RADAR SIGNAL PROCESSING DEVICE

Abstract

A signal cutting-out unit cuts out a signal reflected from a target by a specific length while the cut-out signals are overlapped by a set length. A power spectrum calculating unit calculates a plurality of power spectra from output signals from the signal cutting-out unit. A power spectrum reconstructing unit performs power spectrum reconstruction by changing a ratio or contribution rate of power spectrum components in a set region, using the plurality of power spectra. A spectral moment calculating unit calculates a spectral moment from a power spectrum reconstructed by the power spectrum reconstructing unit.

Claims

1. A radar signal processing device comprising: a transceiver to radiate a transmission signal of an electromagnetic wave or a sound wave into air, and receive a reflected signal, the reflected signal being the transmission signal reflected from a target in the air; a signal cutting-out unit to cut out the reflected signal received by the transceiver by a specific length while the cut-out reflected signals are overlapped by a set length in at least either one of a range direction and a cross-range direction; a power spectrum calculator to calculate a plurality of power spectra from the cut-out reflected signals cut out by the signal cutting-out unit; a power spectrum reconstructor to perform power spectrum reconstruction by changing a ratio or contribution rate of power spectrum components in a set region, using the plurality of power spectra; and a spectral moment calculator to calculate a spectral moment from the power spectrum reconstructed by the power spectrum reconstructor.

2. The radar signal processing device according to claim 1, wherein the power spectrum reconstructor performs the power spectrum reconstruction by performing weighted addition of the plurality of power spectra.

3. The radar signal processing device according to claim 1, wherein the power spectrum reconstructor performs the power spectrum reconstruction by extracting a minimum value as a common portion among the plurality of power spectra.

4. The radar signal processing device according to claim 1, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction and selects a power spectrum close to a reference spectral shape from among a plurality of obtained power spectra.

5. The radar signal processing device according to claim 2, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction and selects a power spectrum close to a reference spectral shape from among a plurality of obtained power spectra.

6. The radar signal processing device according to claim 3, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction and selects a power spectrum close to a reference spectral shape from among a plurality of obtained power spectra.

7. The radar signal processing device according to claim 1, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction and outputs a result of averaging a plurality of obtained power spectra.

8. The radar signal processing device according to claim 2, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction and outputs a result of averaging a plurality of obtained power spectra.

9. The radar signal processing device according to claim 3, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction and outputs a result of averaging a plurality of obtained power spectra.

10. The radar signal processing device according to claim 1, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction, and the spectral moment calculator calculates a plurality of spectral moments from a plurality of power spectra obtained in the plurality of different processes for power spectrum reconstruction and outputs a result of averaging the plurality of spectral moments.

11. The radar signal processing device according to claim 2, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction, and the spectral moment calculator calculates a plurality of spectral moments from a plurality of power spectra obtained in the plurality of different processes for power spectrum reconstruction and outputs a result of averaging the plurality of spectral moments.

12. The radar signal processing device according to claim 3, wherein the power spectrum reconstructor performs a plurality of different processes for power spectrum reconstruction, and the spectral moment calculator calculates a plurality of spectral moments from a plurality of power spectra obtained in the plurality of different processes for power spectrum reconstruction and outputs a result of averaging the plurality of spectral moments.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0015] FIG. 1 is a configuration diagram showing a radar signal processing device according to a first embodiment of the invention.

[0016] FIG. 2 is a flowchart showing operation of a signal processing unit of the radar signal processing device according to the first embodiment of the invention.

[0017] FIGS. 3A to 3D are explanatory diagrams showing a signal cut-out process performed by the radar signal processing device according to the first embodiment of the invention.

[0018] FIG. 4 is an explanatory diagram of a weighted addition method of the radar signal processing device according to the first embodiment of the invention.

[0019] FIGS. 5A to 5C are explanatory diagrams showing a method for power spectrum reconstruction of the radar signal processing device according to the first embodiment of the invention.

