to generate a tracking video signal, and the signal processor controls the amplitude of the tracking video signal. The beam direction of the largest one is detected as a target AZ angle and output as a control signal to the antenna controller. The antenna controller is configured to output a control signal from the navigation device and a control signal from the signal processor. It controls the antenna angle.

[0015] Further, a transmitter mounted on the moving body and generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflection signal from a target, and receiving and processing the reflection signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar device, the transmitter generates a transmission pulse for EL angle tracking separately from the transmission signal, and the antenna generates the transmission pulse for EL angle tracking. The receiver shakes and transmits in the EL direction, the receiver receives and processes the EL angle tracking transmission pulse to generate a tracking video signal, and the signal processor determines the amplitude of the tracking video signal. The beam direction of the largest one is detected as a target EL angle, and is output as a control signal to the antenna controller. The antenna controller is configured to output the control signal from the attitude signal from the navigation device and the control signal from the signal processor. It controls the antenna angle.

[0016] Further, a transmitter mounted on the moving body and generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter generates a transmission pulse for AZ angle tracking and a transmission pulse for EL angle tracking separately from the transmission signal, and the antenna The transmission pulse for AZ angle tracking is transmitted and received in the AZ direction, and the transmission pulse for EL angle tracking is transmitted and received in the EL direction. The receiver transmits the AZ angle tracking transmission pulse and the EL angle tracking transmission pulse. The signal processing unit receives the transmission pulse to generate a video signal for each tracking, and the signal processor detects a beam direction of the largest amplitude among the video signals for tracking as a target AZ angle and an EL angle. The antenna controller controls the antenna angle based on a posture signal from the navigation device and a control signal from the signal processor.

[0017] Further, a transmitter mounted on the moving body to generate a transmission signal, an antenna for radiating the transmission signal and receiving a reflection signal from a target, and receiving and processing the reflection signal to generate a video signal A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar device, the transmitter includes a transmission pulse for tracking filter calculation and a transmission pulse for AZ angle tracking for tracking a target moving separately from the transmission signal. It generates a pulse, the antenna is,
The transmission / reception signal of the tracking filter calculation transmission pulse is transmitted and received, and the AZ angle tracking transmission pulse is transmitted and received in the AZ direction. The receiver includes the tracking filter calculation transmission pulse and the AZ angle tracking transmission pulse. The signal processor calculates the target position based on the tracking video signal, and generates the AZ angle tracking transmission pulse by AZ. The beam direction of the largest amplitude video signal for tracking obtained by shaking in the direction is set to the target AZ.
Angle, and outputs a position signal based on the calculated target position and a target AZ angle to the antenna controller as a control signal. The antenna controller outputs an attitude signal from the navigation device and the signal processing. The antenna angle is controlled based on a control signal from the container.

[0018] Further, a transmitter mounted on the moving body and generating a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter includes a transmission pulse for tracking filter calculation for tracking a target moving separately from the transmission signal and a transmission pulse for EL angle tracking. It generates a pulse, the antenna is,
The transmission / reception signal of the transmission pulse for tracking filter calculation is transmitted and received, and the transmission pulse for EL angle tracking is transmitted and received in the EL direction. The receiver transmits the transmission pulse for tracking filter calculation and the transmission pulse for EL angle tracking. The signal processor calculates the target position based on the video signal for tracking, and generates the transmission pulse for EL angle tracking based on the video signal for tracking. The beam direction of the largest amplitude video signal among the tracking video signals obtained by swinging
Angle, and outputs to the antenna controller a position signal based on the calculated target position and a target EL angle as a control signal. The antenna controller outputs an attitude signal from the navigation device and the signal processing. The antenna angle is controlled based on a control signal from the container.

[0019] Further, a transmitter mounted on the moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter includes a transmission pulse for tracking filter calculation for tracking a target moving separately from the transmission signal;
The antenna generates a transmission pulse for angle tracking and a transmission pulse for EL angle tracking, and the antenna transmits and receives the transmission and reception signals of the transmission pulse for tracking filter calculation, and transmits the transmission pulse for AZ angle tracking and the transmission pulse for EL angle tracking. The receiver shakes and transmits each in the AZ direction and the EL direction, and the receiver receives the tracking filter calculation transmission pulse, the AZ angle tracking transmission pulse, and the EL angle tracking transmission pulse to receive and process the received signals. Each of the video signals is generated, the signal processor calculates a target position based on the video signal for tracking, and transmits the transmission pulse for AZ angle tracking and the transmission pulse for EL angle tracking in the AZ direction and the EL direction. Of the tracking video signals obtained by shaking, the beam direction of the one having the largest amplitude is detected as the target AZ angle and EL angle. Then, a position signal based on the calculated target position, a target AZ angle and a target EL angle are output to the antenna controller as control signals, and the antenna controller outputs the attitude signal from the navigation device and the attitude signal from the navigation device. The antenna angle is controlled based on a control signal from a signal processor.

