JP3395136B2 - Moving target relative position detection method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a proximity of a moving target that is moving at a constant speed in a linear manner, so that a signal generated by the moving target is arranged at one detector (for example, three orthogonal axes are detected). If it detects only one axis, then three if it detects only one axis), and measures, acquires, and processes in time series at a predetermined sample time, and The present invention relates to a method for detecting a relative position of a moving target that detects a position.

[0002]

2. Description of the Related Art Conventionally, in order to detect the approach of a moving target,
Although there is a method of detecting the peak value of the level of the magnetic signal or the acoustic signal generated by the moving target, it is not possible to know the relative position of how far from the detection device.

Further, a plurality of detectors are arranged at a predetermined distance,
There is a method of detecting the relative position of the moving target from the difference between the respective received signals (Japanese Patent No. 2500347 etc.),
Since the plurality of detectors are arranged apart from each other, there is a problem that the device cannot be downsized and the manufacturing is difficult because the arrangement requires high accuracy.

[0004]

As described above, in order to detect the approach of the moving target, there has been no effective method for detecting the relative position of the moving target with a detector arranged at one place.

Therefore, the object of the present invention is to
An object of the present invention is to provide a target relative position detection method for detecting the relative position between the detector and the moving target by using the detectors arranged at the points.

Other objects and novel features of the present invention will be clarified in the embodiments described later.

[0007]

In order to achieve the above-mentioned object, the invention of claim 1 of the present application provides a magnetic field or magnetic field generated by a moving target.
Is a relative position detection method of a moving target that uses a detector arranged at one position to capture orthogonal three-axis components of an electric field signal and detects the relative position between the detector and the moving target that performs constant-velocity linear motion. A magnetic field or electric field signal generated by the moving target is measured and acquired in time series until the moving target reaches at least the closest position to the detector.
An acquisition step, a data conversion step for processing the data acquired in the measurement / acquisition step, and the moving target
Difference or distance between the detector and the detector, or the moving eye
Based on a calculation step in which any one of the target speeds is known and an unknown parameter is calculated by the least square method using a residual expression between the converted data obtained in the data conversion step and a value obtained by a theoretical expression. Detect the relative position of the moving target, and perform the measurement / acquisition step and the data
The moving eye is converted by the converting step and the calculating step.
The feature is that the size of the target signal source is obtained to identify the target .

[0008]

In the method of detecting the relative position of a moving target according to a second aspect of the present invention, in the first calculating step, a theoretical formula is used in which the signal source of the moving target is divided into a plurality of parts. Is characterized by.

[0010]

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a method for detecting a relative position of a moving target according to the present invention will be described below with reference to the drawings.

An embodiment of a method for detecting the relative position of a moving target according to the present invention will be described with reference to FIGS. 1 to 4. In this embodiment, a case where a signal generated by a moving target that performs constant-velocity linear motion is a magnetic field will be described as an example.

In FIG. 1, reference numeral 1 is a relative position detecting device which is installed (fixed), and is formed by arranging three sensors capable of measuring a magnetic field component in one axial direction so as to be orthogonal to each other.
The shaft magnetometer 2 is installed inside. In other words,
A detector that captures the orthogonal triaxial components of the magnetic field is located at one location in the device. With one triaxial magnetometer 2 provided in the apparatus 1 as an origin, the Z axis is defined vertically upward, and the X axis and the Y axis orthogonal to each other are defined in the horizontal plane. Hereinafter, this coordinate system will be referred to as a "device coordinate system".

Reference numeral 10 denotes a moving target which moves in a uniform linear motion, 11 denotes a magnetic moment of a magnitude M which the moving target has, and the moving target 10 is located at a position (x, y, z) in the device coordinate system. The angle formed by the magnetic moment 11 and the X axis in the device coordinate system is α, the angle formed by the Y axis is β, and the angle formed by the Z axis is γ. Also, move target 1
It is assumed that the distance between 0 and the triaxial magnetometer 2 in the device 1 is r, and the moving target 10 is traveling in the direction of the course 12 at a constant speed.