[0020] FIG. 6 is a configuration diagram showing a power spectrum reconstructing unit of a radar signal processing device according to a second embodiment of the invention.

[0021] FIG. 7 is a flowchart showing operation of a signal processing unit of the radar signal processing device according to the second embodiment of the invention.

[0022] FIG. 8 is a configuration diagram showing a power spectrum reconstructing unit of a radar signal processing device according to a third embodiment of the invention.

[0023] FIG. 9 is a flowchart showing operation of a signal processing unit of the radar signal processing device according to the third embodiment of the invention.

[0024] FIG. 10 is a configuration diagram showing a radar signal processing device according to a fourth embodiment of the invention.

[0025] FIG. 11 is a flowchart showing operation of a signal processing unit of the radar signal processing device according to the fourth embodiment of the invention.

DESCRIPTION OF EMBODIMENTS

[0026] To describe the invention in more detail, modes for carrying out the invention will be described below with reference to the accompanying drawings.

First Embodiment

[0027] FIG. 1 is a configuration diagram showing a radar signal processing device according to a first embodiment.

[0028] The radar signal processing device shown in FIG. 1 includes a control unit 1, a signal transmitting and receiving unit 2, a signal processing unit 3, and a display unit 4. In addition, the signal transmitting and receiving unit 2 includes a signal transmission and reception controlling unit 20, a light source 21, a divider 22, a pulse modulating unit 23, a circulator 24, an optical antenna 25, a combining unit 26, an optical receiving unit 27, and an A/D converting unit 28. Furthermore, the signal processing unit 3 includes a signal processing control unit 30, a signal cutting-out unit 31, a power spectrum calculating unit 32, a power spectrum reconstructing unit 33, a spectral moment calculating unit 34, and a velocity vector calculating unit 35.

[0029] The control unit 1 is a control unit that controls each unit of the radar signal processing device, and is configured to output control signals such as specifications for pulse modulation, a trigger signal, and an observation direction to the signal transmission and reception controlling unit 20 in the signal transmitting and receiving unit 2, and output control signals such as specifications for pulse modulation, a trigger signal, specifications for signal cut-out, specifications for power spectrum calculation, specifications for power spectrum reconstruction, and specifications for spectral moment calculation to the signal processing control unit 30 in the signal processing unit 3, and further output a control signal about specifications for display to the display unit 4.

[0030] The signal transmission and reception controlling unit 20 in the signal transmitting and receiving unit 2 outputs, on the basis of the trigger signal obtained from the control unit 1, control signals for the pulse modulating unit 23 and the optical antenna 25 among the control signals obtained from the control unit 1. The light source 21 outputs continuous-wave light of a single frequency, and a laser beam from the light source 21 is outputted to the divider 22. The divider 22 provides a predetermined frequency shift to the laser beam from the light source 21 and divides the laser beam into two laser beams, and one of the two laser beams divided by the divider 22 is outputted to the pulse modulating unit 23 and the other is outputted to the combining unit 26. The pulse modulating unit 23 performs pulse modulation on the laser beam inputted from the divider 22. The laser beam having been subjected to the pulse modulation by the pulse modulating unit 23 is outputted to the circulator 24. The circulator 24 switches between output destinations based on an input source of a laser beam. The circulator 24 outputs a laser beam from the pulse modulating unit 23 to the optical antenna 25, and outputs a laser beam from the optical antenna 25 to the combining unit 26.

[0031] The optical antenna 25 irradiates the laser beam from the circulator 24 into the air, and collects scattered light of the laser beam from aerosols. The scattered light collected by the optical antenna 25 is outputted to the combining unit 26 through the circulator 24. The combining unit 26 combines the laser beam from the divider 22 with the laser beam outputted from the optical antenna 25 through the circulator 24. The laser beam combined by the combining unit 26 is outputted to the optical receiving unit 27. The optical receiving unit 27 performs heterodyne detection on the laser beam from the combining unit 26, and thereby converts the laser beam into an electrical signal. The electrical signal converted by the optical receiving unit 27 is outputted to the A/D converting unit 28. The A/D converting unit 28 performs Analog-to-Digital (A/D) conversion on the electrical signal from the optical receiving unit 27. A reception signal which is converted into a signal of a predetermined sampling rate by the A/D converting unit 28 is outputted to the signal processing unit 3.