Further, a transmitter mounted on the moving body and generating a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter generates a target number determination tracking pulse that moves separately from the transmission signal, and the antenna includes the target number determination tracking pulse. The receiver receives and transmits the target number determination tracking pulse to generate a video signal for the target number determination, and the signal processor generates the video signal for the target number determination. , And the target reflected signal is discriminated and separated by the filter bank, and the target number determination processing in the same beam is performed.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a radar apparatus (ISAR) according to the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a basic configuration common to radar apparatuses according to each embodiment of the present invention. In the figure,
5d is a tracking pulse control unit that performs control for transmitting and receiving a tracking pulse between ISAR processing transmission pulses;
9 is switched by the switching control of the tracking pulse control unit 5d, and the radar video for ISAR processing is switched to the ISAR processing unit 5a.
A switch for outputting the tracking radar video to the tracking processing unit 5c, a tracking processing unit 5c for performing a target tracking process from the various types of tracking radar video, and a posture signal 7 from the aircraft navigation device and a tracking pulse control unit The antenna controller controls an antenna beam direction based on a control signal and accurately directs an antenna beam output from the antenna 3.

Embodiment 1 FIG. 2 shows the ISA output from the transmitter 1 of the radar apparatus according to the present invention shown in FIG.
FIG. 3 is an explanatory diagram showing a transmission pulse train transmitted to an R target, and a radar device according to this embodiment will be described with reference to FIGS. 1 and 2.

As shown in FIG. 2, in the radar apparatus according to this embodiment, a transmission pulse for tracking filter calculation is inserted and transmitted between each pulse of the transmission pulse for ISAR processing. The transmission control required for this transmission is a tracking pulse control unit 5d.
, The transmitter 1 radiates the RF signal for tracking filter calculation from the antenna 3 together with the transmission pulse for ISAR processing via the receiver 4, and the receiver 4 receives a reflected echo (RF signal) from a target (not shown). I do. The radar video changeover switch 9 is, like the receiver 4, a tracking pulse control unit 5d.
The receiver 4 is subjected to transmission control by the tracking pulse control unit 5d, and the transmission RF signal for tracking filter calculation and the I signal are controlled according to the timing of the transmission control.
SAR processing transmission pulse is received. Then, the radar video is output to the tracking processing unit 5c, and the transmission pulse for ISAR processing is output to the ISAR processing unit 5a.
The tracking processing unit 5c performs a tracking process using a tracking filter (for example, an α-β method, a Kalman method, or the like) using a series of radar video signals for tracking filter calculation in parallel with the ISAR process, and the tracking pulse control unit 5d A position signal based on the position of the ISAR target calculated by the tracking processing unit 5c is output to the antenna controller 7 as a control signal.

The tracking processing of the radar apparatus according to this embodiment is performed by a correlation processing for determining whether or not an ISAR target exists in a tracking gate (also referred to as a software gate) in which a target is set. By continuing the tracking processing, that is, the correlation processing for the correlated data, the position of the ISAR target can always be recognized within a predetermined error range.
It can be transmitted accurately without deviating from the SAR target.

The antenna control 7 detects the deviation of the angle of the beam projected on the AZ plane and the EL plane based on the roll, pitch and yaw attitude signals from the airframe navigation device 8 and the control signal from the tracking pulse control unit 5d. Calculate and convert the deviation into a drive signal to control the drive unit in the AZ and EL directions of the antenna.

As described above, according to the radar apparatus of the first embodiment, a transmission pulse for tracking filter calculation is transmitted between transmission pulses for ISR processing, and a tracking filter is used (separately from ISAR processing). The target tracking process is performed from the radar video, and the beam is controlled to the target together with the correction for the attitude change of the own aircraft.
A received signal for SAR processing is obtained.

Embodiment 2 FIG. FIG. 3 shows an output from the transmitter of the radar device according to the second embodiment of the present invention,
FIG. 4 is an explanatory diagram showing a transmission pulse train transmitted to an R target. In the first embodiment, a pulse for calculating a tracking filter is transmitted for target tracking, but in this embodiment,
Instead of the pulse for the tracking filter calculation, a tracking pulse for AZ angle tracking is transmitted between the transmission pulses for the ISAR processing as shown in FIG. 3 to track the target. That is, in the radar apparatus according to the first embodiment, a tracking filter is used to perform correlation processing to accurately recognize the position of the ISAR target. However, in the radar apparatus according to the first embodiment, ISAR without tracking filter
ISA that recognizes target position and is stable during synthetic aperture time
This is to obtain a reception signal for R processing.

