Radar system

1. A radar system comprising:

multiple transmission radars for emitting transmission signals with different frequencies, each frequency being generated using a pulse signal and an intrapulse modulation signal used for performing frequency modulation on the pulse signal;

a receiver for converting received signals of the transmission signals that return from a target on reflection, into a reception video signal;

a processor to execute a program;

a memory to store the program which, when executed by the processor, causes the processor to perform the processes of:

transforming the reception video signal into signals based on a velocity and a range in such a way that Doppler frequencies of the target belongs to a same velocity bin number regardless of a change in the frequencies of the transmission signals to provide first plural output signals;

performing correlation process on the first plural output signals by using reference signals associated with both a transmission frequency of the multiple transmission radars and a velocity corresponding to a velocity bin number, to generate signals based on a velocity and a range after correlation to provide second plural output signals, the second plural output signals being separate for each of the transmission frequencies of the multiple transmission radars;

integrating the second plural output signals using target arrival angle candidates, to generate band-synthesized signals based on a velocity and a range after correlation to provide third plural output signals;

performing detection of a target candidate on the third plural output signals on a basis of signal strength; and

calculating a relative velocity, a relative range, and an arrival angle of the target candidate.

2. The radar system according to claim 1 , wherein the processor further perform the processes of:

integrating the band-synthesized signals based on a velocity and a range after correlation using target arrival angle candidates, to generate integrated signals based on a velocity and a range after correlation to provide fourth plural output signals, and

performing detection of a target candidate on the fourth plural output signals.

3. The radar system according to claim 1 , wherein the multiple transmission radars emit transmission signals with different frequencies for which intrapulse frequency modulation is performed upwardly or downwardly, keeping a preset frequency spacing.

4. The radar system according to claim 1 , wherein the multiple transmission radars emit the transmission signals with the different frequencies for which intrapulse frequency modulation is performed upwardly or downwardly in such a manner that frequency modulations in adjacent frequency bands are complex conjugates, keeping a preset frequency spacing.

5. The radar system according to claim 1 , wherein the multiple transmission radars emit the transmitted signals with the different frequencies for which intrapulse frequency modulation is performed upwardly or downwardly in such a manner that frequency modulations in symmetric frequency bands are complex conjugates, keeping a preset frequency spacing.

6. The radar system according to claim 1 , wherein the processor performs the transforming process by additionally performing a window function process on the reception video signal.

7. The radar system according to claim 1 , wherein the processor uses a discrete Fourier transform to sample reception video signals obtained after frequency domain transform at intervals that are determined based on a center transmission frequency.

8. The radar system according to claim 1 , wherein the processor uses a chirp z-transform to sample reception video signals obtained after frequency domain transform at intervals that are determined based on a center transmission frequency.

9. The radar system according to claim 1 , wherein the processor uses the reference signals to each of which a phase based on a target displacement distance during an observation time is added.

10. The radar system according to claim 1 , wherein the processor further perform the processes of:

performing a correlation process on the band-synthesized signals based on a velocity and a range after correlation by using a two-dimensional reference signal based on a relative velocity, a relative range, and an arrival angle of each target candidate, to generate a signal after second correlation process to provide fifth plural output signals, and

performing detection of a target candidate on the fifth plural output signals on a basis of signal strength.