• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a radar device (1) for detecting unmanned, slow and low-flying flying objects with at least one radar sensor (15). The detection of such unmanned, slow and low-flying flying objects is improved in that at least one radar sensor (15) is designed as an automotive radar sensor module (16).
    公开号:CH710241A2
    申请号:CH00732/15
    申请日:2015-05-26
    公开日:2016-04-15
    发明作者:Roger Frick Henry
    申请人:Rheinmetall Air Defence Ag；
    IPC主号:
    专利说明:

    The invention relates to a radar device for the detection of unmanned, slow and low-flying flying objects, with the features of the preamble of claim 1.
    In the prior art radar devices for the detection of flying objects are known. In air-near-range air defense systems, generic sensor units are used as radar devices, wherein the sensor units have a plurality of radar sensors, in particular a search radar and a follower radar, as well as further, electro-optical sensors. The sensor unit used in the Skyshield air-near-miss system has an X-band radar sensor. These sensor units are well suited for detecting and tracking flying objects at distances of several kilometers, for example up to 20 kilometers. The flying objects can have a small Radarrückstreuquerschnitt.
    Unmanned, slow and low flying flying objects are also referred to as LSS flying objects (low, slow, small, i.e. deep-flying, slow-flying and small). Such LSS flying objects can be remote-controlled floating platforms - so-called multicopters - with several propellers or rotors. There are such floating platforms with, for example, four, six, eight or twelve propellers. Other LSS flying objects can be remote-controlled helicopters. LSS flying objects can be moved at low speed near the ground and along facades or near trees. The rotating propellers may, for example, have a similar radar signature, such as moving leaves of trees and the like.
    The aforementioned radar devices for the detection of flying objects are not optimally designed for the detection of LSS flying objects. LSS flying objects can approach a target using the topography of the environment. In particular, when such LSS flying objects are deployed in a city, the LSS flying objects may be directed as the target approaches along a trajectory that extends close to facades and trees and the like. With a conventional sensor unit, which is used in air short-range air defense systems, flying objects can be well recognized, which are not hidden in ground disturbance - the so-called bottom clutter. The average radar backscatter cross section of the LSS flying objects is relatively low in the X band (about 8 to 12 GHz). Due to the extension of the clutter cell, the average radar backscatter cross section of the urban soil clutter in X-band can be relatively large. The detection of LSS flying objects due to their spectral properties and the proximity to buildings and trees is thereby difficult, since the LSS flying objects could be masked by the bottom clutter.
    It is known the use of radar sensors in vehicles.
    For example, from DE 4 201 806 A1 discloses to equip a vehicle in the rear area with a radar sensor, so that by means of the radar sensor, the distance to an obstacle during a reverse drive can be determined.
    Furthermore, it is known to use in vehicles an automotive radar sensor module for distance and speed measurement in the forward direction. In Fig. 1 the known from the prior art application of an automotive radar sensor module 16 is shown. On a motor vehicle 17, a corresponding automobile radar sensor module 16 is arranged in the front region. This automobile radar sensor module 16 serves to determine the relative speed to other vehicles ahead or to corresponding obstacles (not shown). The automobile radar sensor module 16 is oriented in this case so that a measuring range 18 is wide and flat, wherein the azimuth angle to preceding vehicles or obstacles can be determined. The measuring area 18 can also be referred to as a detection area. An ellipse 19 illustrates in Fig. 1, the extension of the measuring range 18 parallel to the road.
    The invention is therefore the object of the aforementioned radar device for the detection of unmanned, slow and low-flying flying objects in such a way and to design, so that the detection of unmanned, slow and low-flying flying objects is improved.