[0032] The signal processing control unit 30 in the signal processing unit 3 outputs, on the basis of the trigger signal obtained from the control unit 1, control signals for the signal cutting-out unit 31 to the velocity vector calculating unit 35 among the control signals obtained from the control unit 1. The signal cutting-out unit 31 performs, on the basis of the control signal from the signal processing control unit 30, a process of cutting out the reception signal from the A/D converting unit 28 in the signal transmitting and receiving unit 2 by a specific length while the cut-out signals are overlapped by a set length in at least either one of a range direction and a cross-range direction, and outputs the cut-out signals to the power spectrum calculating unit 32. The power spectrum calculating unit 32 multiplies the signals cut out by the signal cutting-out unit 31 by a predetermined window function on the basis of the control signal from the signal processing control unit 30, and thereafter performs a Fast Fourier Transform (FFT) at a predetermined number of points to calculate a plurality of power spectra, and stores the plurality of power spectra in a storage device which is not shown. The power spectrum reconstructing unit 33 obtains the plurality of power spectra calculated by the power spectrum calculating unit 32 from the storage device which is not shown, on the basis of the control signal from the signal processing control unit 30, performs power spectrum reconstruction on the basis of a predetermined method for power spectrum reconstruction, with the aim of increasing the ratio or contribution rate of power spectrum components in a set region, and outputs a reconstructed power spectrum to the spectral moment calculating unit 34.

[0033] The spectral moment calculating unit 34 calculates, on the basis of the control signal from the signal processing control unit 30, a spectral moment (zero-order, first-order, second-order, etc.) from the reconstructed power spectrum inputted from the power spectrum reconstructing unit 33, and stores the spectral moment in a storage device which is not shown or outputs the spectral moment to the display unit 4, or outputs radial velocity which is a first-order moment to the velocity vector calculating unit 35. The velocity vector calculating unit 35 calculates, on the basis of the control signal from the signal processing control unit 30, a velocity vector using Doppler velocity (radial velocity) which is a first-order moment calculated by the spectral moment calculating unit 34, on the basis of a predetermined method for velocity vector calculation, and stores the velocity vector in a storage device which is not shown or outputs the velocity vector to the display unit 4.

[0034] The display unit 4 displays, on the basis of the control signal from the control unit 1, spectral moment information or velocity vector information which is inputted from the signal processing unit 3, on the basis of a predetermined scheme.

[0035] Next, operation of the radar signal processing device of the first embodiment will be described. First, operation of the signal transmitting and receiving unit 2 will be described.

[0036] A laser beam from the light source 21 is subjected to a predetermined frequency shift and divided by the divider 22, and one of the divided laser beams is outputted to the pulse modulating unit 23 and the other is outputted to the combining unit 26. The pulse modulating unit 23 performs pulse modulation on the laser beam. The laser beam outputted from the pulse modulating unit 23 is provided to the optical antenna 25 through the circulator 24 and irradiated into the air from the optical antenna 25. The irradiated laser beam is reflected by a target such as aerosols, and the reflected light is received by the optical antenna 25. The reflected light received by the optical antenna 25 is provided to the combining unit 26 through the circulator 24. The combining unit 26 combines the laser beam from the divider 22 with the reflected light from the circulator 24, and outputs the combined light to the optical receiving unit 27. The optical receiving unit 27 performs heterodyne detection on the output light from the combining unit 26, and thereby converts the output light into an electrical signal. The electrical signal outputted from the optical receiving unit 27 is converted into a digital signal by the A/D converting unit 28, and the digital signal is outputted to the signal processing unit 3.