FIG. 4 is an explanatory diagram of the beam control according to the second embodiment. As shown in FIG. 4, in the radar apparatus according to the present embodiment, the control for swinging the transmission AZ direction of the tracking pulse right and left for each pulse is performed by the tracking pulse control unit 5d of FIG. The tracking processing unit 5c compares the magnitude of the amplitude of the radar video of the pulse swung right and left, detects the AZ beam direction of the pulse having the largest amplitude value as the target AZ angle, and determines the AZ angle as the tracking pulse control unit 5d. Output to Thus, the AZ direction of the ISAR target can be accurately recognized without providing a tracking filter, and the tracking pulse control unit 5d for the receiver 4 performs beam transmission control and antenna control for oscillating a beam in the AZ angle direction having the maximum amplitude. An angle control for the controller 7 is performed.

As described above, according to this embodiment,
Correction for attitude change of own aircraft and ISAR target A
Since the tracking process in the Z direction is performed, the beam can be controlled according to the movement of the target, and the ISAR can be stabilized during the synthetic aperture time without performing the tracking process using the tracking filter.
A received signal for processing is obtained.

Embodiment 3 FIG. 5 shows an output from the transmitter of the radar device according to Embodiment 3 of the present invention,
FIG. 4 is an explanatory diagram showing a transmission pulse train transmitted to an R target. In Embodiment 2 described above, a tracking pulse for AZ angle tracking is transmitted. In this embodiment, a tracking pulse for EL angle tracking is transmitted between transmission pulses for ISAR processing as shown in FIG. Track ISAR targets. FIG. 6 is an explanatory diagram of the beam control according to the third embodiment. As shown in FIG. 6, in the radar apparatus according to the embodiment of the present invention, the tracking pulse control unit 5d in FIG. 1 controls the transmission EL direction of the tracking pulse to swing up and down for each pulse. The tracking processing section 5c compares the magnitude of the amplitude of the radar video of the pulse that has been swung up and down, detects the EL beam direction of the pulse having the largest amplitude as the target EL angle, and detects the EL angle.
The angle is output to the tracking pulse control unit 5d. The tracking pulse control unit 5 d performs transmission control of a beam that oscillates a beam in the EL angle direction with the maximum amplitude for the receiver 4 and angle control for the antenna controller 7.

As described above, in the third embodiment, the ISAR
Since the target is tracked in the EL direction, the beam can be controlled in accordance with the movement of the ISAR target together with the correction of the attitude change of the own device, and the ISA is stable during the synthetic aperture time.
A reception signal for R processing is obtained.

Embodiment 4 FIG. In the second and third embodiments, the radar devices that perform tracking processing for the movement of the ISAR target in the AZ direction or the movement in the EL direction have been described. However, in order to obtain a more stable reception signal for the ISAR processing, A tracking process corresponding to the movement in the AZ direction and the EL direction may be performed.

FIG. 7 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 4 of the present invention. In this embodiment, as shown in FIG. 7, tracking pulses for AZ angle tracking and EL angle tracking are transmitted between transmission pulses for ISAR processing to track a target.

FIG. 8 is an explanatory diagram of the beam control of the radar apparatus according to the fourth embodiment. As shown in FIG. 8, in this embodiment, the AZ angle tracking pulses AZT1 to AZT1
Control for transmitting ZTn (n = integer) in the AZ plane for each pulse and EL angle tracking pulses ELT1 to ELT
Control for transmitting n (n = integer) by oscillating into the EL plane for each pulse is performed by the tracking pulse control unit 5d in FIG. The tracking processing unit 5c compares the magnitude of the radar video amplitude value of the tracking pulse oscillated in each plane for each of AZ and EL, and determines the AZ beam direction of the pulse having the largest amplitude value as the target AZ.
As the angle, an EL beam direction of a pulse having a large amplitude value is detected as a target EL angle, and the AZ angle and the EL angle are output to the tracking pulse control unit 5d.

As shown in FIG. 7, since there is a difference in signal level between the AZ angle tracking pulse and the EL angle tracking pulse, the receiver 4 and the tracking processing unit 5c determine which angle direction A tracking pulse can be identified. The tracking pulse control unit 5d performs beam transmission control for oscillating the beam to the left and right of the AZ angle and the EL angle at the maximum amplitude, and performs angle control to the antenna controller 7.

As described above, in the fourth embodiment, the AZ angle tracking result and the EL angle tracking result are integrated to perform tracking of the target in the AZ and EL directions. The beam can be controlled in accordance with the movement of the beam, and a more stable received signal for ISAR processing can be obtained during the synthetic aperture time.

