RADAR DEVICE AND RADAR IMAGE DISPLAY METHOD

Abstract

A radar device comprises a transmitter, a receiver, a first radar image production component, a second radar image production component, a display component, and an echo width adjuster. The transmitter transmits a pulse signal. The receiver receives an echo signal during a transmission and reception period of the pulse signal. The first radar image production component produces a radar image of a first display range on the basis of the echo signal. The second radar image production component produces a radar image of a second display range that is wider than the first display range on the basis of the echo signal. The display component selectively or simultaneously displays the radar image of the first display range and the radar image of the second display range. The echo width adjuster adjusts pulse width of echo included in the radar images or the echo signal according to the display range of the radar image.

Claims

1. A radar device comprising: a transmitter configured to transmit a pulse signal; a receiver configured to receive an echo signal during a transmission and reception period of the pulse signal; a first radar image production component configured to produce a radar image of a first display range on the basis of the echo signal; a second radar image production component configured to produce a radar image of a second display range that is wider than the first display range on the basis of the echo signal; a display component configured to selectively or simultaneously display the radar image of the first display range and the radar image of the second display range; and an echo width adjuster configured to adjust pulse width of echo included in the radar images or the echo signal according to the display range of the radar image.

2. The radar device according to claim 1, wherein the first radar image production component and the second radar image production component produce radar images of the display ranges on the basis of a shared echo signal.

3. The radar device according to claim 1, wherein at least one of the first radar image production component and the second radar image production component produces a radar image on the basis of an echo signal in which the pulse width of the echo has been adjusted by the echo width adjuster.

4. The radar device according to claim 3, wherein the transmitter transmits the pulse signal at a pulse width according to the first display range, the echo width adjuster extends the pulse width of the echo included in the echo signal up to a pulse width corresponding to the second display range, the first radar image production component produces the radar image of the first display range on the basis of an echo signal in which the pulse width of the echo has not been adjusted by the echo width adjuster, and the second radar image production component produces the radar image of the second display range on the basis of an echo signal in which the pulse width of the echo has been extended by the echo width adjuster.

5. The radar device according to claim 1, wherein the transmitter transmits at least an unmodulated pulse and a modulated pulse, the receiver receives an unmodulated echo signal during a transmission and reception period of the unmodulated pulses, and receives a modulated echo signal during a transmission and reception period of the modulated pulses, there is provided a modulated echo signal processor configured to produce a compressed echo signal by subjecting the modulated echo signal to pulse compression, the first radar image production component and the second radar image production component each produce the radar image on the basis of the modulated echo signal and the compressed echo signal, and the echo width adjuster adjusts the pulse width of an echo included in at least one of the modulated echo signal and the compressed echo signal according to the display range of the radar image.

6. The radar device according to claim 5, comprising a pulse synthesizer configured to produce a composite echo signal by synthesizing the unmodulated echo signal and the compressed echo signal, wherein the echo width adjuster adjusts the pulse width of an echo included in the composite echo signal according to the display range.

7. A radar image display method comprising: transmitting a pulse signal; receiving an echo signal during a transmission and reception period of the pulse signal; producing a radar image of a first display range on the basis of the echo signal; producing a radar image of a second display range that is wider than the first display range on the basis of the echo signal; selectively or simultaneously displaying the radar image of the first display range and the radar image of the second display range; and adjusting the pulse width of echo included in the echo signal or the radar image according to the display range of the radar image.

8. The radar device according to claim 2, wherein at least one of the first radar image production component and the second radar image production component produces a radar image on the basis of an echo signal in which the pulse width of the echo has been adjusted by the echo width adjuster.

9. The radar device according to claim 8, wherein the transmitter transmits the pulse signal at a pulse width according to the first display range, the echo width adjuster extends the pulse width of the echo included in the echo signal up to a pulse width corresponding to the second display range, the first radar image production component produces the radar image of the first display range on the basis of an echo signal in which the pulse width of the echo has not been adjusted by the echo width adjuster, and the second radar image production component produces the radar image of the second display range on the basis of an echo signal in which the pulse width of the echo has been extended by the echo width adjuster.

