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WO2023047522A1 - Dispositif radar et système radar - Google Patents

Dispositif radar et système radar Download PDF

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Publication number
WO2023047522A1
WO2023047522A1 PCT/JP2021/035039 JP2021035039W WO2023047522A1 WO 2023047522 A1 WO2023047522 A1 WO 2023047522A1 JP 2021035039 W JP2021035039 W JP 2021035039W WO 2023047522 A1 WO2023047522 A1 WO 2023047522A1
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WO
WIPO (PCT)
Prior art keywords
radar
radar device
coherent
reception
coherent integration
Prior art date
Application number
PCT/JP2021/035039
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English (en)
Japanese (ja)
Inventor
洋介 佐藤
Original Assignee
株式会社日立国際電気
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社日立国際電気 filed Critical 株式会社日立国際電気
Priority to JP2023549247A priority Critical patent/JP7588245B2/ja
Priority to PCT/JP2021/035039 priority patent/WO2023047522A1/fr
Publication of WO2023047522A1 publication Critical patent/WO2023047522A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the present invention relates to a radar device that detects objects existing within a surveillance area based on the reception results of reflected waves for transmitted waves.
  • FMCW (Frequency Modulated Continuous-Wave) radar devices having a structure as shown in FIG. 1 are known as radar devices using microwaves, millimeter wave bands, and the like.
  • Radar apparatus 100 in FIG. 1 amplifies a frequency-modulated radar signal from FMCW transmission source 101 with transmission power amplifier 103 and emits it from transmission antenna 104 .
  • the object T reflects the radar transmission wave.
  • a reflected wave from the object T is received by the receiving antenna 105 of the radar device 100, amplified by the receiving power amplifier 106, and then mixed with the transmission radar signal component from the power divider 102 by the mixer 107 to form an IF signal. converted.
  • the IF signal output from the mixer 107 is A/D-converted and signal-processed by the signal processing section 108 .
  • radar detection results such as reflected received power (reflected wave power) by object T, distance to object T, azimuth of object T, speed when object T is moving (relative speed with respect to radar device 100), etc. is obtained.
  • Patent Document 1 a millimeter-wave radar is installed on a mobile body, and the distance between a first reflector and a second reflector respectively installed near the target position, and the distance from these reflectors An invention is disclosed that measures the distance to a target position based on the reception result of reflected waves.
  • Radar devices are used to detect objects on road surfaces such as roads and runways to be monitored. There are usually no reflective objects such as fallen objects or abandoned objects on roads or runways. Therefore, the radar device continues to send radar transmission waves to a monitoring area where there are no reflecting objects, and only when some reflecting object appears in the monitoring area, a received wave (reflected wave) is obtained, and the object is detected. be done.
  • the received power value of the reflected wave is determined by the distance between the radar device and the object, the type of object, the shape of the object, etc. Moreover, the radar device has a noise floor value determined by system specifications, and if the received power value of the reflected wave from the object is less than the noise floor value, the object cannot be detected.
  • the ratio between the received power value and the noise floor value can be called the received S/N, and the larger the received S/N, the more erroneous detection can be reduced.
  • the reception S/N also fluctuates depending on the weather conditions. For example, various devices that make up a radar apparatus have their own unique temperature characteristics, and transmission power and reception gain vary depending on the temperature. Therefore, the reception S/N itself has temperature characteristics. Also, the reception S/N fluctuates due to rainfall or snowfall. Furthermore, reception S/N fluctuates due to the effects of snow or rainfall in space, as well as the effects of rain or snow adhering to a radar device or an object (object to be detected). Thus, reception S/N fluctuates according to weather conditions. In addition, when the reception S/N is small, erroneous detection increases, which may lead to instability of the detection result.
  • the present invention has been made in view of the conventional circumstances as described above, and it is an object of the present invention to suppress deterioration in the object detection performance of a radar device due to weather conditions.
  • a radar device that is one aspect of the present invention is configured as follows.
  • a radar device that detects an object existing in a surveillance area based on the result of coherent integration of the reflected wave of a radar transmission wave, based on the weather data obtained for the radar device, per sweep time of the surveillance area It is characterized by controlling the number of times of coherent integration.
  • the meteorological data includes air temperature, and based on the air temperature, it can be configured to control the number of coherent integrations per scanning time of the monitored area.
  • the meteorological data may include rainfall, and based on the rainfall, the number of coherent integrations per scanning time of the monitored area may be controlled.