In the relative position detecting device 1, the moving target 10 transmits the signal generated by the moving target 10 in the measurement / acquisition step, that is, the three-axis components of the three-axis magnetometer 2 (in other words, the device 1). 3-axis magnetometer 2) At least until the time when it is the closest position (until the time of the closest position or until the time when the closest position is slightly passed), it is measured and acquired in time series with a predetermined sampling time. Then, in the data conversion step, the acquired data is processed to obtain a residual with a later-described theoretical formula to obtain converted data, and in the calculation step, the converted data and the magnetic moment of the moving target 10, A residual equation is created by using a value based on a predetermined theoretical equation including unknown parameters such as moving speed and relative position coordinates with the device 1, and the unknown parameter is obtained by the least squares method. Obtaining a moving target 10 and the relative position coordinate device 1. Further, by obtaining the magnitude M of the magnetic moment of the moving target 10, it is possible to identify the moving target. For this identification, for example, a database that associates the type of moving target with the magnitude of the magnetic moment can be used.

In order to know that the moving target 10 is at the closest position of the device 1 (in other words, the triaxial magnetometer 2), 3
In addition to using the maximum and minimum of the axis composite signal, a method is also provided in which a hydrophone is provided in the device 1 to continuously hear the acoustic signal generated by the moving target, and the time when the value becomes maximum is set as the closest time. is there. The hydrophone is provided at substantially the same location as the three-axis magnetometer (however, a position shift that is negligible compared to the distance to the moving target is allowed).

At the position (x, y, z) of the moving target 10 in the device coordinate system with the origin of the one 3-axis magnetometer 2 built in the device 1, the respective axial magnetic field components H _x , H _y. , H
The theoretical formula of _z is represented by the following formula.

[0018] ^{_{H x = Ma / r 5 ...}} (1) H y = Mb / r 5 ... (2) H z = Mc / r 5 ... (3) ^{where, a = (3x 2 -r 2} ) cosα + 3xycosβ + 3zxcos
γb = 3xycosα + (3y ² −r ² ) cosβ + 3yzcos
γ c = 3zxcosα + 3yzcosβ + ( 3z 2 -r 2) cos
γ r = (x ² + y ² + z ² ) ^1/2 where cos α, cos β, and cos γ are the direction cosines of the magnetic moment in the device coordinate system.

The total magnetic field produced by the moving target 10 at any one point in space is one unique vector value, and the vertical component of the vector is one. Therefore, the horizontal component is also the total magnetic field and the vertical component. It is always decomposed in the plane including and becomes one fixed size. This means that, as long as the Z axis is in the vertical direction, no matter how the X and Y axes rotate in the horizontal plane, as long as the magnetic field generated by the moving target is treated by the vertical and horizontal components, This means that if the horizontal component is obtained by combining as in the following equation, the moving target 10 can always be considered to move parallel to the X-axis as shown in FIG.

H _h = (H _x ² + H _y ² ) ^1/2 (4) where H _h : horizontal magnetic field component H _x : X-axis magnetic field component in the horizontal plane H _y : Y in the horizontal plane Axial magnetic field component

Next, in order to reduce the number of unknown parameters and normalize by dividing the horizontal magnetic field component and the vertical magnetic field component by the total magnetic field size, the horizontal magnetic field component H _h and the total magnetic field size are calculated. When the height H _t is calculated, it is expressed by the following equations from the equations (1), (2), (3) and the equation (4).

H _h = (H _x ² + H _y ² ) ^1/2 = M (a ² + b ² ) ^1/2 / r ⁵ (5) H _t = (H _x ² + H _y ² + H _z ² ) ^{1 / 2 = M (a 2 +} b 2 + c 2) 1/2 / r 5 ... (6)

Therefore, the horizontal magnetic field component and the vertical magnetic field component are divided by the magnitude of the total magnetic field and the normalized values H _ht and H _{zt are obtained.}
Is expressed by the following equation.