Embodiment 5 FIG. 9 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 5 of the present invention. In this embodiment, as shown in FIG.
During the transmission pulse for AR processing, a tracking pulse for tracking filter calculation and a tracking pulse for AZ angle tracking are transmitted, and ISA
Track the R target.

As in the second embodiment, the control for swinging the transmission AZ direction right and left for each transmission beam is performed by the tracking pulse control unit 5 shown in FIG.
d, the tracking processing unit 5c tracks the target from a series of tracking filter calculation radar videos in the same manner as in the first embodiment, and compares the magnitude of the amplitude of the radar video of the pulse swung right and left. Is detected as the target AZ angle, and the AZ beam direction is detected.
The angle is output to the tracking pulse control unit 5d. The tracking pulse control unit 5d integrates the tracking result of the tracking filter and sets the maximum amplitude A
The transmission control of the beam swinging right and left of the Z angle and the angle control to the antenna controller 7 are performed.

As described above, in the fifth embodiment, the target AZ direction tracking is performed by integrating the calculation result of the tracking filter and the AZ angle tracking result. , A stable reception signal for the ISAR process can be obtained during the synthetic aperture time.

Embodiment 6 FIG. FIG. 10 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 6 of the present invention. In the sixth embodiment, as shown in FIG. 10, tracking pulses for tracking filter calculation and EL angle tracking are transmitted between ISAR processing transmission pulses to track a target.

As in the third embodiment, the control for swinging the transmission EL direction right and left for each transmission beam is performed by the tracking pulse control unit 5 shown in FIG.
d, the tracking processing unit 5c tracks the target from a series of tracking filter calculation radar videos in the same manner as in the first embodiment, and compares the magnitude of the amplitude of the radar video of the pulse swung right and left. The EL beam direction of the pulse having the largest pulse is detected as the target EL angle, and the EL angle is detected.
The angle is output to the tracking pulse control unit 5d. The tracking pulse control unit 5d integrates the tracking results of the tracking filter and calculates the maximum amplitude E
A beam transmission control for oscillating the beam to the left and right of the L angle and angle control to the antenna controller 7 are performed.

As described above, in the sixth embodiment, the calculation result of the tracking filter and the EL angle tracking result are integrated to obtain the target E.
In order to perform tracking in the L direction, the beam is controlled to the target in addition to the correction for the attitude change of the own device, so that a stable reception signal for the ISAR process can be obtained during the synthetic aperture time.

Embodiment 7 FIG. FIG. 11 is an explanatory diagram showing a transmission pulse train in the radar apparatus according to Embodiment 7 of the present invention. In the seventh embodiment, as shown in FIG. 11, tracking pulses for tracking filter calculation, AZ angle tracking, and EL angle tracking are transmitted between ISAR processing transmission pulses to track a target.

In the same manner as in the fourth embodiment, the control for swinging the transmission AZ direction right and left for each transmission beam and the control for swinging the transmission EL direction left and right for each transmission beam are performed by the tracking pulse control unit 5 in FIG.
In the tracking processing unit 5c, the target is tracked by a series of tracking filter calculation radar videos in the same manner as in the first embodiment, and the amplitude of the radar video of the pulse swung right and left is larger or smaller for each of AZ and EL. And the AZ beam direction of the pulse having the largest amplitude value is set as the target AZ angle, and the EL beam direction of the pulse having the largest amplitude value is set as the target E angle.
The angle is detected as the L angle, and the AZ angle and the EL angle are output to the tracking pulse control unit 5d. The tracking pulse control unit 5d integrates the tracking results of the tracking filter, and controls the transmission of a beam that oscillates the beam to the left and right of the AZ angle and the EL angle with the maximum amplitude, and performs angle control to the antenna controller 7.

As described above, the seventh embodiment integrates the tracking filter calculation result, the AZ angle tracking result, and the EL angle tracking result to track the target in the AZ and EL directions. By controlling the beam to the target in addition to the above, a stable reception signal for ISAR processing can be obtained during the synthetic aperture time.

Embodiment 8 FIG. FIG. 12 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 8 of the present invention. In the eighth embodiment, as shown in FIG. 12, between the transmission pulses for the ISAR processing, the transmission pulse for the number of units is transmitted to determine the target number of units.

FIG. 13 is an explanatory diagram of the beam control according to the eighth embodiment. As shown in FIG. 13, the tracking pulse control unit 5 d of FIG. 1 performs control of transmitting the number-of-machine determination pulse while correcting the attitude change of the own device from the attitude signal, and the tracking processing unit 5 c performs a series of operations. The FFT is performed from the radar video of the machine number determination pulse, and a target number determination process in the same beam for discriminating and separating a target reflected signal by a filter bank is performed. As described above, in the eighth embodiment, since the target number determination processing in the same beam is performed by transmitting and receiving the number-of-machines determination pulse, it is possible to determine the cause of deterioration in the resolution of the ISAR image.