    This object of the invention is now achieved by a radar device with the features of claim 1. At least one of the radar sensors is designed as an automotive radar sensor module, wherein such an automotive radar sensor module could also be used in motor vehicles. Such automotive radar sensor modules are used in the prior art to measure the distances and relative speed to preceding vehicles or obstacles. The use of an automotive radar sensor module for the detection of flying objects has the advantage that the automobile radar sensor module is particularly well suited for use in an urban environment. These automotive radar sensor modules are well suited to distinguish even smaller flying objects from other disturbances in an urban environment. The radar devices may be used to monitor near-ground zones, such as road canyons or the like, since the automotive radar sensor modules are designed to produce little disturbance in urban environments. Furthermore, such automotive radar sensor modules are robust. The automotive radar sensor modules are inexpensive to obtain.
    The automobile radar sensor module in particular has a range of less than 1 kilometer, in particular less than 500 meters, in particular of 200 meters or less. It is conceivable to use the radar device for detecting and / or tracking ground-level flying objects at a distance of up to 60 meters or up to 200 meters. In the area up to 60 meters, a short-range measurement can be carried out, and in the range up to 200 meters, a long-range measurement can be carried out. The automobile radar sensor module preferably measures the relative velocity and the angular relationship between the automobile radar sensor module and the flying object at the same time.
    By means of the Kraftfahrzeugradarsensormoduls in particular the distance and the speed of the flying object can be measured. To measure the speed of the Doppler effect is exploitable. The automotive radar sensor module is preferably designed as a continuous wave radar, in particular as a modulated continuous wave radar. The automotive radar sensor module is preferably equipped with a CAN bus (Controller Area Network) as an interface for data transmission. The automotive radar sensor module may have a radar operating frequency band between 76 and 81 GHz, in particular between 76 and 77 GHz. The automotive radar sensor module is operable with a DC voltage, for example with a DC voltage of 12 volts, 24 volts or 48 volts.
    Another advantage is that the dimensions of such a Kraftfahrzeugradarsensormoduls are small and the Kraftfahrzeugradarsensormodul is easy. As a result, the radar device can be made compact and / or lightweight. The automotive radar sensor module may, for example, have a length of less than 20 cm. The weight of the automobile radar sensor module may be below 1 kg, in particular below 0.5 kg. In a preferred embodiment, the automobile radar sensor module is rotatably arranged. As a result, the monitoring range of the radar device is not limited to the current measuring range of the automobile radar sensor module. By rotating the automobile radar sensor module and thus the measuring range, the monitoring area can be enlarged. Furthermore, the radar device can thereby also be used for tracking of flying objects. In particular, the automotive radar sensor module is rotatably arranged relative to a vertical axis. The radar device in particular has a holder, wherein the holder carries at least one automobile radar sensor module. The bracket preferably carries a plurality of automotive radar sensor modules. The holder may be formed by a housing. The holder is rotatably arranged. The holder may be connected to a rotatably mounted turntable. By rotating the turntable, the measuring range of the automobile radar sensor module passes over or sweeps the different measuring ranges of the automobile radar sensor modules now the environment depending on the rotational position of the turntable. The rotation of the automobile radar sensor module makes it possible, in particular, to scan a 360 ° azimuthal spectrum.
    Compared to the use of such a Kraftfahrzeugradarsensormoduls in motor vehicles, the automotive radar sensor module is here in each case by 90 ° in particular rotated arranged on the holder. This has the advantage that the resolution of the radar device with respect to the azimuth angle is correspondingly large. The automotive radar sensor module detects a measurement range having an elevation detection angle and an azimuth detection angle. The elevation detection angle of the measuring range is preferably greater than the azimuth detection angle of the measuring range. The elevation detection angle may be, for example, more than 15 °, in particular more than 30 °, preferably more than 45 °. In a preferred embodiment, the elevation detection angle in the near range - i. up to, for example, 60m - 56 ° and in the far field - i. until, for example, 200m - 19 °. The azimuth detection angle of the measuring range may in particular be less than 15 °, in particular less than 10 °, preferably less than 5 °. In a preferred embodiment, the azimuth detection angle may be 4.3 °. It is further conceivable that the automobile radar sensor module is oriented in such a way that the elevation detection angle of the measuring range is smaller than the azimuth detection angle of the measuring range.