10. The radar device according to claim 2, wherein the transmitter transmits at least an unmodulated pulse and a modulated pulse, the receiver receives an unmodulated echo signal during a transmission and reception period of the unmodulated pulses, and receives a modulated echo signal during a transmission and reception period of the modulated pulses, there is provided a modulated echo signal processor configured to produce a compressed echo signal by subjecting the modulated echo signal to pulse compression, the first radar image production component and the second radar image production component each produce the radar image on the basis of the modulated echo signal and the compressed echo signal, and the echo width adjuster adjusts the pulse width of an echo included in at least one of the modulated echo signal and the compressed echo signal according to the display range of the radar image.

11. The radar device according to claim 3, wherein the transmitter transmits at least an unmodulated pulse and a modulated pulse, the receiver receives an unmodulated echo signal during a transmission and reception period of the unmodulated pulses, and receives a modulated echo signal during a transmission and reception period of the modulated pulses, there is provided a modulated echo signal processor configured to produce a compressed echo signal by subjecting the modulated echo signal to pulse compression, the first radar image production component and the second radar image production component each produce the radar image on the basis of the modulated echo signal and the compressed echo signal, and the echo width adjuster adjusts the pulse width of an echo included in at least one of the modulated echo signal and the compressed echo signal according to the display range of the radar image.

12. The radar device according to claim 4, wherein the transmitter transmits at least an unmodulated pulse and a modulated pulse, the receiver receives an unmodulated echo signal during a transmission and reception period of the unmodulated pulses, and receives a modulated echo signal during a transmission and reception period of the modulated pulses, there is provided a modulated echo signal processor configured to produce a compressed echo signal by subjecting the modulated echo signal to pulse compression, the first radar image production component and the second radar image production component each produce the radar image on the basis of the modulated echo signal and the compressed echo signal, and the echo width adjuster adjusts the pulse width of an echo included in at least one of the modulated echo signal and the compressed echo signal according to the display range of the radar image.

13. The radar device according to claim 8, wherein the transmitter transmits at least an unmodulated pulse and a modulated pulse, the receiver receives an unmodulated echo signal during a transmission and reception period of the unmodulated pulses, and receives a modulated echo signal during a transmission and reception period of the modulated pulses, there is provided a modulated echo signal processor configured to produce a compressed echo signal by subjecting the modulated echo signal to pulse compression, the first radar image production component and the second radar image production component each produce the radar image on the basis of the modulated echo signal and the compressed echo signal, and the echo width adjuster adjusts the pulse width of an echo included in at least one of the modulated echo signal and the compressed echo signal according to the display range of the radar image.

14. The radar device according to claim 9, wherein the transmitter transmits at least an unmodulated pulse and a modulated pulse, the receiver receives an unmodulated echo signal during a transmission and reception period of the unmodulated pulses, and receives a modulated echo signal during a transmission and reception period of the modulated pulses, there is provided a modulated echo signal processor configured to produce a compressed echo signal by subjecting the modulated echo signal to pulse compression, the first radar image production component and the second radar image production component each produce the radar image on the basis of the modulated echo signal and the compressed echo signal, and the echo width adjuster adjusts the pulse width of an echo included in at least one of the modulated echo signal and the compressed echo signal according to the display range of the radar image.

15. The radar device according to claim 10, comprising a pulse synthesizer configured to produce a composite echo signal by synthesizing the unmodulated echo signal and the compressed echo signal, wherein the echo width adjuster adjusts the pulse width of an echo included in the composite echo signal according to the display range.

16. The radar device according to claim 11, comprising a pulse synthesizer configured to produce a composite echo signal by synthesizing the unmodulated echo signal and the compressed echo signal, wherein the echo width adjuster adjusts the pulse width of an echo included in the composite echo signal according to the display range.