  • the radar device can be configured to estimate the amount of rainfall based on the received power value of the reflected wave of the radar transmission wave from the reference reflector installed within the monitoring area.
  • a radar system that is one aspect of the present invention is configured as follows. That is, in a radar system having a plurality of radar devices that detect objects existing in a surveillance area based on the results of coherent integration of reflected waves of radar transmission waves, a weather station that acquires weather data and a plurality of radar devices are used. and a radar control device for controlling the number of coherent integrations per scanning time of the monitored area for the plurality of radar devices based on meteorological data obtained by the meteorological station. It is characterized by transmitting a signal.
  • the present invention it is possible to suppress deterioration of the object detection performance of the radar device due to weather conditions.
  • FIG. 4 is a diagram showing an example of a spectrum obtained by signal processing a reflected wave signal of a radar transmission wave
  • FIG. 5 is a diagram showing another example of a spectrum obtained by signal processing a reflected wave signal of a radar transmission wave
  • FIG. 4 is a diagram showing an example of temperature characteristics of devices that constitute the radar apparatus
  • FIG. 10 is a diagram showing an example of functional blocks related to adjustment of the number of times of coherent integration; It is a figure explaining the change of the frequency
  • FIG. 4 is a diagram showing an example of a spectrum obtained by signal processing a reflected wave signal of a radar transmission wave
  • FIG. 5 is a diagram showing another example of a spectrum obtained by signal processing a reflected wave signal of a radar transmission wave
  • FIG. 4 is a diagram showing an example of temperature characteristics of devices that constitute the radar apparatus
  • FIG. 10 is a diagram showing an example of functional blocks related to adjustment of the number of times of coherent integration; It is a figure explaining the change of the frequency
  • FIG. 10 is a diagram showing an example of continuous change of the number of times of coherent integration
  • FIG. 10 is a diagram showing an example of continuous change of the antenna count speed
  • FIG. 10 is a diagram showing an example of discrete changes in the number of times of coherent integration
  • FIG. 10 is a diagram showing an example of discrete changes in antenna count rate
  • It is a figure which shows the outline
  • FIG. 5 is a diagram showing an example of change in received power value of reflected waves due to rainfall;
  • FIG. 2 shows an overview of the radar system according to the first embodiment of the invention.
  • the radar system of this example includes a sensor device 200 including a radar device 120 and a camera device 140 installed toward a predetermined monitoring area R, and a radar control device 300 and a display device 400 installed in a control room, a monitoring room, or the like. and a weather gauge 500 provided side by side with the sensor device 200 .
  • FIG. 2 shows only one sensor device 200 and one meteorological gauge 500 for simplification of explanation, the number of these devices is arbitrary.
  • the basic configuration of the radar device 120 is the same as the radar device 100. That is, the radar device 120 transmits a radar transmission wave from the transmission antenna 104 to the monitoring area R, and receives a reflected wave of the radar transmission wave with the reception antenna 105 . Note that the transmitting antenna 104 and the receiving antenna 105 may be separate antennas, or may be an integrated antenna.
  • the radar device 120 performs signal processing such as FFT (Fast Fourier Transform) and coherent integration on the received reflected wave signal in the signal processing unit 108, and outputs the obtained radar detection result to the radar control device. 300. Based on the radar detection result received from the radar device 120, the radar control device 300 causes the display device 400 to display the detection information of the object X (falling object or abandoned object) present in the monitoring area R.
  • FFT Fast Fourier Transform
  • the monitoring area R of the radar device 120 is a predetermined section on a road surface such as a road or runway to be monitored, and the antenna angle of the radar device 120 is set so as to include the monitoring area R.
  • the distance from the radar device 120 to the object X can be calculated by signal processing the reflected wave from the object X.
  • FIG. Further, when the antenna of the radar device 120 is mechanically rotated, the angle (azimuth) of the object X with respect to the radar device 120 can be specified based on the rotation angle information of the antenna.
  • the angle (azimuth) of the object X with respect to the radar device 120 is specified based on the beam scanning angle information. can do.
  • the distance and angle information obtained by the radar device 120 is transmitted to the camera device 140 via the radar control device 300.
  • the camera device 140 turns according to the angle information obtained by the radar device 120 and adjusts its focus according to the distance information obtained by the radar device 120 .
  • the object X fits within the angle of view of the camera device 140 .
  • camera device 140 captures an image of object X and transmits video data to display device 400 .