H _ht = H _h / H _t = (a ² + b ² ) ^1/2 / (a ² + b ² + c ² ) ^1/2 (7) H _zt = H _z / H _t = c / (a ² + b ² + c ² ) ^1/2 (8)

On the other hand, in the measurement / acquisition step, the three-axis magnetometer 2 (each axis is X _m , Y _m
And Z _m axes) for each axial magnetic field component H _xm , H _ym , H
Measure _zm . Measured axial magnetic field components H _xm , H
_ym and H _zm are three-axis magnetometer 2 using a gimbal and X _m
Data for processing the collected data by holding the Y _m surface horizontally and the Z _m axis vertically or by separately providing the device 1 with two inclinometers capable of detecting the tilts of the X _m and Y _m axes, respectively. In the transforming step, the coordinate transformation may transform the measured magnetic field components of the X _m , Y _m , and Z _m axes into the X, Y-axis and vertical Z-axis components in the horizontal plane of the device coordinate system, respectively. The axial magnetic field components after this conversion are represented by H _{s x} , H _sy ,
Expressed as H _sz , the value obtained by dividing the horizontal magnetic field component and the vertical magnetic field component by the total magnetic field is obtained by the following equation.

H _sht = (H _sx ² + H _sy ² ) ^1/2 / (H _sx ² + H _sy ² + H _sz ² ) ^1/2 (9) H _szt = H _sz / (H _sx ² + H _sy ² + H _sz ² ) ^1/2 (10)

In the measurement / acquisition step and the data conversion step for processing the data acquired in the step, these two values H _sht and H _szt are, for example, time T when the total magnetic field exceeds a predetermined small value. From t _s , acquisition processing is started in a time series at a predetermined sampling time. By using the maximum and minimum of the total magnetic field, or by installing a hydrophone in the device and continuously listening to the acoustic signal generated by the moving target, the time when the value becomes maximum is set as the closest time, knows that the moving target is in a substantially closest position of the apparatus, stop the acquisition at this time T = t _e (it is also possible to acquire until the time that slightly past the closest position.). When this is a t = 0 (i.e., if any time during actual measurement and _{T, t = T-t e} ), the target position _(x 0, y
₀ , z ₀ ). Then, the position (x,
y, z) is expressed by the following equation.

X = x ₀ + v · t (11) y = y ₀ (12) z = z ₀ (13)

Therefore, the measured value H at t = t
_sht(t) and H_szttheoretical value corresponding to (t)
H_ht(t) and H_zt(t) is 7 unknown parameters x
₀, Y₀, Z ₀, V, cosα, cosβ and cosγ
It is given by the above equations (7) and (8). However, the above formulas (7), (8)
H_htAnd H_ztIf k is an arbitrary real number on the right side of
If (x₀, Y₀, Z₀, V, cosα, cosβ, cosγ)
When the combination of₀, Ky₀, Kz
₀, Kv, cosα, cosβ, cosγ)
The same value, the least squares method is applied.
At least one of the above 7 unknown parameters
One must be known.

First, when the apparatus 1 is installed in water, if the apparatus 1 is provided with a separate depth meter, the relative depth z ₀ is known for the moving target on the water. Therefore, the above equations (1), (2 ), (3) and the formulas (11), (12) and (13), x ₀ , y ₀ , z ₀ , v and r are each divided by z ₀ to obtain a normalized value which is X ₀ , Y _0. , Z ₀ ,
Expressed as V and R, X, Y ₀ , Z ₀ , V and R are as follows.

X = x / z ₀ = (x ₀ / z ₀ ) + (v / z ₀ ) · t = X ₀ + V · t (14) X ₀ = x ₀ / z ₀ (15) V = v / z ₀ (16) Y ₀ = y ₀ / z ₀ (17) Z ₀ = z ₀ / z ₀ = 1 (18) R = r / z ₀ (19)

By substituting these relationships into the above equations (7) and (8), the following relational expressions are obtained. H _ht = H _h / H _t = (A ² + B ² ) ^1/2 / (A ² + B ² + C ² ) ^1/2 (20) H _zt = H _z / H _t = C / (A ² + B ² + C ² ) ^1/2 (21) where H _h is the horizontal magnetic field component of the moving target at the device position (3-axis magnetometer position). H _z : vertical magnetic field component of the moving target at the device position (3-axis magnetometer position). H _t : The magnitude of the total magnetic field of the moving target at the device position (3-axis magnetometer position). ^{A = (3X 2 -R 2)} cosα + 3XY 0 cosβ + 3XZ 0
cosγ B = 3XY ₀ cosα + (3Y ₀ ² −R ² ) cosβ + 3Z ₀
Y ₀ cosγ C = 3XZ ₀ cos α + 3Z ₀ Y ₀ cosβ + (3Z ₀ ² −R
² ) cosγ

FIG. 3 shows an example of the relationship between the theoretical formula and the actually measured value for the horizontal magnetic field component H _h . In the figure, 5 is the theoretical formula H _h =
(t: x ₀ , y ₀ , z ₀ , cos α, cos β, cos γ), where 6 is the actual measurement value H at the sampling time t _i
sh (t _i ), 7 represents the residual expression y ₁ = H _h (t _i ) −H _sh (t _i ) of the horizontal magnetic field component at the sampling time t _i .