17. The radar device according to claim 12, comprising a pulse synthesizer configured to produce a composite echo signal by synthesizing the unmodulated echo signal and the compressed echo signal, wherein the echo width adjuster adjusts the pulse width of an echo included in the composite echo signal according to the display range.

18. The radar device according to claim 13, comprising a pulse synthesizer configured to produce a composite echo signal by synthesizing the unmodulated echo signal and the compressed echo signal, wherein the echo width adjuster adjusts the pulse width of an echo included in the composite echo signal according to the display range.

19. The radar device according to claim 14, comprising a pulse synthesizer configured to produce a composite echo signal by synthesizing the unmodulated echo signal and the compressed echo signal, wherein the echo width adjuster adjusts the pulse width of an echo included in the composite echo signal according to the display range.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG. 1 is a block diagram of the radar device pertaining to an embodiment of the present invention;

[0032] FIG. 2 is a graph of the relation between a transmission trigger and a pulse signal that transmits the radar image in this embodiment;

[0033] FIGS. 3(a), 3(b) and 3(c) show examples of pulse signals transmitted by a conventional radar device; and

[0034] FIG. 4 is a diagram illustrating a radar image based on a composite pulse signal obtained by synthesizing an unmodulated pulse and a modulated pulse.

DETAILED DESCRIPTION OF EMBODIMENTS

[0035] An embodiment of the present invention will now be described through reference to the drawings. FIG. 1 is a block diagram of a radar device 50 pertaining to this embodiment. The radar device 50 in this embodiment is configured as a marine pulse radar device.

[0036] The radar device 50 in this embodiment is configured so that two radar images having mutually different display ranges are display next to each other at the same time in “dual-screen simultaneous display mode.” The radar device 50 in this embodiment can also operate in normal mode in which just one radar image is displayed, but this is not described herein. The following description will focus exclusively on the configuration for achieving a “dual-screen simultaneous display mode.”

[0037] An antenna 1 is configured to have sharp directionality and to be able to send and receive high-frequency signals. The antenna 1 has a known configuration in which the transmission and reception of signals is repeated while the antenna is turned in a horizontal plane at a specific period.

[0038] A display range setting component 2 sets the display range of the radar images displayed by the radar device 50. The user can select and set one or more display ranges from among a plurality of stages of display range, such as R1, R2, R3, and so on. Since a “dual-screen simultaneous display mode” is assumed here, the description will be of a situation in which two different display ranges (such as R1 and R2) are set in the display range setting component 2. The size relation between the display ranges is such that R1<R2.

[0039] A transmission timing controller 3 outputs a transmission trigger that controls the transmission timing of pulse signals transmitted from the antenna 1.

[0040] A transmission waveform production component 4 has an oscillator that generates a high-frequency signal. In this embodiment, a semiconductor (solid state) oscillator is employed, and is configured to be able to output high-frequency signals that have undergone frequency modulation. As shown in FIG. 2, the transmission waveform production component 4 is configured to output unmodulated pulses and modulated pulses alternately every time a transmission trigger is inputted from the transmission timing controller 3. An “unmodulated pulse” is a pulse-form signal with a constant carrier frequency (in which the frequency is not modulated). A “modulated pulse” is a pulse-form signal (such as a chirp signal) that has undergone frequency modulation so that the carrier frequency changes continuously over time.

[0041] A transmitter 5 amplifies the pulse signal (unmodulated pulse or modulated pulse) outputted by the transmission waveform production component 4, and outputs it to the antenna 1. As a result, unmodulated pulses and modulated pulses are alternately outputted from the antenna 1.