    It is conceivable that each radar device has a plurality of automotive radar sensor modules. These automotive radar sensor modules may be aligned with a bracket in different elevation directions. In one embodiment, a first automotive radar sensor module may be oriented further upward than a second automotive radar sensor module, wherein the first automotive radar sensor module detects an upper elevation region and the second automotive radar sensor module detects a lower elevation region. In one embodiment of the radar device, a first car radar sensor module for detecting an upper elevation area and a second car radar sensor module for detecting a lower elevation area and a third car radar sensor module for detecting a middle elevation area between the upper elevation area and the lower elevation area are provided. It is advantageous if the automobile radar sensor modules are respectively arranged in different azimuth directions and / or in different elevation angles on the holder in order to achieve a higher update rate per revolution and / or to cover a larger elevation range. The holder may for example be designed as a pillar, wherein each column side has at least one window for at least one of the Kraftfahrzeugradarsensormodule. If the column now has a rectangular, in particular square base area and correspondingly four column sides, at least one automobile radar sensor module can now be assigned to each column side. In one embodiment of the invention, at least one TV camera and / or at least one IR camera is functionally assigned to at least one automobile radar sensor module arranged on a holder. The signal of the TV and / or IR camera can serve to identify the detected type of LSS flying object. For example, the identification of the type LSS flying object allows the assessment of the overall situation by comparison with stored standard type object data.
    The radar device preferably has at least one interface for data transmission to a central office. In particular, the radar device has at least one transmission module, which forwards the radar data with the rotational position of the turntable to the central station. The transmission module in particular provides a radio interface. The transmission module may have, for example, an ISM module, a GSM module, a UMTS module or an LTE module. The transmission module can be arranged inside the column or on the column. The transmission module receives the radar data via the CAN interfaces and the rotational position from a drive or a sensor. The rotational position and the associated radar data are forwarded by means of the transmission module to a central office, wherein the data of the radar devices are evaluated in the center.
    It is now possible to build a more advantageous radar arrangement with several such radar devices. The radar arrangement has at least one radar device, which monitors in particular a lower, ground-level zone. Preferably, a plurality of radar devices are arranged at a distance from one another, wherein the radar devices detect different monitoring areas, wherein the different monitoring areas preferably overlap. The radar devices can be arranged elevated on buildings in order to od street canyons. The like. To monitor well. The overlapping surveillance areas form a surveillance ring around an object to be protected. The object to be protected may, for example, be a building, a sports facility or the like. In order to form such a monitoring ring, the corresponding radar devices are now arranged at a distance from each other, so that the monitoring areas of the individual radar devices overlap, thus forming the monitoring ring as a whole.
    The radar arrangement preferably has at least one sensor unit of an air-near-range air defense system, wherein the sensor unit has at least one radar sensor for monitoring an upper zone. The sensor unit monitors an upper zone above the houses, buildings or trees in an urban environment. The sensor unit can be arranged to be elevated. For example, the sensor unit is arranged on a house roof. The sensor unit is well suited for detecting high flying flying objects as well. There is preferably provided a sensor unit of the air-near-range anti-aircraft system "Skyshield" with an X-band radar sensor. The radar arrangement is particularly advantageous since the corresponding radar devices with automotive radar sensors are used here in the lower, ground-level, clutter-rich zone in order to be able to detect slow-moving, low-flying, unmanned aerial objects.
    The aforementioned disadvantages are therefore avoided and corresponding advantages are achieved.
    There are now a variety of ways to design the inventive radar device and the inventive radar arrangement in an advantageous manner and further. For this purpose, reference may first be made to the claims subordinate to claim 1. In the following, different embodiments of the inventive radar device will be explained in more detail with reference to the drawing and the associated description.