  • Display device 400 displays an image including object X based on the image data received from camera device 140 .
  • Fig. 3 shows an example of the spectrum obtained by signal processing the reflected wave signal of the radar transmission wave.
  • the received power value of the reflected wave is determined by the distance between the radar device and the object, the type of object, the shape of the object, and the like.
  • the radar device has a noise floor value determined by system specifications, and if the received power value of the reflected wave from the object is less than the noise floor value, the object cannot be detected.
  • the ratio between the received power value and the noise floor value can be called the received S/N, and the larger the received S/N, the more erroneous detection can be reduced.
  • Fig. 4 shows an example of a spectrum when the reception S/N is degraded.
  • the reception S/N is degraded compared to FIG. If the reception S/N is small, erroneous detection increases, which may lead to unstable detection results.
  • the reception S/N fluctuates depending on weather conditions. Therefore, in this system, the weather gauge 500 is installed at approximately the same position as the radar device 120, and based on the weather data observed by the weather gauge 500, deterioration of the reception S/N due to weather conditions is suppressed. The mechanism will be specifically described below.
  • Temperature characteristics of each device such as the transmission power amplifier 103 and the reception power amplifier 106 that constitute the radar device 120 can be considered as one factor of reception S/N fluctuation due to weather conditions.
  • the temperature characteristics of each device as shown in Fig. 5, in a high temperature environment (near K2), the transmission power and reception gain generally decrease, and in a low temperature environment (near K1), the transmission power and reception gain increase. target. Therefore, in a high temperature environment (near K2), the reception S/N is lower than that in a room temperature environment (near K0) due to a decrease in transmission power and reception gain.
  • K1, K2, and K3 are preset reference values, and have a relationship of K1 ⁇ K0 ⁇ K2.
  • Coherent integration is known as one method of improving the reception S/N. If n is the number of times the reflected wave from the object is integrated in the time domain, the reception S/N can be improved by 10 ⁇ log(n). Therefore, by appropriately using coherent integration, it is possible to compensate for the decrease in reception S/N due to weather conditions.
  • FIG. 6 shows an example of functional blocks related to adjustment of the number of times of coherent integration. Note that FIG. 6 omits functional blocks that are not directly related to the adjustment of the number of times of coherent integration.
  • the radar device 120 of this example includes a transmission characteristic acquisition section 121, a reception characteristic acquisition section 122, and a coherent integration adjustment section 123 in addition to the functional blocks shown in FIG. Also, the weather gauge 500 attached to the radar device 120 observes the temperature, humidity, wind volume, atmospheric pressure, etc. in the actual environment of the radar device 120 and provides the radar device 120 with weather data including the observation results.
  • the transmission characteristic acquisition unit 121 is provided in association with the transmission power amplifier 103, and constantly monitors the transmission power amplifier 103 to measure the transmission power.
  • Reception characteristic acquisition section 122 is provided in association with reception power amplifier 106 and constantly monitors reception power amplifier 106 to measure reception gain.
  • transmission power and transmission power have temperature characteristics as shown in FIG. Therefore, in the first embodiment, the radar device 120 controls the number of times of coherent integration based on the weather data provided from the meteorological station 500, By adjusting the number of times of coherent integration according to the amount of variation in the measured value, the decrease in the reception S/N is compensated.
  • the coherent integration adjustment unit 123 calculates an appropriate number of coherent integrations for the reflected wave signal based on weather data provided by the meteorological gauge 500 . Then, when the calculated number of times and the current number of coherent integrations are different, the coherent integration adjusting section 123 instructs the signal processing section 108 to change the number of coherent integrations to the calculated number of times. The signal processing unit 108 changes the number of coherent integrations for the reflected wave signal according to the instruction from the coherent integration adjusting unit 123 .
  • the change in the number of times of coherent integration will be further described with reference to FIGS. As shown in FIG. 7, it takes T [s (seconds)] for one rotation (360° rotation) of the antenna of the radar device. At this time, if the angular resolution of the rotation of the antenna is N, the minimum step of the rotation angle is 360/N[°]. Also, the minimum step of the rotation time is T/N [s].
  • the sweep time of the FMCW radar is t [s]
  • there are T/(N ⁇ t) frequency sweeps during the minimum step time T/N [s] and coherent integration is performed this number of times. be able to. Therefore, in order to increase the number of times of coherent integration, the time T required for one rotation of the antenna should be increased, or the time t required for one sweep of the FMCW radar should be decreased.