The tracking processing unit 5c and the tracking pulse control unit 5d of FIG. 1 shown in this embodiment are not H / W but S / W
Since the configuration is based on W, H / W such as an increase of 1ch of the receiving system by monopulse tracking is used as an aircraft-mounted radar device.
There is no physical impact.

Although FIG. 1 is a diagram showing a basic configuration common to the radar apparatuses according to the embodiments of the present invention, the functions of a transmitter, a tracking processing unit, and the like in each embodiment are strictly described. Are different. Here, for convenience of explanation, the description is conceptually the same.

[0050]

As described above, according to the present invention, a transmitter mounted on a moving body and generating a transmission signal, an antenna radiating the transmission signal and receiving a reflection signal from a target, A receiver that receives and processes a signal to generate a video signal, and a high-resolution radar image signal that performs a synthetic aperture process on the video signal based on the speed signal of the mobile object from the navigation device, corrects the motion component of the mobile object. A signal processor for generating an image signal, a display for displaying a high-resolution image radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device. In a radar device comprising:
The transmitter generates a transmission pulse for tracking filter calculation for tracking a target moving separately from the transmission signal, the antenna transmits and receives a transmission / reception signal of the transmission pulse for tracking filter calculation, and the receiver performs a tracking filter calculation. The signal processor receives and processes the received signal of the transmission pulse to generate a video signal for tracking, and the signal processor calculates a target position based on the video signal for tracking, and sends the calculated target position to the antenna controller. The antenna controller controls the antenna angle based on the attitude signal from the navigation device and the control signal from the signal processor, so that the beam control can be performed in the target direction based on the tracking result. This makes it possible to obtain a stable received signal without a beam deviating from a target, thereby improving the resolution of an ISAR image.

Further, a transmitter mounted on the moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflection signal from a target, and receiving and processing the reflection signal to generate a video signal. A receiver, a signal processor that corrects the motion component of the moving object with respect to the video signal based on the speed signal of the moving object from the navigation device, performs a synthetic aperture process to generate a high-resolution radar image signal, and a high-resolution image. In a radar device including a display for displaying a radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device, a transmitter includes: , Apart from the transmission signal
The Z-angle tracking transmission pulse is generated, the antenna transmits and receives the AZ angle tracking transmission pulse in the AZ direction, and the receiver receives and processes the AZ angle tracking transmission pulse to generate a video signal for tracking. Then, the signal processor determines the beam direction of the largest amplitude video signal among the tracking video signals as the target AZ.
The angle is detected and output as a control signal to the antenna controller.The antenna controller controls the antenna angle based on the attitude signal from the navigation device and the control signal from the signal processor, so that the target is obtained from the tracking result. Beam control in the AZ direction is enabled, and a stable received signal is obtained without the beam deviating from the target, which has the effect of improving the resolution of the ISAR image.

A transmitter mounted on the mobile unit for generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A receiver, a signal processor that corrects the motion component of the moving object with respect to the video signal based on the speed signal of the moving object from the navigation device, performs a synthetic aperture process to generate a high-resolution radar image signal, and a high-resolution image. In a radar device including a display for displaying a radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device, a transmitter includes: , Separately from the transmitted signal
An L-angle tracking transmission pulse is generated, the antenna transmits and receives the EL angle tracking transmission pulse in the EL direction, and the receiver receives and processes the EL angle tracking transmission pulse to generate a tracking video signal. Then, the signal processor sets the beam direction of the largest amplitude video signal for tracking to the target EL signal.
The angle is detected and output as a control signal to the antenna controller.The antenna controller controls the antenna angle based on the attitude signal from the navigation device and the control signal from the signal processor, so that the target is obtained from the tracking result. Beam control can be performed in the EL direction, and a stable received signal can be obtained without a beam deviating from a target. This has the effect of improving the resolution of an ISAR image.

[0053] A transmitter mounted on the moving body for generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A receiver, a signal processor that corrects the motion component of the moving object with respect to the video signal based on the speed signal of the moving object from the navigation device, performs a synthetic aperture process to generate a high-resolution radar image signal, and a high-resolution image. In a radar device including a display for displaying a radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device, a transmitter includes: , Apart from the transmission signal
The antenna generates a transmission pulse for Z-angle tracking and a transmission pulse for EL angle tracking, and the antenna transmits and receives the transmission pulse for AZ angle tracking in the AZ direction and transmits and receives the transmission pulse for EL angle tracking in the EL direction. , The receiver is A
The Z-angle tracking transmission pulse and the EL-angle tracking transmission pulse are received and processed to generate each tracking video signal, and the signal processor targets the beam direction of the largest amplitude video signal among the tracking video signals. And outputs them as control signals to the antenna controller. The antenna controller controls the antenna angle based on the attitude signal from the navigation device and the control signal from the signal processor. The beam control can be performed in the AZ and EL directions of the target based on the tracking result, and a stable received signal can be obtained without a beam deviating from the target, which has the effect of improving the resolution of the ISAR image.