    In the drawing shows:
    [0020]<Tb> FIG. 1 <SEP> in a schematic representation of a motor vehicle with an automotive radar sensor module,<Tb> FIG. 2 <SEP> in a schematic representation of an urban environment with a sensor unit and with a slow and low-flying, unmanned flying object,<Tb> FIG. 3 <SEP> in a schematic representation of the urban environment with the sensor unit and the flying object, wherein now additionally a radar device according to the invention is provided,<Tb> FIG. 4 is a schematic, perspective view of a first embodiment of the radar device,<Tb> FIG. 5 <SEP> in a schematic plan view of the first embodiment of the radar device,<Tb> FIG. 6 <SEP> in a schematic plan view of a second embodiment of the radar device, and<Tb> FIG. 7 <SEP> in a schematic perspective view of a third embodiment of the radar device.
    Before it may be discussed in more detail with reference to FIGS. 4 to 7 on the radar devices 1, 2, 3, the preferred field of application of the radar devices 1, 2, 3 will now be explained in detail with reference to FIGS. 2 and 3.
    In Fig. 2 and 3, an urban environment with several buildings 4, 5, 6 is shown. Trees 7 are located between the two buildings 5 and 6. On the roof of the building 4, a sensor unit 8 is now installed or elevated. The sensor unit 8 includes a radar sensor 9. The sensor unit 8 has vzw. in addition to the radar sensor 9, further electro-optical sensors and / or even other radar sensors (not shown). With the sensor unit 8, an air conditioner image can be created, wherein in particular in the range of 360 ° degrees and up to a maximum distance of, for example, 20 km flying objects can be made visible. Such sensor units 8 are well suited for detecting and tracking flying objects in an upper zone 10.
    In Fig. 2 here a boundary line 11 is indicated schematically. Below the boundary line 11 is a lower, near-ground zone 12, wherein in this lower zone 12, the corresponding buildings 4, 5, 6, the trees 7 and the like are located. This lower zone 12 can not be monitored optimally with the sensor unit 8 and the radar sensor 9, since a multiplicity of radar interference signals can occur. The lower zone 12 can therefore also be referred to as Bodenclutterzone. The lower zone 12 may in particular extend to the gables or roofs of the buildings 4, 5, 6.
    In Fig. 2 and Fig. 3 it is now shown that a remote-controlled, small and slow, unmanned flying object 13 is flying deeply flying along a flight path 14. The flying object 13 is difficult to detect and track by means of the sensor unit 8, since the flying object 13 is moved close to the facade of the building 6 and close to the trees 7.
    In order to improve the detection, several radar devices 1, 2, 3 (see Fig. 3 to 7) are additionally provided. Each of the radar devices 1, 2, 3 has at least one radar sensor 15. The disadvantages mentioned above are now avoided in that at least one radar sensor 15 is configured as an automotive radar sensor module 16. This has the advantage that the detection of corresponding slow flying objects 13, in particular in the lower zone 12 near the ground, is improved. Preferably, all radar sensors 15 are formed as automobile radar sensor modules 16. These
    Automobilradarsensormodule 16 are well suited to distinguish even smaller flying objects 13 of clutter in urban environment. Furthermore, such automotive radar sensor modules 16 are robust and inexpensive.
    3 to 7 for the detection of the corresponding flying objects 13, the automobile radar sensor module 16 is now arranged rotated by 90 ° in comparison with the use in motor vehicles (cf., FIG. 1 and associated description), so that the measuring range 20 is greater in the vertical than in the horizontal.
    The radar devices 1, 2, 3 each have a holder 21, which serve for attachment or arrangement of the automobile radar sensor modules 16. The holder 21 is fixedly connected to a turntable 22. As a result, the corresponding Kraftfahrzeugradarsensormodule 16 are functionally effective rotatably arranged. The turntable 22 may be rotatably mounted on a corresponding foot. The turntable 22 is vzw. drivable by means of a drive, not shown. Here, the rotational position of the turntable 22 is detected. By means of the automobile radar sensor module 16, the corresponding measuring range 20 can now be rotated by rotation of the turntable 22 in order to scan the lower zone 12 for corresponding flying objects 13. Once a flying object 13 has been detected by the automobile radar sensor module 16, the turntable 22 can be controlled such that the measuring range 20 follows the flying object 13. The rotational movement 24 of the turntable 22 is indicated by an arrow in each case. The rotational movement 24 can take place either clockwise or counterclockwise.