  • the number of coherent integrations and the rotation speed of the antenna are continuously (linearly) changed.
  • the rotation speed of the antenna may be changed discretely (stepwise).
  • FIG. 10 shows an example of discrete changes in the number of coherent integrations.
  • FIG. 11 shows an example of discrete changes in the antenna speed.
  • the number of times of coherent integration and the rotation speed of the antenna are discretely changed by the threshold K3 provided between K1 and K0 and the threshold K4 provided between K0 and K2. ing. K0 to K4 may be determined based on meteorological data observed and accumulated in the past.
  • coherent integration adjustment section 123 compensates for a decrease in the S/N ratio of the received signal based on the transmission power value measured by transmission characteristic acquisition section 121 and the reception power value measured by reception power amplifier 106. determines the number of integrations for coherent integration.
  • the FMCW radar transmits a signal whose frequency is repeatedly swept at time intervals t, as shown in FIG.
  • Coherent integration is an operation in which received signals are added multiple times at this time interval t, and it is known that if the number of times of integration is n, the S/N ratio is improved by n times.
  • the S/N ratio is 3 dB for the 3 dB drop in the signal component. It will get worse.
  • the noise (N) can be reduced by 3 dB by doubling (3 dB) the number of times of coherent integration as compared to the normal time, and deterioration of the total S/N ratio can be prevented.
  • FIG. 12 shows an overview of the radar system according to the second embodiment of the present invention.
  • the radar system according to the second embodiment includes a reference reflector 600 installed within the monitoring area R in addition to the configuration of the first embodiment.
  • the radar device 120 also measures the received power value of the wave reflected by the reference reflector 600 .
  • the reference reflector 600 is required to always reflect radio waves stably regardless of the irradiation angle of the radar transmission wave from the radar device 120.
  • Metal corner reflectors which are known to have a wide
  • the radar device 120 estimates the rainfall amount based on the received power value of the reflected wave from the reference reflector 600, and controls the number of coherent integrations based on the estimated rainfall amount. Compensate for the decrease in reception S/N.
  • the control of the number of times of coherent integration can be realized by a method similar to that described with reference to FIGS. 8 to 11. That is, the number of times of coherent integration per sweep time of the monitoring area R is increased by slowing down the rotational speed of the antenna as the amount of rainfall increases. Also, by increasing the rotational speed of the antenna as the amount of rainfall decreases, the number of times of coherent integration per sweep time of the monitoring area R is reduced. This makes it possible to keep the reception S/N constant regardless of changes in rainfall.
  • the number of times of coherent integration and the rotation speed of the antenna may be changed continuously (linearly) as shown in FIGS. 8 and 9, or may be changed discretely (stepwise) as shown in FIGS. may If the weather data provided by the weather gauge 500 includes the amount of rainfall, the estimation of the amount of rainfall based on the received power value of the wave reflected by the reference reflector 600 may be omitted.
  • the second embodiment can also be implemented in combination with the first embodiment.
  • both changes in reception S/N due to the temperature characteristics of the radar device 120 itself and changes in reception S/N due to external meteorological factors such as rainfall and snowfall can be can be corrected.
  • one weather station 500 is provided for one radar device 120, but one weather station 500 may be provided for a plurality of radar devices 120. and the number of weather gauges 500 do not have to match.
  • a plurality of radar devices 120 share the weather data obtained by one meteorological station 500, so that the number of meteorological stations 500 can be reduced.
  • the installation environments of the radar device 120 and the weather gauge 500 are significantly different, the weather data obtained by the weather gauge 500 cannot be applied to the radar device 120 . Therefore, in order to use the weather data obtained by the meteorological gauge 500 as the weather data for the radar device 120, the installation environments must be close to each other.
  • the radar device 120 itself controls the number of times of coherent integration, but the radar control device 300 may control the number of times of coherent integration of the radar device 120 .
  • the radar control device 300 controls the number of times of coherent integration for one or more radar devices 120 whose installation environment is close to the weather station 500 based on the weather data provided by the weather station 500. may be configured to transmit the control signal of
  • the radar device 120 may observe changes in the reception S/N over a long period of time and analyze factors that cause the reception S/N to fluctuate.