In the calculation step, in order to apply the least squares method, a residual expression of theoretical value and actual measured value at each sampling time is created as shown in FIG. 3, and the sum of squares of direction cosine is always calculated. Since it must be 1, when added in the form of residual equations, the following three residual equations are defined. The unknown parameters in this case are X ₀ , Y ₀ , V, cos α, c
There are six osβ and cosγ.

Y ₁ = H _ht (t) -H _sht (t) (22) y ₂ = H _zt (t) -H _szt (t) (23) y ₃ = cos ² α + cos ² β + cos ² γ- 1 (24)

From the above, the above-mentioned six parameters X ₀ , Y ₀ , V, cos α, cos β, and cos γ are obtained by the existing least squares method so that the next evaluation function S is minimized.

S = Σ (y ₁ ² + y ₂ ² + y ₃ ² ) (25) However, Σ indicates that the sum of the values at all sampling times is calculated.

Six parameters X ₀ , Y ₀ , V, cos
Once α, cos β, and cos γ are obtained, the known coordinates x ₀ and y ₀ other than z ₀ are obtained as follows using the relationships of equations (14) to (19).

X ₀ = X ₀ z ₀ (26) y ₀ = Y ₀ z ₀ (27)

Further, from the relation of the equations (1), (2) and (3), the target magnetic moment magnitude M is expressed by the following equation.

M = (H _x ² + H _y ² + H _z ² ) ^1/2 r ⁵ / (a ² + b ² + c ² ) ^1/2 = H _t r ⁵ / (a ² + b ² + c ² ) ^1/2 … (28)

Here, if the magnitude of the total magnetic field measured at t = 0 is used as H _t , the remaining unknowns on the right side of the equation (28) are all t = 0, that is, x _0. , Y ₀ , z ₀ , so that M can be known. Then, the moving target can be identified from the magnitude M of the magnetic moment.

Next, at t = 0, an acoustic pulse is emitted from the device 1, an echo from the target is detected, and the direct distance R _sm between the target and the device (position of the triaxial magnetometer) is detected from the time. by a method to know, if a straight distance R _sm is known, z ₀ appropriately assuming a temporary in the same manner as described above _{(x 0, y 0, z} 0) and determine the magnetic moment M, the following equation Thus, the actual position of the target at t = 0 (x ₀₀ ,
y ₀₀ , z ₀₀ ) and the actual magnetic moment M ₀₀ can be determined.

X ₀₀ = x ₀ R _sm / r ₀ (29) y ₀₀ = y ₀ R _sm / r ₀ (30) z ₀₀ = z ₀ R _sm / r ₀ (31) M ₀₀ = M ( R _sm / r ₀ ) ^1/3 (32) However, r ₀ = (x ₀ ² + y ₀ ² + z ₀ ² ) ^1/2

Next, the Doppler effect of the acoustic signal emitted by the target
If the target speed v is known using the result,
Equations (33) to (38) as shown in Equations (1), (2), (3) and Equation (11),
Dividing the quantities of (12) and (13) by v,
Substituting into (7) and (8), we obtain the relational expressions of the above equations (20) and (21).
To be The unknown parameter in this case is X₀, Y₀, Z
₀, Cos α, cos β, cos γ. As in the case above
Similarly, the existing evaluation function S of Eq. (25) is minimized.
Find the above 6 parameters by least squares method
For example, the target position (x₀, Y₀, Z₀) Is
Calculated from the following relational expressions (33) to (38), the magnetic moment
The size M of the component is the same as that described above using the equation (28).
Is required.