Further, a transmitter mounted on each mobile unit for generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A receiver, a signal processor that corrects the motion component of the moving object with respect to the video signal based on the speed signal of the moving object from the navigation device, performs a synthetic aperture process to generate a high-resolution radar image signal, and a high-resolution image. In a radar device including a display for displaying a radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device, a transmitter includes: , A transmission pulse for tracking filter calculation and a transmission pulse for AZ angle tracking for tracking a target moving separately from the transmission signal, and the antenna generates a tracking filter. The transmission / reception signal of the transmission pulse for calculation is transmitted and received, and the transmission pulse for AZ angle tracking is transmitted and received in the AZ direction. The receiver receives the reception signal of the transmission pulse for tracking filter calculation and the transmission pulse for AZ angle tracking. Processing to generate each video signal for tracking, the signal processor calculates a target position based on the video signal for tracking, and a tracking signal obtained by oscillating an AZ angle tracking transmission pulse in the AZ direction. Of the video signal having the largest amplitude among the video signals of the above, is output as a target AZ angle, and a position signal based on the calculated target position and the target AZ angle are output to the antenna controller as control signals. Is to control the antenna angle based on the attitude signal from the navigation device and the control signal from the signal processor to calculate the tracking filter calculation result and the AZ angle tracking. Since integrates results performs AZ direction of tracking of the target, that the received signal more stable without the target beam is out is obtained, IS
This has the effect of improving the resolution of the AR image.

A transmitter mounted on each mobile unit to generate a transmission signal, an antenna for emitting the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A receiver, a signal processor that corrects the motion component of the moving object with respect to the video signal based on the speed signal of the moving object from the navigation device, performs a synthetic aperture process to generate a high-resolution radar image signal, and a high-resolution image. In a radar device including a display for displaying a radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device, a transmitter includes: , A transmission pulse for tracking filter calculation and a transmission pulse for EL angle tracking for tracking a target moving independently of the transmission signal, and the antenna The transmission / reception signal of the transmission pulse for calculation is transmitted and received, and the transmission pulse for EL angle tracking is transmitted and received in the EL direction. The receiver receives the reception signal of the transmission pulse for tracking filter calculation and the transmission pulse for EL angle tracking. Processing to generate each video signal for tracking, the signal processor calculates the target position based on the video signal for tracking, and the tracking signal obtained by oscillating the transmission pulse for EL angle tracking in the EL direction. The beam direction of the largest amplitude among the video signals is detected as a target EL angle, and a position signal based on the calculated target position and the target EL angle are output to the antenna controller as a control signal. Is to control the antenna angle based on the attitude signal from the navigation device and the control signal from the signal processor to calculate the tracking filter and the EL angle tracking. Since integrates results performs tracking EL direction of the target, that the received signal more stable without the target beam is out is obtained, it IS
This has the effect of improving the resolution of the AR image.

Also, a transmitter mounted on each mobile unit for generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A receiver, a signal processor that corrects the motion component of the moving object with respect to the video signal based on the speed signal of the moving object from the navigation device, performs a synthetic aperture process to generate a high-resolution radar image signal, and a high-resolution image. In a radar device including a display for displaying a radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device, a transmitter includes: Generates a transmission pulse for tracking filter calculation, a transmission pulse for AZ angle tracking, and a transmission pulse for EL angle tracking for tracking a target moving separately from the transmission signal. , The antenna transmits and receives reception No. of tracking filter operation for transmission pulses, a transmission pulse and EL angle tracking transmission-pulse AZ angle tracking A
The receiver shakes and transmits the signals in the Z direction and the EL direction, respectively, and the receiver receives and processes each of the reception signals of the transmission pulse for tracking filter calculation, the transmission pulse for AZ angle tracking, and the transmission pulse for EL angle tracking, and performs each video for tracking. A signal was generated, and the signal processor calculated the target position based on the video signal for tracking, and obtained by shaking the transmission pulse for AZ angle tracking and the transmission pulse for EL angle tracking in the AZ direction and the EL direction. The beam direction of the largest amplitude among the video signals for tracking is detected as the target AZ angle and EL angle, and a position signal based on the target position calculated by the antenna controller, the target AZ angle and the target EL By outputting the angle as a control signal, the antenna controller controls the antenna angle based on the attitude signal from the navigation device and the control signal from the signal processor. Tracking filter operation result, for performing integrates AZ angle tracking result and EL angle tracking result tracking of the target AZ and EL directions, that the received signal more stable without the beam from the target is out is obtained, IS
This has the effect of improving the resolution of the AR image.