  • Factors that change the received S/N include (1) weather (e.g., temperature, rain, snow), and (2) performance changes in the transmission or reception system (e.g., deterioration over time, temperature characteristics, damage to parts). and (3) the effect of changes in the installation state (for example, the mechanical deviation of the antenna angle due to long-term installation). These are the factors that cause deterioration of the reception S/N, and each factor can be separated by observing the reception S/N for a long period of time. By observing the factor (2), it becomes possible to extract the influence of component deterioration unrelated to weather changes.
  • the present invention can be provided not only as devices such as those mentioned in the above description and systems configured with these devices, but also as methods executed by these devices and functions of these devices by a processor. It is also possible to provide a program for implementation, a storage medium storing such a program in a computer-readable manner, and the like.
  • the present invention can be used in a radar device that detects objects existing within a surveillance area based on the reception results of reflected waves for transmitted waves.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Une unité de réglage d'intégration cohérente (123) d'un dispositif radar (100) calcule un nombre approprié d'intégrations cohérentes pour un signal d'onde réfléchie en fonction de données météorologiques fournies par un dispositif de mesure météorologique (500). Si le nombre calculé diffère du nombre d'intégrations cohérentes en cours, l'unité de réglage d'intégration cohérente (123) commande à une unité de traitement de signal (108) de remplacer le nombre d'intégrations cohérentes par le nombre calculé. L'unité de traitement de signal (108) remplace le nombre d'intégrations cohérentes pour le signal d'onde réfléchie conformément à l'instruction provenant de l'unité de réglage d'intégration cohérente (123).
PCT/JP2021/035039 2021-09-24 2021-09-24 Dispositif radar et système radar WO2023047522A1 (fr)

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JP2023549247A JP7588245B2 (ja) 2021-09-24 2021-09-24 レーダーシステム
PCT/JP2021/035039 WO2023047522A1 (fr) 2021-09-24 2021-09-24 Dispositif radar et système radar

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116626639A (zh) * 2023-05-24 2023-08-22 无锡智鸿达电子科技有限公司 双偏振云雷达自适应信号处理方法、系统、介质及设备

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JPH10227853A (ja) * 1997-02-13 1998-08-25 Mitsubishi Electric Corp レーダ装置及びそのレーダ信号処理方法
JP2000275340A (ja) * 1999-03-25 2000-10-06 Mitsubishi Electric Corp レーザレーダ装置
JP2001201571A (ja) * 2000-01-20 2001-07-27 Mitsubishi Electric Corp 霧レーダ空中線走査方法および霧観測方法
JP2004037474A (ja) * 2003-10-17 2004-02-05 Mitsubishi Electric Corp レーザレーダ装置
JP2013083540A (ja) * 2011-10-11 2013-05-09 Furukawa Electric Co Ltd:The 車載レーダ装置および車載レーダ装置の制御方法
US20140043185A1 (en) * 2011-04-21 2014-02-13 Thales Method for detecting, over several antenna revolutions, slow-moving targets buried in the radar clutter, using a mobile radar having a rotary antenna
JP2014081311A (ja) * 2012-10-17 2014-05-08 Panasonic Corp レーダ装置

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JPS6385476A (ja) * 1986-09-30 1988-04-15 Mitsubishi Electric Corp 捜索レ−ダシステム
JPH10227853A (ja) * 1997-02-13 1998-08-25 Mitsubishi Electric Corp レーダ装置及びそのレーダ信号処理方法
JP2000275340A (ja) * 1999-03-25 2000-10-06 Mitsubishi Electric Corp レーザレーダ装置
JP2001201571A (ja) * 2000-01-20 2001-07-27 Mitsubishi Electric Corp 霧レーダ空中線走査方法および霧観測方法
JP2004037474A (ja) * 2003-10-17 2004-02-05 Mitsubishi Electric Corp レーザレーダ装置
US20140043185A1 (en) * 2011-04-21 2014-02-13 Thales Method for detecting, over several antenna revolutions, slow-moving targets buried in the radar clutter, using a mobile radar having a rotary antenna
JP2013083540A (ja) * 2011-10-11 2013-05-09 Furukawa Electric Co Ltd:The 車載レーダ装置および車載レーダ装置の制御方法
JP2014081311A (ja) * 2012-10-17 2014-05-08 Panasonic Corp レーダ装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116626639A (zh) * 2023-05-24 2023-08-22 无锡智鸿达电子科技有限公司 双偏振云雷达自适应信号处理方法、系统、介质及设备
CN116626639B (zh) * 2023-05-24 2023-11-14 无锡智鸿达电子科技有限公司 双偏振云雷达自适应信号处理方法、系统、介质及设备

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