X = x / v = (x ₀ / v) + t = X ₀ + t (33) X ₀ = x ₀ / v (34) V = v / v = 1 (35) Y ₀ = y ₀ / v (36) Z ₀ = z ₀ / v (37) R = r / v (38)

In the above description, the position (x,
It is assumed that the moving target in y, z) has a magnetic moment M that can be regarded as one magnetic dipole, but when the distance to the device is short compared to the size of the moving target, the moving target moves as shown in FIG. For the purposes, it may be more appropriate to assume that the magnetic dipoles are distributed in the path direction. In this case, the magnetic moment of each of the m magnetic dipoles is _represented by m _k , its direction cosine (cos α _k , cos β _k , cos γ _k ), and the position coordinates are represented by (x−d _k , _yo , z ₀ ). . However, k = 0,
1, 2, ..., M-1. Each magnetic moment m _k
The x, y, z components of the magnetic field created by the origin are expressed by equations (1), (2),
The same as in (3):

[0048] H_xk= M_ka_k/ R_k ⁵                    … (39) H_yk= M_kb_k/ R_k ⁵                    … (40) H_zk= M_kc_k/ R_k ⁵                    … (41) However, a_k= {3 (x-d_k)^Two-R_k ^Two} Cos α_k+3 (x-d
_k) ycosβ_k + 3z (x-d_k) cosγ_k b_k= 3 (x-d_k) Ycos α_k+ (3y^Two-R_k ^Two) Co
sβ_k+ 3yzcosγ_k c_k= 3z (x-d_k) cos α_k+ 3yzcosβ_k+ (3z
^Two-R_k ^Two) Cosγ_k r_k= {(X-d_k)^Two+ Y^Two+ Z^Two}^1/2 k = 0, 1, 2, ..., M-1

Therefore, the magnetic fields H _x , H _y and H _{z at the} origin due to all the magnetic moments have Σ from k = 0 to k =
If the sum total up to m-1 is represented, the following equation is obtained.

[0050] _{H x = ΣH xk ... (42} ) H y = ΣH yk ... (43) H z = ΣH zk ... (44)

Using these equations (42), (43), (44),
The relationship between (5) and (6) is obtained, and the theoretical and actual values remain at each sampling time for applying the least squares method as in Eqs. (22), (23), and (24). The following (m + 2) residual equations are determined from the difference equation and the law of the sum of squares of the direction cosine. In the case of m moments, the unknown parameters are (5m + 2).

Y ₁ = H _h (t) -H _sh (t) (45) y ₂ = H _z (t) -H _sz (t) (46) y ₃ = cos ² α ₀ + cos ² β ₀ + Cos ² γ ₀ -1 (47-1) y ₄ = cos ² α ₁ + cos ² β ₁ + cos ² γ ₁ -1 (47-2) ・ ・ ・ ・ ・ ・ ・ ・ ・ ym _{+ 2} = cos ² α _m-1 + cos ² β _m-1 + cos ² γ _m-1 -1 (47-m)

From this, the above-mentioned parameters are obtained by the existing least squares method so that the following evaluation function S is minimized.

S = Σ (y ₁ ² + y ₂ ² + y ₃ ² + ... + ym ₊₂ ² ) (48) However, Σ indicates that the sum of the values at all sampling times is calculated.

In the past, the residual equations y ₁ and y ₂ were defined as the difference between the theoretical value and the measured value of the horizontal magnetic field component and the vertical magnetic field component at each sampling time. And a theoretical value represented by the equations (42), (43), (44), etc. may be used as a residual equation. The residual equation in this case is as follows.

Y ₁ = H _x (t) -H _sx (t) (49) y ₂ = H _y (t) -H _sy (t) (50) y ₃ = H _z (t) -H _sz (t)… (51) y ₄ = cos ² α ₀ + cos ² β ₀ + cos ² γ ₀ -1… (52) ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・

In this case, the position (x, y, z) at the arbitrary time t = t of the moving target that travels straight at a constant speed must be expressed by dividing the velocity component into v _x and v _y as in the following equation. .

X = x ₀ + v _x · t (53) y = y ₀ + v _y · t (54) z = z ₀ (55)

In each of the above equations, the data conversion step is a value (measurement
H _sx , H is the step of converting the data acquired in the acquisition step) into a form that can take the theoretical value and the residual.
_The values with subscript s such as _sy and H _{sz have been subjected to the} data conversion step, and are represented by the equations (9), (10), (22), (23), (29), (3
The ones with the subscript s of 0), (31), (45), (46), (49), (50), and (51) correspond.