[0037] Next, operation of the signal processing unit 3 will be described.

[0038] FIG. 2 is a flowchart showing operation of the signal processing unit 3 of the radar signal processing device of the first embodiment.

[0039] In the signal processing unit 3, first, the signal cutting-out unit 31 sets specifications for signal cut-out on the basis of a control signal from the signal processing control unit 30 (step ST101). Note that the specifications include a method, a coefficient, etc. The signal cutting-out unit 31 cuts out a signal provided from the signal transmitting and receiving unit 2, on the basis of the set signal cut-out method (step ST102). The power spectrum calculating unit 32 sets specifications for power spectrum calculation on the basis of a control signal from the signal processing control unit 30 (step ST103), and calculates power spectra on the basis of the specifications for power spectrum calculation (step ST104). In addition, the power spectrum reconstructing unit 33 sets specifications for power spectrum reconstruction on the basis of a control signal from the signal processing control unit 30 (step ST105), and reconstructs a power spectrum on the basis of the specifications for power spectrum reconstruction (step ST106). Furthermore, the spectral moment calculating unit 34 sets specifications for spectral moment calculation on the basis of a control signal from the signal processing control unit 30 (step ST107), and calculates a spectral moment on the basis of the specifications for spectral moment calculation (step ST108). Then, the velocity vector calculating unit 35 calculates a velocity vector on the basis of specifications for velocity vector calculation set on the basis of a control signal from the signal processing control unit 30 (step ST109). Operation of the units from the signal cutting-out unit 31 to the velocity vector calculating unit 35 will be described in more detail below.

[0040] The signal cutting-out unit 31 cuts out a reception signal, which is received from the signal transmitting and receiving unit 2 and sampled at a predetermined sampling rate, by a specific time length while the cut-out signals are overlapped by a preset length in at least either one of a range direction and a cross-range direction. At this time, the overlapping length is determined by the length of a set region, and the cut-out length in a time direction (range direction) is determined by transmission pulse width. These lengths are set on the signal cutting-out unit 31 by the control unit 1 through the signal processing control unit 30.

[0041] FIG. 3 is a conceptual diagram of a signal cut-out process. FIG. 3A shows a (original) scattering volume determined by a pulse width M and a beam width, and FIG. 3B shows a set region. An example of FIG. 3B shows a case in which a time length L is of the pulse width M. In addition, FIG. 3C shows a concept of a signal cut-out in the range direction, and FIG. 3D shows a concept of a signal cut-out in the cross-range direction.

[0042] As shown in FIG. 3C, when a signal is cut out in the range direction (time direction), a reception signal is cut out by the scattering volume while the cut-out signals are overlapped by the length L of the set region. In addition, when a signal is cut out in the cross-range direction, the control unit 1 performs setting in advance on the signal transmitting and receiving unit 2 to scan beams while the beams are overlapped, and as shown in FIG. 3D, a scattering volume in which adjacent beams have the same range is cut out as a set region 301.

[0043] Note that the number of signals cut out for a single set region is determined by a reconstruction method of the power spectrum reconstructing unit 33, and the reconstruction method is set by the control unit 1 through the signal processing control unit 30.

[0044] The power spectrum calculating unit 32 performs a Fourier transform (a specific technique is a Fast Fourier Transform (FFT) process) on the reception signals cut out by the signal cutting-out unit 31, on a per reception signal basis and thereby calculates a plurality of power spectra. Note that in general when an FFT is performed on a finite-length signal, a time signal is multiplied by a window function (e.g., a Hamming window or a Han (Hanning) window). In addition, since a reception signal of one pulse (corresponding to the scattering volume) is very weak and is susceptible to fluctuations such as noise, in general, a process is performed in which a predetermined number of incoherent integrations (non-coherent integrations) are performed to reduce fluctuations, improving detectability.

[0045] The power spectrum calculating unit 32 outputs the plurality of power spectra calculated in the above-described manner to a storage device which is not shown.

