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1 THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE. UWB -1 UWB SEABED SEABED SEABED,,, SEABED Application of fast imaging algorithms with UWB pulse radars to comple-shaped targets Takato SEKI, Shouhei KIDERA, Takua SAKAMOTO, and Toru SATO Graduate School of Informatics, Koto Universit -1 oshidahonmachi, Sako-ku, Koto, Japan Abstract We have developed a fast radar imaging algorithm SEABED for UWB pulse radar sstems. The SEABED can estimate target shapes within a short time, which is suitable for realtime applications including robotics. We have investigated the performance of the SEABED onl for simple shapes. In this paper, we appl the SEABED to comple-shaped targets, and evaluate its limitation. Ke words UWB pulse radar, shape estimation, radar imaging, SEABED 1., CCD.,,,,.,,. UWB(Ultra Wide Band). UWB SEABED Shape Estimation Algorithm based on BST and Etraction of Directl scattered waves,, [1] [].,, SEABED.. UWB UWB r t r = c t/ (1) 1 r UWB r cm S/N UWB 1

2 SEABED, D GHz 1 UWB r 3cm UWB (UWB) MHz UWB. 3. SEABED SEABED, (Boundar Scattering Transform) [1] [],,,.,,. UWB -,. (,, ) t = Z/c s(,, Z). s(,, Z). c. (,, z) (r-domain), (,, Z) (d-domain). (,, z) (,, Z) [1] []. = + z z/ = + z z/ () Z = z 1 + ( z/ ) + ( z/ ) (Inverse Boundar Scattering Transform),. z z SEABED = Z Z/ = Z Z/ (3) z = Z 1 ( Z/ ) ( Z/ ) SEABED (3), SEABED.. SEABED 1 [3]. z =. mm SEABED,.,,,,.,,,.,,.,, SEABED.

3 SEABED SEABED,.., 1., () (3) { = + d/d = 1 + (d/d) () {. = d/d = 1 (d/d) (). 1 SEABED SEABED. 3.,,.,.,,.,.,,. IBST (). SEABED. 3,.. SEABED, SEABED ,., ( ),. 7., 9.,,,,.,,. 1 SEABED., SEABED ( ) 3

4 SEABED ( ) ,.,, SEABED..., , 13., 9., ,. 1.,., SEABED,,,,,..,,.,

5 図 1-1 強度情報を反映した推定像 (近接モデルの場合) -1 図 近接した目標物体からの受信信号から抽出された擬似波面 図 1 推定された目標形状 (接近モデルの場合) 図 17 図 1 に.. 1 節で用いたモデルの推定像に強度情報を反映 した図を示す. 円の半径が図 の振幅の大きさに対応しており, 1 1 干渉点検出用受信信号波形 7. 干 渉 検 出 円の半径の変化が大きい場合には干渉を起こしている部分から これまでに述べてきたように, 複雑な形状の物体に対して の推定点である可能性があると推定できる. 図 1 を見ると, 左 SEABED 法を適用するためには, 正確な擬似波面の抽出が不可 方の円のアンテナ面側は点の大きさも揃っており, 非干渉点か 欠である. 本節では, 正確な擬似波面抽出の妨げとなっている, らの推定点であると考えられる. 一方, 右方の複雑形状物体は, 多散乱点からの干渉を起こしている部分を検出する方法につい 点の大きさが図 7 と対応していない部分があり, 干渉を起こし て検討する. ているものと考えられる. 干渉点検出として, 送信波形と受信信号波形を比べ, 干渉して 同様に.. 節で用いたモデルの推定像に強度情報を反映し いなければ波形そのものは変わらず, 振幅のみが変わるという た結果を図 1 に示す. この図より, 左方の円のアンテナ面側の 点を利用し送信波形との比較により受信信号の干渉点を検出し 推定像は, 右半分の点の大きさが不ぞろいになり, 干渉を起こ た. 受信信号 s(, ) より信号のピーク値のうちで閾値を超え しているものと考えられる. このことは点線で示された本来の るものの, の値を抜き出し i, i とする. 各ピーク位置 円からもずれた位置に点があることからもわかる. 右方の円は i, i に対し 次式を最小化する ai を求める 図 11 と見比べることで, 干渉による推定点があることが確認で きる. minimize ai ma {r( )} s(i, i ) () こうして 干渉部分を表す信号 sint (, ) を次式の通り得る 1 sint (, ) = s(, ) ai r( i )δ( i ) (7) i ここで δ() はディラックのデルタ関数である 検出対象として, 干渉点が明らかな受信信号を用意し, 干渉点 の検出が正確かどうかを確かめた. 図 17 に対象とした受信信 -1 - 図 1 強度情報を反映した推定像 1 号を示す. この図の各アンテナ座標における受信信号時間波形 と 送信信号波形との比較によって干渉していると思われる部 分を抽出した. 結果を図 1 に示す. 図 17 で信号どうしが交差 し, 明らかに干渉を起こしている点が図 1 で検出されているこ とがわかる.

6 SEABED,,.,.,.,., SEABED,.,. [1],, UWB,, Vol.J-B, No.1, pp.311-3, Dec. [] T. Sakamoto and T. Sato, A Target Shape Estimation Algorithm for Pulse Radar Sstems Based on Boundar Scattering Transform, IEICE Commun., vol. E7-B, no., Ma,. [3] T. Sakamoto and T. Sato, A fast algorithm of 3- dimensional imaging for pulse radar sstems, IEEE AP-S Smposium and USNC/URSI National Radio Science Meeting, vol., June.

1., 1 COOKPAD 2, Web.,,,,,,.,, [1]., 5.,, [2].,,.,.,, 5, [3].,,,.,, [4], 33,.,,.,,.. 2.,, 3.., 4., 5., ,. 1.,,., 2.,. 1,,

1., 1 COOKPAD 2, Web.,,,,,,.,, [1]., 5.,, [2].,,.,.,, 5, [3].,,,.,, [4], 33,.,,.,,.. 2.,, 3.., 4., 5., ,. 1.,,., 2.,. 1,, THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE.,, 464 8601 470 0393 101 464 8601 E-mail: matsunagah@murase.m.is.nagoya-u.ac.jp, {ide,murase,hirayama}@is.nagoya-u.ac.jp,

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