[0042] The period from when a certain pulse signal has been transmitted until the next pulse signal is transmitted is called the transmission and reception period of the pulse signal. The transmission timing controller 3 is configured to control the interval at which trigger signals are outputted according to the type of pulse signal outputted by the transmission waveform production component 4 (unmodulated pulse or modulated pulse). This allows the transmission and reception period of the pulse signals (unmodulated pulses and modulated pulses) to be properly controlled.

[0043] A series of signals received by the antenna 1 during the transmission and reception period of a certain pulse signal is called an “echo signal.” For example, a series of signals received by the antenna 1 during the transmission and reception period of an unmodulated pulse is called an “unmodulated echo signal,” and a series of signals received by the antenna 1 during the transmission and reception period of a modulated pulse is called a “modulated echo signal.” Individual echoes included in the various echo signals (such as echoes from a target) are simply called “echoes.”

[0044] A receiver 6 amplifies the echo signal (unmodulated echo signal or modulated echo signal) received by the antenna 1, and outputs it to an unmodulated echo signal processor 7 or a modulated echo signal processor 8.

[0045] The unmodulated echo signal processor 7 performs specific signal processing on unmodulated echo signals, and outputs these to a pulse synthesizer 9. Examples of this processing include sensitivity adjustment and clutter removal.

[0046] The modulated echo signal processor 8 performs pulse compression processing on a modulated echo signal, and outputs this to the pulse synthesizer 9. Since pulse compression processing is known, it will not be described here. The signal outputted by the modulated echo signal processor 8 is called a compressed echo signal.

[0047] The pulse synthesizer 9 outputs a composite echo signal obtained by synthesizing the unmodulated echo signal outputted by the unmodulated echo signal processor 7 and the compressed echo signal outputted by the modulated echo signal processor 8. This synthesis processing was described as prior art, and therefore will not be described again here.

[0048] A first radar image production component 10 is configured to produce a radar image in PPI (plan position indicator) scope format on the basis of the composite echo signal outputted by the pulse synthesizer 9. This first radar image production component 10 produces a radar image with the display range (the display range R1 in this embodiment) that is narrower out of the two display ranges set in the display range setting component 2. The radar image of the display range R1 produced by the first radar image production component 10 is stored in a first image memory 12.

[0049] A second radar image production component 13 is also configured to produce a radar image in PPI scope format on the basis of the composite echo signal outputted by the pulse synthesizer 9. This second radar image production component 13 produces a radar image of the wider display range (the display range R2 in this embodiment) out of the two display ranges set in the display range setting component 2. The radar image of the display range R2 produced by the second radar image production component 13 is stored in a second image memory 16.

[0050] The radar image of the display range R1 stored in the first image memory 12, and the radar image of the display range R2 stored in the second image memory 16 are each transferred to a display component 17. The display component 17 displays the radar image of the display range R1 and the radar image of the display range R2 next to each other at the same time.

[0051] Thus, the radar device 50 in this embodiment can achieve a “dual-screen simultaneous display mode” in which radar images of different display ranges are displayed simultaneously.

[0052] The characteristic features of the radar device 50 in this embodiment will now be described.

[0053] As already described, with a conventional radar device, the pulse width of transmitted pulse signals was changed for each display range of the radar image. Accordingly, when a dual-screen simultaneous display mode was to be used, it was necessary to transmit pulse signals with two different pulse widths according to the two kinds of display range, so more kinds of pulse signal had to be transmitted, and the PFR decreased.

[0054] In contrast, the radar device 50 in this embodiment is configured to adjust the pulse width of the echoes included in received echo signals according to the display range of the radar image.

[0055] That is, the radar device 50 in this embodiment adjusts the pulse width “after the fact,” that is, after the echo signal has been received. Thus, since the radar device 50 in this embodiment adjusts the pulse width after the echo signal has been received, at the stage when the pulse signal is transmitted, there is no need to vary the pulse width for each display range.