[0046] The power spectrum reconstructing unit 33 reconstructs a power spectrum having a high ratio or contribution rate of a set region, using each power spectrum calculated by the power spectrum calculating unit 32 and superimposed on the set region. A possible method for power spectrum reconstruction includes a method for maximizing a coefficient of a set region obtained after weighted addition of power spectra.

[0047] FIG. 4 shows a conceptual diagram of such a weighted addition method.

[0048] In this example, the scale of a set region in the range direction is of the original scattering volume (the number of division d=5), and the number of scattering volumes superimposed on the set region (the number of scattering volumes n to be added together) is nine. For weight coefficients 401 to 405 shown in FIG. 4, the weight coefficient 401 is an example case of using the power spectra of nine scattering volumes, the weight coefficient 402 seven scattering volumes, the weight coefficient 403 five scattering volumes, the weight coefficient 404 three scattering volumes, and the weight coefficient 405 two scattering volumes. Any weight coefficient can be used as long as a positive sum total is obtained.

[0049] In addition, when weighted addition is performed in the range direction (time direction), a value obtained by multiplying the weight coefficients 401 to 405 by a transmission pulse shape wt and a window function wf which is used upon a power spectrum calculation process can be used as a weight coefficient.

[0050] Another possible method for power spectrum reconstruction includes a method in which a set region is considered to be a common portion between the power spectra of adjacent scattering volumes, and a minimum value on a frequency axis (common portion) is adopted.

[0051] FIG. 5 shows a conceptual diagram of such a method for power spectrum reconstruction. FIG. 5A shows a case of using two scattering volumes, FIG. 5B shows a case of using three scattering volumes, and FIG. 5C shows a case of using five scattering volumes. Note that in these drawings,

[0052] the number of scattering volumes: n (=2*d1 (d: the number of divisions)),

[0053] the power spectrum of a scattering volume: V.sub.i(f) (i=1, . . . , n),

[0054] weight coefficient: w.sub.i (i=1, . . . , n), and

[0055] the power spectrum of a set region: y(f)

y(f)=min([w.sub.i.Math.V.sub.i(f)]), (i=1, . . . ,n).

[0056] In an example of FIG. 5A, since the weight coefficient w=[001000100], using the third and seventh scattering volumes, a common portion 503 between power spectra 501 and 502 of the two scattering volumes is set as the power spectrum y(f)=min ([V.sub.3(f), V.sub.7(f)]) of a set region. In addition, in an example of FIG. 5B, since the weight coefficient w=[001010100], using the third, fifth, seventh scattering volumes, a common portion 514 between power spectra 511, 512, and 513 of the three scattering volumes is set as the power spectrum y(f)=min ([V.sub.3(f), V.sub.5(f), V.sub.7(f)]) of a set region. Furthermore, in an example of FIG. 5C, since the weight coefficient w=[001111100], using five scattering volumes including the third to seventh scattering volumes, a common portion 526 between power spectra 521 to 525 of the five scattering volumes is set as the power spectrum y(f)=min ([V.sub.3(f), V.sub.4(f), V.sub.5(f), V.sub.6(f), V.sub.7(f)]) of a set region.

[0057] The spectral moment calculating unit 34 calculates a spectral moment from the power spectrum reconstructed by the power spectrum reconstructing unit 33. For a method for spectral moment calculation, for example, a zero-order moment (reception strength), a first-order moment (Doppler velocity), or a second-order moment (Doppler velocity width) is calculated. The spectral moment calculating unit 34 outputs the calculated spectral moment to the velocity vector calculating unit 35.

[0058] The velocity vector calculating unit 35 calculates a velocity vector from the obtained spectral moment. Note that for a method for calculating a velocity vector, general methods for velocity vector calculation (e.g., a Velocity Azimuth Display (VAD) method, a 3-beam method, a 4-beam method, and a 5-beam method) can be used.