In the above embodiment, the case where the signal generated by the moving target is a magnetic field has been described, but in the present invention, the field generated at any one point in space by the signal generated by the moving target is expressed by the equation.
The present invention can also be applied to an electric field, an acoustic signal, and the like expressed by a predetermined theoretical formula like (1), (2), and (3).

Although the embodiment of the present invention has been described above, it is obvious to those skilled in the art that the present invention is not limited to this and various modifications and changes can be made within the scope of the claims. Ah

[0062]

As described above, according to the method of detecting the relative position of the moving target according to the present invention, the moving target performing the uniform linear motion with the detector arranged at one location and the detector. It is possible to detect the approach of the moving target by detecting the relative position of.

Further, the size of the signal source of the moving target is obtained, and the moving target can be identified by using the database in which the size of the moving target and the size of the signal source are associated with each other.

[Brief description of drawings]

FIG. 1 is an “apparatus coordinate system” that determines each axial magnetic field component in an embodiment of a moving target relative position detection method according to the present invention.
FIG. 3 is an explanatory diagram for explaining parameters to be calculated and

FIG. 2 is an explanatory diagram for explaining analysis of a course of a moving target according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram for explaining a residual expression of a least square method according to the embodiment of the present invention.

FIG. 4 is an explanatory diagram for explaining the assumption that a plurality of magnetic dipoles are distributed in the traveling direction on the moving target according to the embodiment of the present invention.

[Explanation of symbols]

1 device 2 3-axis magnetometer 5 theoretical formula H _h = (t: x ₀ , y ₀ , z ₀ , cos α, c
osβ, cosγ) 6 t _i actual measurement value H _sh (t _i ) 7 residual error equation y ₁ = H _h (t _i ) −H _sh (t _i ) 10 of the horizontal magnetic field component at the sampling time t _i Moving target position coordinates (x, y, z) 11 Magnetic moment 12 Moving target course x = x ₀ + v · t, y = _yo ,
z = z ₀ α Angle between magnetic moment and X axis in device coordinate system β Angle between magnetic moment and Y axis in device coordinate system γ Angle between magnetic moment and Z axis in device coordinate system r Moving target Distance to device

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Makoto Fukumoto 5-21-11 Kamima, Setagaya-ku, Tokyo Inside the Ishikawa Works Tokyo Research Laboratory (72) Inventor Kazuyuki Shimoide 5-21- Kamima, Setagaya-ku, Tokyo 11 Ishikawa Mfg. Co., Ltd. Tokyo Research Laboratory (56) Reference JP-A-1-288787 (JP, A) JP-A-9-154881 (JP, A) JP-A-10-62509 (JP, A) JP-A-10 -62510 (JP, A) JP 59-211877 (JP, A) JP 3-276002 (JP, A) JP 3-176293 (JP, A) JP 2500347 (JP, B2) JP 7-78540 (JP, B2) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S 3/80-3/86 G01S 5/18-5/30 G01S ⁷ /52-7/64 G01S 15 / 00-15/96 G01V 3/08-3/11 G01R 33/02

Claims (2)

(57) [Claims] 1. A detector disposed at one location for capturing orthogonal three-axis components of a magnetic field or electric field signal generated by a moving target is used, and the relative position between the detector and the moving target performing constant-velocity linear motion is determined. A relative position detecting method of a moving target to be detected, wherein a magnetic field or an electric field signal generated by the moving target is measured and acquired in time series until the moving target reaches at least the closest position to the detector. Measurement / acquisition step, a data conversion step for processing the data acquired in the measurement / acquisition step, an altitude difference or distance between the moving target and the detector, or
Is a step of calculating an unknown parameter by the least square method using a residual expression of the converted data obtained in the data conversion step and a value based on a theoretical expression with any one of the moving target velocities known. Based on, and detecting the relative position of the moving target , the measurement and acquisition step, the data conversion step and
According to the calculation step, the magnitude of the signal source of the moving target
A method for detecting the relative position of a moving target, characterized in that the target is obtained by identifying the target . The method according to claim 2, wherein the calculating step, using a theoretical formula which assumes that the signal source of the moving target is divided into a plurality 請
The method for detecting the relative position of a moving target according to claim 1 .