[0056] In view of this, with the radar device 50 in this embodiment, as shown in FIG. 2, the configuration is such that a total of two kinds of pulse signal, consisting of unmodulated pulses with one kind of pulse width and modulated pulses of one kind of pulse width, are alternately transmitted. Because of the configuration of this embodiment, unmodulated pulses and modulated pulses may each be transmitted at one kind of pulse width.

[0057] As discussed above, the radar device 50 in this embodiment realizes a “dual-screen simultaneous display mode” in a pulse compression radar device, while only needing a total of two kinds of transmitted pulse signal, so the PRF can be increased over that of a conventional configuration (FIG. 3(c)) in which four kinds of pulse signal were transmitted in a specific order.

[0058] The pulse width of the pulse signal transmitted by the radar device 50 in this embodiment will now be described.

[0059] With the radar device 50 in this embodiment, since the pulse width of echoes included in received echo signals are adjusted after the fact according to the display range, the pulse width of a transmitted pulse signal does not need to be a pulse width that is suited to producing a radar image. However, of the two display ranges (R1 and R2), if the pulse signal is transmitted at the pulse width suited to one of these display ranges, then the radar image of that display range can be produced as it would be normally (without adjusting the pulse width of the echo).

[0060] In view of this, the transmission waveform production component 4 in this embodiment is configured to output a pulse signal at the pulse width suited to the narrowest display range (R1 in this embodiment) out of the plurality of display ranges set in the display range setting component 2 (R1 and R2 in this embodiment).

[0061] Specifically, as shown in FIG. 2, the transmission waveform production component 4 in this embodiment alternately outputs unmodulated pulses with a pulse width suited to the display range R1, and modulated pulses with a pulse width suited to the display range R1.

[0062] The configuration for producing a radar image on the basis of a received echo signal will now be described.

[0063] As discussed above, the unmodulated pulses and modulated pulses transmitted by the radar device 50 in this embodiment each have a pulse width suited to the display range R1. Therefore, the pulse width of an echo included in a composite echo signal (the output of the pulse synthesizer 9) obtained by the synthesis of echo signals received by the antenna 1 will be a pulse width that is suited to the display range R1.

[0064] In view of this, the first radar image production component 10 in this embodiment is configured to produce a radar image of the display range R1 by using a composite echo signal just as it is (without adjusting the pulse width of the echo).

[0065] The first radar image production component 10 comprises the above-mentioned first image memory 12 and a coordinate converter 11. The first image memory 12 is configured to store radar images as two-dimensional raster image data composed of a collection of digital pixel data expressed by an XY orthogonal coordinate system.

[0066] As is commonly known, with a pulse radar device such as in this embodiment, the echo signal received by the antenna can be expressed by an rθ coordinate system (polar coordinate system) (here, r is the distance to the echo generation source, and θ is the direction in which the antenna is facing). The coordinate converter 11 subjects the range corresponding to the display range R1 out of the composite echo signal of the rθ coordinate system outputted by the pulse synthesizer 9 to coordinate conversion into an orthogonal coordinate system, and stores this in the first image memory 12. Consequently, a radar image of the display range R1 is formed in PPI format in the first image memory 12. The configuration for producing a PPI format radar image by the coordinate conversion of the echo signal of an rθ coordinate system is known, and will therefore not be described in detail here.

[0067] Thus, the radar device 50 in this embodiment transmits a pulse signal at a pulse width that is suited to the display range R1, so a radar image of the display range R1 can be favorably produced on the basis of a composite echo signal by the same processing as with a conventional radar device.

[0068] Meanwhile, the unmodulated pulses and modulated pulses transmitted by the radar device 50 in this embodiment do not necessarily have a pulse width that is suited to the display range R2. Therefore, the pulse width of an echo included in a composite echo signal (the output of the pulse synthesizer 9) obtained by synthesis of an echo signal received by the antenna 1 will not be a pulse width that is suited to the display range R2. Accordingly, in producing a radar image of the display range R2, the pulse width of the echoes included in the composite echo signal will have to be adjusted.