[0059] As described above, the radar signal processing device of the first embodiment includes a signal transmitting and receiving unit that radiates a transmission signal made of an electromagnetic wave or a sound wave into the air, and receives a reflected signal which is the transmission signal reflected by a target in the air; a signal cutting-out unit that cuts out the reflected signal received by the signal transmitting and receiving unit by a specific length while the cut-out signals are overlapped by a set length in at least either one of a range direction and a cross-range direction; a power spectrum calculating unit that calculates a plurality of power spectra from the signals cut out by the signal cutting-out unit; a power spectrum reconstructing unit that performs power spectrum reconstruction by changing the ratio or contribution rate of power spectrum components in a set region, using the plurality of power spectra; and a spectral moment calculating unit that calculates a spectral moment from the power spectrum reconstructed by the power spectrum reconstructing unit, and thus, can grasp local characteristics of the set region with a low amount of computation and in real time.

[0060] In addition, according to the radar signal processing device of the first embodiment, since the power spectrum reconstructing unit performs the power spectrum reconstruction by performing weighted addition of the plurality of power spectra, a reconstructed power spectrum with high accuracy can be obtained.

[0061] In addition, according to the radar signal processing device of the first embodiment, since the power spectrum reconstructing unit performs the power spectrum reconstruction by extracting a minimum value as a common portion between the plurality of power spectra, a reconstructed power spectrum with high accuracy can be obtained.

Second Embodiment

[0062] Although the first embodiment shows some methods for power spectrum reconstruction in the range direction and the cross-range direction, since the accuracy of a reconstructed power spectrum (superiority and inferiority between construction methods) depends on the actual air conditions, it is desirable to include means for evaluating the effectiveness of a power spectrum. Hence, a second embodiment shows an example in which after performing a plurality of power spectrum reconstructions, the effectiveness of reconstructed power spectra is evaluated.

[0063] FIG. 6 is a configuration diagram of a power spectrum reconstructing unit 33a of a radar signal processing device of the second embodiment. The power spectrum reconstructing unit 33a of the second embodiment includes a first power spectrum reconstructing unit 331-1, a second power spectrum reconstructing unit 331-2, . . . , an Nth power spectrum reconstructing unit 331-N, and a power spectral shape determining unit 332. The first power spectrum reconstructing unit 331-1 to the Nth power spectrum reconstructing unit 331-N are functional units that perform power spectrum reconstruction by different reconstruction methods. The power spectral shape determining unit 332 is a functional unit for selecting a reconstruction method with the highest evaluation by evaluating reconstruction processes reconstructed by the first power spectrum reconstructing unit 331-1 to the Nth power spectrum reconstructing unit 331-N. A possible method for evaluating processes for power spectrum reconstruction is, for example, that utilizing the fact that a typical power spectral shape of a reception signal of a Doppler lidar is a Gaussian distribution type, a comparison is made between reconstructed power spectra and an ideal (Gaussian distribution type) shape of a power spectrum serving as a reference spectral shape. Specifically, a possible method is that differences between frequency bins of reconstructed power spectra and a reference power spectrum are calculated, and a power spectrum with the smallest difference is selected. For another determination method, a power spectrum can be determined using, as indices, the facts, for example, that the power spectrum is unimodal and that the spectral shape is symmetric.

[0064] Next, operation of the radar signal processing device of the second embodiment will be described.

[0065] FIG. 7 is a flowchart showing operation of the signal processing unit 3 of the second embodiment. Here, since the processes at step ST101 to ST104 are the same as those of the flowchart of FIG. 2, description thereof is omitted. In the second embodiment, the power spectrum reconstructing unit 33a sets a plurality of different sets of specifications for power spectrum reconstruction on the basis of a control signal from the signal processing control unit 30 (step ST105a), and a plurality of different power spectrum reconstructions are performed by the first power spectrum reconstructing unit 331-1 to the Nth power spectrum reconstructing unit 331-N, on the basis of the specifications for power spectrum reconstruction (step ST106a). Then, the power spectral shape determining unit 332 sets specifications for power spectrum determination on the basis of a control signal from the signal processing control unit 30 (step ST110), and the power spectral shape determining unit 332 determines and selects a power spectrum considered to be most effective, on the basis of the specifications for power spectrum determination (step ST111). Subsequent processes performed by the spectral moment calculating unit 34 and the velocity vector calculating unit 35 (step ST107 to ST109) are the same as those of the flowchart of FIG. 2.