Also, a transmitter mounted on each mobile unit for generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A receiver, a signal processor that corrects the motion component of the moving object with respect to the video signal based on the speed signal of the moving object from the navigation device, performs a synthetic aperture process to generate a high-resolution radar image signal, and a high-resolution image. In a radar device including a display for displaying a radar signal, and an antenna controller for controlling an antenna angle in order to correct a deviation in a beam direction based on a posture signal of a moving object from a navigation device, a transmitter includes: Generating a target number determination tracking pulse that moves separately from the transmission signal, the antenna transmits and receives a target number determination tracking pulse transmission / reception signal,
The receiver receives and processes the target number determination tracking pulse to generate a video signal for the target number determination, and the signal processor performs an FFT based on the video signal for the target number determination, and reflects the target by a filter bank. By performing the target number determination process in the same beam by discriminating and separating the signals, it becomes possible to determine the cause of deterioration in the resolution of the ISAR image.

[Brief description of the drawings]

FIG. 1 is a diagram showing a basic configuration common to a radar device according to each embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a transmission pulse train in the radar device according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 2 of the present invention.

FIG. 4 is an explanatory diagram of beam control in a radar device according to a second embodiment of the present invention.

FIG. 5 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 3 of the present invention.

FIG. 6 is an explanatory diagram of beam control in a radar device according to Embodiment 3 of the present invention.

FIG. 7 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 4 of the present invention.

FIG. 8 is an explanatory diagram of beam control in a radar device according to Embodiment 4 of the present invention.

FIG. 9 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 5 of the present invention.

FIG. 10 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 6 of the present invention.

FIG. 11 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 7 of the present invention.

FIG. 12 is an explanatory diagram showing a transmission pulse train in a radar apparatus according to Embodiment 8 of the present invention.

FIG. 13 is an explanatory diagram of beam control in a radar apparatus according to Embodiment 8 of the present invention.

FIG. 14 is a configuration diagram showing a conventional ground-installed radar device.

FIG. 15 is a configuration diagram showing a conventional radar device for mounting on an aircraft.

FIG. 16 is an explanatory diagram of a transmission pulse train of a conventional radar device mounted on an aircraft.

FIG. 17 is an explanatory diagram of beam control of a conventional radar device mounted on an aircraft.

[Explanation of symbols]

1 transmitter, 2 circulator, 3 antenna, 4
Receiver, 5 signal processing unit, 5a ISAR processing unit,
5b own motion compensation processing unit, 5c tracking processing unit, 5
d Tracking pulse controller, 6 display, 7 antenna controller, 8 airframe navigation system, 9 switches.

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-6-167566 (JP, A) JP-A-10-78481 (JP, A) JP-A-10-111357 (JP, A) JP-A-2- 71185 (JP, A) Japanese Utility Model Hei 2-118883 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95

Claims (8)