    The radar devices 1, 2, 3 each have, in particular, a transmission module 23. By means of the transmission module 23, the radar data and / or the rotational position of the turntable 22 can be forwarded to a central office. The transmission module 23 transmits the corresponding data in particular by means of radio or provides a radio connection.
    The transmission module 23 may comprise a GSM module, an ISM module, a UMTS module and / or an LTE module (not shown). In an alternative embodiment, it is conceivable that the transmission module 23 forwards the corresponding data to the central office via a wired connection.
    In the embodiment illustrated in FIGS. 4 and 5, the radar device 1 has exactly one automobile radar sensor module 16. In order to increase the update rate, it is conceivable that a plurality of automobile radar sensor modules 16 are provided, which are arranged on the holder 21 and point in different azimuth directions, as is indicated, for example, in FIG. 6. Here, four automobile radar sensor modules 16 are directed in four azimuth directions (unspecified). These azimuth directions are in particular spaced apart by 90 ° in each case. However, it is conceivable to assign a different number of automotive radar sensor modules 16 to different azimuth directions. For example, two, three, five or more azimuth ranges may be covered by corresponding automotive radar sensor modules 16. This increases the refresh rate per revolution.
    In the embodiment illustrated in FIG. 7, the surveillance area in the vertical is enlarged by different aligned automobile radar sensors 16. A first automotive radar sensor module 16 for an upper elevation area 25 and a second automotive radar sensor module 16 for a lower elevation area 26 are provided. It is conceivable, in this case additionally to arrange further Kraftfahrzeugradarsensormodule 16, which are directed in other directions of azimuth on the holder 21, as shown in Fig. 6.
    The aforementioned disadvantages are therefore avoided and corresponding advantages are achieved.
    LIST OF REFERENCE NUMBERS
    [0034]<Tb> 1 <September> radar device<Tb> 2 <September> radar device<Tb> 3 <September> radar device<Tb> 4 <September> Building<Tb> 5 <September> Building<Tb> 6 <September> Building<Tb> 7 <September> Tree<Tb> 8 <September> sensor unit<Tb> 9 <September> Radar Sensor<tb> 10 <SEP> upper zone<Tb> 11 <September> borderline<tb> 12 <SEP> lower zone<Tb> 13 <September> Flying Object<Tb> 14 <September> flight path<Tb> 15 <September> Radar Sensor<Tb> 16 <September> automotive radar sensor module<Tb> 17 <September> motor vehicle<Tb> 18 <September> Range<Tb> 19 <September> Ellipse<Tb> 20 <September> Range<Tb> 21 <September> bracket<Tb> 22 <September> rotary splitter<Tb> 23 <September> transmission module<Tb> 24 <September> rotary motion<tb> 25 <SEP> upper elevation range<tb> 26 <SEP> lower elevation range
    权利要求:
    Claims (17)
    [1]
    Radar device (1, 2, 3) for the detection of unmanned, slow and low-flying flying objects (13), with at least one radar sensor (15), characterized in that at least one. Radar sensor (15) is designed as a car radar sensor module (16).
    [2]
    A radar apparatus according to claim 1, characterized in that the automotive radar sensor module (16) is oriented such that a measurement area (20) of the automotive radar sensor module (16) has an azimuth detection angle and an elevation detection angle, the elevation detection angle being greater than the azimuth detection angle.
    [3]
    The radar apparatus according to claim 1, characterized in that the automotive radar sensor module (16) is oriented such that a measurement area (20) of the automotive radar sensor module (16) has an azimuth detection angle and an elevation detection angle, the elevation detection angle being smaller than the azimuth detection angle.