[0066] As such, in the second embodiment, it is configured to determine and select the most ideal spectrum from a plurality of reconstructed power spectra, and thus, a reconstructed power spectrum with higher accuracy can be obtained.

[0067] As described above, according to the radar signal processing device of the second embodiment, the power spectrum reconstructing unit performs a plurality of different processes for power spectrum reconstruction, and selects a power spectrum close to a reference spectral shape from among a plurality of obtained power spectra, and thus, a reconstructed power spectrum with higher accuracy can be obtained.

Third Embodiment

[0068] In the second embodiment, after performing a plurality of power spectrum reconstructions, a power spectrum is selected with reference to whether or not the power spectrum is close to the most ideal power spectrum, but by averaging a plurality of power spectra, a power spectrum with a reduced bias component can be obtained. Hence, a third embodiment shows an example in which power spectra are subjected to an averaging process.

[0069] FIG. 8 is a configuration diagram of a power spectrum reconstructing unit 33b of a radar signal processing device of the third embodiment. The power spectrum reconstructing unit 33b of the third embodiment includes a first power spectrum reconstructing unit 331-1, a second power spectrum reconstructing unit 331-2, . . . , an Nth power spectrum reconstructing unit 331-N, and a power spectrum averaging unit 333. The first power spectrum reconstructing unit 331-1 to the Nth power spectrum reconstructing unit 331-N are, as in the second embodiment shown in FIG. 6, functional units that perform power spectrum reconstruction by different reconstruction methods. The power spectrum averaging unit 333 performs a process of averaging power spectra reconstructed by the first power spectrum reconstructing unit 331-1 to the Nth power spectrum reconstructing unit 331-N, and outputs an obtained value.

[0070] FIG. 9 is a flowchart showing operation of the signal processing unit 3 of the third embodiment. Here, since the processes at step ST101 to ST106a are the same as those of the flowchart of FIG. 7, description thereof is omitted. Then, the power spectrum averaging unit 333 accepts, as input, power spectra from the first power spectrum reconstructing unit 331-1 to Nth power spectrum reconstructing unit 331-N, and determines an average of the power spectra (step ST112). Subsequent processes performed by the spectral moment calculating unit 34 and the velocity vector calculating unit 35 (step ST107 to ST109) are the same as those of the flowchart of FIG. 2.

[0071] As such, in the third embodiment, it is configured to average a plurality of reconstructed power spectra, and thus, a bias component is reduced, making it possible to obtain a reconstructed power spectrum with higher accuracy.

[0072] As described above, according to the radar signal processing device of the third embodiment, the power spectrum reconstructing unit performs a plurality of different processes for power spectrum reconstruction, and outputs a result of averaging a plurality of obtained power spectra, and thus, a reconstructed power spectrum with higher accuracy can be obtained.

Fourth Embodiment

[0073] In the third embodiment, a power spectrum with a small bias is obtained by averaging a plurality of results of power spectrum reconstruction, but it is also possible to determine spectral moments for each of a plurality of power spectra and average the spectral moments, which will be described as a fourth embodiment.