[0069] In view of this, the second radar image production component 13 in this embodiment further comprises an echo width adjuster 14, in addition to a coordinate converter 15 and the second image memory 16.

[0070] The echo width adjuster 14 is configured to adjust the pulse width of the echoes included in the composite echo signal outputted by the pulse synthesizer 9, to be a pulse width that is suited to the display range R2.

[0071] As discussed above, the pulse width of the echoes included in the composite echo signal is a pulse width that is suited to the display range R1, which is narrower than the display range R2, so the signal-to-noise power ratio will be too low for a signal used for the display range R2. Therefore, if an echo with this pulse width should be used to produce a radar image of the display range R2, there is the risk of a decrease in the visibility of the echo image.

[0072] In view of this, the echo width adjuster 14 in this embodiment performs processing to extend the pulse width of the echoes included in the composite echo signal to a pulse width that is suited to the display range R2 (has high visibility).

[0073] The processing to extend the pulse width of the echoes included in the echo signal can be accomplished by using a known low-pass filter or a blur filter, such as a known averaging filter or Gaussian filter.

[0074] The second image memory 16 is configured to store radar images as two-dimensional raster image data composed of a collection of digital pixel data expressed by an XY orthogonal coordinate system.

[0075] The coordinate converter 15 subjects the range corresponding to the display range R2 out of the composite echo signal in which the echo has been extended by the echo width adjuster 14, to coordinate conversion and stores this in the second image memory 16. This forms a radar image of the display range R2 in PPI format in the second image memory 16.

[0076] Thus, with the radar device 50 in this embodiment, the pulse width of the echoes included in a composite echo signal is extended to a pulse width that is suited to the display range R2, which improves the visibility of the echo image in a radar image of the display range R2, so a favorable radar image of the display range R2 can be produced and displayed.

[0077] As discussed above, the first radar image production component 10 and the second radar image production component 13 in this embodiment produce radar images of display ranges on the basis of a shared echo signal (more specifically, a composite echo signal). Thus producing radar images for a plurality of display ranges on the basis of a shared echo signal reduces the number of kinds of echo signal that are required. As a result, fewer kinds of pulse signal have to be transmitted, and a reduction in the PRF can be suppressed.

[0078] The transmission and reception period of the pulse signals will now be described.

[0079] As is commonly known, to favorably receive echoes from farther away, the transmission and reception period of the pulse signals (the period up until the next pulse signal is transmitted) is made longer. In the case of this embodiment, since a shared pulse signal is utilized to produce radar images of two display ranges (R1 and R2), a transmission and reception period needs to be set that is capable of covering both of these display ranges (R1 and R2). Since R1<R2 here, the transmission and reception period of the pulse signal is preferably set using R2 (the wider display range) as a reference.

[0080] In view of this, in this embodiment the transmission and reception period of a modulated pulse is set to be either the same as or longer than the display range R2. This allows echoes within the display ranges R1 and R2 to be reliably received during the transmission and reception period of modulated pulses.

[0081] The transmission and reception period of unmodulated pulses may be wider than the pulse width of the modulated pulses. As discussed above, this is because during the transmission and reception period of unmodulated pulses, it is sufficient to be able to receive echoes from a blind zone corresponding to the pulse width of modulated pulses.

[0082] With the radar device 50 of this embodiment described above, the following radar image display method can be realized. Specifically, this radar image display method includes a transmission step, a reception step, a first radar image production step, a second radar image production step, a display step, and an echo width adjustment step.

[0083] In the transmission step, the transmitter 5 transmits a pulse signal at a pulse width corresponding to the display range R1. In the reception step, the receiver 6 receives an echo signal during the transmission and reception period of the above-mentioned pulse signal.

[0084] In the echo width adjustment step, the echo width adjuster 14 adjusts the pulse width of the echoes included in the echo signal according to the display range R2.