(57) [Claims] 1. A transmitter mounted on a mobile body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar device, the transmitter generates a transmission pulse for tracking filter calculation for tracking a target moving separately from the transmission signal, and the antenna includes The receiver transmits / receives a transmission / reception signal of the tracking filter calculation transmission pulse, and the receiver receives and processes the reception signal of the tracking filter calculation transmission pulse to generate a video signal for tracking. A target position is calculated based on the video signal for tracking, and a position signal based on the calculated target position is output as a control signal to the antenna controller, and the antenna controller outputs a posture signal from the navigation device. And controlling the antenna angle based on a control signal from the signal processor. 2. A transmitter mounted on a moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter generates an AZ angle tracking transmission pulse separately from the transmission signal, and the antenna generates the AZ angle tracking transmission pulse in the AZ direction. The receiver receives and processes the AZ angle tracking transmission pulse to generate a tracking video signal, and the signal processor determines the maximum amplitude of the tracking video signal among the tracking video signals. Of the object is detected as a target AZ angle, and is output as a control signal to the antenna controller. The antenna controller controls the antenna based on the attitude signal from the navigation device and the control signal from the signal processor. A radar device for controlling an angle. 3. A transmitter mounted on a moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter generates an EL angle tracking transmission pulse separately from the transmission signal, and the antenna transmits the EL angle tracking transmission pulse to the EL signal. The receiver transmits and receives the EL angle tracking transmission pulse to generate a video signal for tracking, and the signal processor processes the video signal for tracking with the maximum amplitude of the video signal for tracking. Of the object is detected as a target EL angle, and is output as a control signal to the antenna controller. The antenna controller receives an antenna based on an attitude signal from the navigation device and a control signal from the signal processor. A radar device for controlling an angle. 4. A transmitter mounted on a moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to convert a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar device, the transmitter generates a transmission pulse for AZ angle tracking and a transmission pulse for EL angle tracking separately from the transmission signal. The transmission pulse for AZ angle tracking is transmitted and received in the AZ direction, and the transmission pulse for EL angle tracking is transmitted and received in the EL direction. The receiver transmits the AZ angle tracking transmission pulse and the EL angle tracking transmission pulse. Receiving the pulse to generate a video signal for each tracking, the signal processor detects the beam direction of the largest amplitude among the video signals for tracking as the target AZ angle and EL angle, A radar device which outputs each of the antenna controllers as a control signal, wherein the antenna controller controls an antenna angle based on a posture signal from the navigation device and a control signal from the signal processor. 5. A transmitter mounted on a moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter includes a transmission pulse for tracking filter calculation and a transmission pulse for AZ angle tracking for tracking a target moving separately from the transmission signal. And the antenna is
The transmission / reception signal of the tracking filter calculation transmission pulse is transmitted and received, and the AZ angle tracking transmission pulse is transmitted and received in the AZ direction. The receiver includes the tracking filter calculation transmission pulse and the AZ angle tracking transmission pulse. The signal processor calculates the target position based on the tracking video signal, and generates the AZ angle tracking transmission pulse by AZ. The beam direction of the largest amplitude video signal for tracking obtained by shaking in the direction is set to the target AZ.
Angle, and outputs a position signal based on the calculated target position and a target AZ angle to the antenna controller as a control signal. The antenna controller outputs an attitude signal from the navigation device and the signal processing. A radar device for controlling an antenna angle based on a control signal from a radar. 6. A transmitter mounted on a moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter includes a transmission pulse for tracking filter calculation and a transmission pulse for EL angle tracking for tracking a target moving separately from the transmission signal. And the antenna is
The transmission / reception signal of the transmission pulse for tracking filter calculation is transmitted and received, and the transmission pulse for EL angle tracking is transmitted and received in the EL direction. The receiver transmits the transmission pulse for tracking filter calculation and the transmission pulse for EL angle tracking. The signal processor calculates the target position based on the video signal for tracking, and generates the transmission pulse for EL angle tracking based on the video signal for tracking. The beam direction of the largest amplitude video signal among the tracking video signals obtained by swinging
Angle, and outputs to the antenna controller a position signal based on the calculated target position and a target EL angle as a control signal. The antenna controller outputs an attitude signal from the navigation device and the signal processing. A radar device for controlling an antenna angle based on a control signal from a radar. 7. A transmitter mounted on a mobile body for generating a transmission signal, an antenna for radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a beam direction shift based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter includes a transmission pulse for tracking filter calculation for tracking a target moving separately from the transmission signal;
The antenna generates a transmission pulse for angle tracking and a transmission pulse for EL angle tracking, and the antenna transmits and receives the transmission and reception signals of the transmission pulse for tracking filter calculation, and transmits the transmission pulse for AZ angle tracking and the transmission pulse for EL angle tracking. The receiver shakes and transmits each in the AZ direction and the EL direction, and the receiver receives the tracking filter calculation transmission pulse, the AZ angle tracking transmission pulse, and the EL angle tracking transmission pulse to receive and process the received signals. Each of the video signals is generated, the signal processor calculates a target position based on the video signal for tracking, and transmits the transmission pulse for AZ angle tracking and the transmission pulse for EL angle tracking in the AZ direction and the EL direction. Of the tracking video signals obtained by shaking, the beam direction of the one having the largest amplitude is detected as the target AZ angle and EL angle. Then, a position signal based on the calculated target position, a target AZ angle and a target EL angle are output to the antenna controller as control signals. A radar apparatus for controlling an antenna angle based on a control signal from a signal processor. 8. A transmitter mounted on a moving body to generate a transmission signal, an antenna radiating the transmission signal and receiving a reflected signal from a target, and receiving and processing the reflected signal to generate a video signal. A signal generator for generating a high-resolution radar image signal by correcting a motion component of the moving object with respect to the video signal based on a speed signal of the moving object from a navigation device and performing a synthetic aperture process A display that displays the high-resolution image radar signal, and an antenna controller that controls an antenna angle to correct a deviation in a beam direction based on a posture signal of the moving object from the navigation device. In the radar apparatus, the transmitter generates a target number determination tracking pulse that moves separately from the transmission signal, and the antenna generates the target number determination tracking pulse. The receiver receives and transmits the target number determination tracking pulse to generate a target number determination video signal, and the signal processor converts the target number determination video signal to a target number determination video signal. A radar apparatus which performs an FFT based on a target reflected signal by a filter bank, discriminates and separates the target reflected signal, and performs a target number determination process in the same beam.