[0074] FIG. 10 is a configuration diagram showing a power spectrum reconstructing unit 33c and a spectral moment calculating unit 34a of a radar signal processing device of the fourth embodiment. The power spectrum reconstructing unit 33c includes a first power spectrum reconstructing unit 331-1 to an Nth power spectrum reconstructing unit 331-N, and their configurations are the same as those in FIGS. 6 and 8. The spectral moment calculating unit 34a includes a first spectral moment calculating unit 341-1, a second spectral moment calculating unit 341-2, an Nth spectral moment calculating unit 341-N, and a spectral moment averaging unit 342. The first spectral moment calculating unit 341-1, the second spectral moment calculating unit 341-2, and the Nth spectral moment calculating unit 341-N are functional units that respectively obtain power spectra reconstructed by the first power spectrum reconstructing unit 331-1, the second power spectrum reconstructing unit 331-2, and the Nth power spectrum reconstructing unit 331-N, and calculate spectral moments of the respective power spectra. In addition, the spectral moment averaging unit 342 is a functional unit that calculates an average value of the spectral moments calculated by the first spectral moment calculating unit 341-1 to the Nth spectral moment calculating unit 341-N.

[0075] FIG. 11 is a flowchart showing operation of the signal processing unit 3 of the fourth embodiment. Here, since the processes at step ST101 to ST106a are the same as those of the flowcharts of FIGS. 7 and 9, description thereof is omitted. Then, the spectral moment calculating unit 34a sets a plurality of different sets of specifications for spectral moment calculation on the basis of a control signal from the signal processing control unit 30 (step ST107a), and the first spectral moment calculating unit 341-1 to the Nth spectral moment calculating unit 341-N calculate a plurality of different spectral moments on the basis of the specifications for spectral moment calculation (step ST108a). Then, the spectral moment averaging unit 342 obtains each of the spectral moments calculated by the first spectral moment calculating unit 341-1 to the Nth spectral moment calculating unit 341-N, and determines an average of the spectral moments (step ST113). A process performed by the velocity vector calculating unit 35 (step ST109) is the same as that of the flowchart of FIG. 2.

[0076] As such, in the fourth embodiment, it is configured to average a plurality of spectral moments, and thus, an advantageous effect of a reduction in a bias component and an advantageous effect of a reduction in the amount of computation can be obtained.

[0077] As described above, according to the radar signal processing device of the fourth embodiment, the power spectrum reconstructing unit performs a plurality of different processes for power spectrum reconstruction, and the spectral moment calculating unit calculates a plurality of spectral moments from a plurality of power spectra obtained in the plurality of different processes for power spectrum reconstruction, and outputs a result of averaging the plurality of spectral moments, and thus, a reconstructed power spectrum with higher accuracy can be obtained.

[0078] Note that in the invention of this application, a free combination of the embodiments, modifications to any component of the embodiments, or omissions of any component in the embodiments are possible within the scope of the invention.

INDUSTRIAL APPLICABILITY

[0079] As described above, radar signal processing devices according to the invention relate to a configuration in which a plurality of power spectra are calculated by cutting out a signal reflected from a target by a specific length while the cut-out signals are overlapped by a set length, and a power spectrum is reconstructed using the plurality of power spectra, and are suitable for use in a pulse-Doppler radar or a Doppler lidar.

REFERENCE SIGNS LIST

[0080] 1: control unit, 2: signal transmitting and receiving unit, 3: signal processing unit, 4: display unit, 20: signal transmission and reception controlling unit, 21: light source, 22: divider, 23: pulse modulating unit, 24: circulator, 25: optical antenna, 26: combining unit, 27: optical receiving unit, 28: A/D converting unit, 30: signal processing control unit, 31: signal cutting-out unit, 32: power spectrum calculating unit, 33, 33a, 33b, 33c: power spectrum reconstructing unit, 34, 34a: spectral moment calculating unit, 35: velocity vector calculating unit, 331-1: first power spectrum reconstructing unit, 331-2: second power spectrum reconstructing unit, 331-N: Nth power spectrum reconstructing unit, 332: power spectral shape determining unit, 333: power spectrum averaging unit, 341-1: first spectral moment calculating unit, 341-2: second spectral moment calculating unit, 341-N: Nth spectral moment calculating unit, 342: spectral moment averaging unit