[0085] In the first radar image production step, the first radar image production component 10 produces a radar image of the display range R1 on the basis of an echo signal in which the pulse width of the echoes has not been adjusted by the echo width adjuster 14.

[0086] In the second radar image production step, the second radar image production component 13 produces a radar image of the display range R2 on the basis of an echo signal in which the pulse width of the echoes has been adjusted by the echo width adjuster 14.

[0087] In the display step, the display component 17 simultaneously displays a radar image of the display range R1 and a radar image of the display range R2.

[0088] With this radar image display method, radar images can be displayed for the display ranges R1 and R2 at the same time. Also, since this method eliminates the need to transmit a pulse signal of a different pulse width for each display range, fewer kinds of pulse signal need to be transmitted, and this prevents a decrease in the PRF.

[0089] A preferred embodiment of the present invention was described above, but the above configuration can be modified as follows, for example.

[0090] The configuration of the present invention is not limited to marine radar devices, and can be widely utilized in radar devices in other applications.

[0091] In the above embodiment, the configuration was such that radar images of two display ranges were displayed simultaneously on the display component 17, but this is not the only option. For instance, the display component 17 may be configured to selectively switch between displaying a radar image of the display range R1 and a radar image of the display range R2.

[0092] In FIG. 1, the first radar image production component 10 and the second radar image production component 13 are depicted as separate blocks, but the radar image production components 10 and 13 do not have to be separately configured. Specifically, the functions of both the first radar image production component 10 and the second radar image production component 13 may be realized by processing with a single radar image production component in time series.

[0093] In the above embodiment, the configuration was such that radar images of two kinds of display range (R1 and R2) were simultaneously (or selectively) displayed, but the present invention can also be applied to a configuration in which radar images of three or more kinds of display range are simultaneously (or selectively) displayed. That is, the device may further comprise a third radar image production component for producing a radar image of a third display range, a fourth radar image production component for producing a radar image of a fourth display range, and so forth.

[0094] In the above embodiment, the echo width adjuster 14 performed processing to adjust the pulse width of a composite echo signal (the output of the pulse synthesizer 9), but instead of this, processing may be performed to adjust the pulse widths of an unmodulated echo signal outputted by the unmodulated echo signal processor 7 and a compressed echo signal outputted by the modulated echo signal processor 8, after which the two are synthesized by the pulse synthesizer 9 to produce a composite echo signal.

[0095] Also, for example, processing may be performed to adjust the pulse signal of an echo image according to the display range, for radar images of an orthogonal coordinate system produced by the image memories 12 and 16.

[0096] In the above embodiment, radar images of two display ranges (R1 and R2) were produced on the basis of the same unmodulated pulses and modulated pulses. That is, two display ranges share the same unmodulated pulses and modulated pulses. This is not the only option, however, and only the modulated pulses may be shared, for example, and the unmodulated pulses not shared. Specifically, in this case, three kinds of pulse signal, namely, an R1 unmodulated pulse, an R2 unmodulated pulse, and an unmodulated pulse for both R1 and R2, are transmitted in order. Since there are three kinds of pulse, the PFR is lower than in the above embodiment, but an advantage is that unmodulated pulses can undergo signal processing (sensitivity adjustment, clutter removal processing) with different parameters for R1 and R2.

[0097] The echo width adjuster 14 in the above embodiment performed processing to extend the pulse width of echoes included in the echo signal, but conversely, it may perform processing to shorten the pulse width of the echoes.

[0098] Also, in the above embodiment in producing a radar image for the display range R1, no processing was performed to adjust the pulse width of the echoes. This is not the only option, however, and processing may be performed to adjust the pulse width of echoes for both of the display ranges R1 and R2, for example.

[0099] The radar device in the above embodiment was configured as a pulse compression radar that transmitted unmodulated pulses and modulated pulses, but this is not the only option, and it may instead be an ordinary radar that transmits only unmodulated pulses, for example, in which case applying the present invention will have the same effect of preventing a decrease in PRF.