    [4]
    4. Radar device according to one of the preceding claims, characterized in that the at least one automobile radar sensor module (16) on a holder (21) is arranged, wherein the holder (21) is functionally effective rotatably mounted.
    [5]
    5. Radar device according to the preceding claim, characterized in that the holder (21) with a turntable (22) is fixedly connected, wherein the turntable (22) is rotatably mounted, wherein the turntable (22) is drivable by means of a drive.
    [6]
    6. Radar device according to one of the preceding claims, characterized in that a plurality of automotive radar sensor modules (16) are aligned on a holder (21) in different azimuth directions.
    [7]
    7. Radar device according to one of the preceding claims, characterized in that a plurality of automotive radar sensor modules (16) are aligned on a holder (21) in different elevation directions.
    [8]
    8. Radar device according to one of the preceding claims, characterized in that a first Kraftfahrzeugradarsensormodul (16) for detecting an upper elevation region (25) and a second Kraftfahrzeugradarsensormodul (16) for detecting a lower elevation region (26) is provided.
    [9]
    9. A radar device according to one of the preceding claims, characterized in that a first Kraftfahrzeugradarsensormodul (16) for detecting an upper elevation area (25) and a second Kraftfahrzeugradarsensormodul (16) for detecting a lower elevation area (26) and a third Kraftfahrzeugradsensormodul (16) Detecting a middle elevation range between the upper elevation area (25) and the lower elevation area (26) is provided.
    [10]
    10. Radar device according to one of the preceding claims 3 to 6, characterized in that the holder (21) is designed as a column, wherein at different column sides at least one window for at least one automotive radar sensor module (16) is provided, said column side at least one automotive radar sensor module (16) is assigned.
    [11]
    11. Radar device according to one of the preceding claims, characterized in that the at least one arranged on a holder (21) Automobilradarsensormodul (16) at least one TV camera and / or at least one IR camera is assigned functionally.
    [12]
    12. Radar device according to one of the preceding claims, characterized in that a transmission module (23) for transmitting radar data of the at least one Kraftfahrzeugradarsensormoduls (16) and / or a rotational position is provided to a central office.
    [13]
    13. Radar device according to the preceding claim, characterized in that the transmission module (23) provides a radio connection.
    [14]
    14. Radar arrangement, characterized by at least one radar devices (1, 2, 3) according to one of the preceding claims, wherein the at least one radar device (1, 2, 3) monitors a monitoring area in a ground-level, lower zone (12).
    [15]
    15. Radar arrangement according to the preceding claim, characterized in that a plurality of radar devices (1, 2, 3) are arranged at a distance from each other, wherein the radar devices (1, 2, 3) detect different monitoring areas, wherein the different monitoring areas overlap.
    [16]
    16. Radar arrangement according to the preceding claim, characterized in that the overlapping monitoring areas form a monitoring ring around an object to be protected.
    [17]
    17. Radar arrangement according to one of the preceding claims 10 to 12, characterized in that a sensor unit (8) of an air-near-range air defense system is provided, wherein the sensor unit is provided at least one radar sensor (9) for monitoring an upper zone (10), wherein the upper zone (10) is above the lower zone (12).
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    同族专利:
    公开号 | 公开日
    CH710241B1|2019-03-15|
    WO2016058678A1|2016-04-21|
    DE102014014892A1|2016-04-14|
    SG11201702902WA|2017-06-29|
    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014014892.0A|DE102014014892A1|2014-10-13|2014-10-13|Radar device for the detection of unmanned, slow and low flying flying objects|PCT/EP2015/001983| WO2016058678A1|2014-10-13|2015-10-08|Radar device for detecting unmanned, slowly and deep flying objects|
    SG11201702902WA| SG11201702902WA|2014-10-13|2015-10-08|Radar device for detecting unmanned, slowly and deep flying objects|
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