CN102176018A - Doppler wave beam sharpening rapid imaging method of mechanical scanning radar - Google Patents

Doppler wave beam sharpening rapid imaging method of mechanical scanning radar Download PDF

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CN102176018A
CN102176018A CN 201110062109 CN201110062109A CN102176018A CN 102176018 A CN102176018 A CN 102176018A CN 201110062109 CN201110062109 CN 201110062109 CN 201110062109 A CN201110062109 A CN 201110062109A CN 102176018 A CN102176018 A CN 102176018A
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orientation
matrix
doppler
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李明
左磊
吴艳
王亚军
张晓伟
张鹏
罗小云
李响
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Xidian University
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Abstract

The invention discloses a Doppler wave beam sharpening rapid imaging method of a mechanical scanning radar, which mainly solves the problem that the prior art cannot be applied to a mechanical scanning radar. The method comprises the following steps of: firstly determining a pulse accumulation number M and a sharpening ratio N, arranging echoes after the pulse compression into a distance-direction matrix according to a receiving order; taking out two small matrixes which has directional length of 2*M and are mutually overlapped M from the matrix according to the receiving order; respectively performing the Doppler central estimation on the two small matrixes; using two Doppler centers to compute an interpolation frequency point; meanwhile, using the latter Doppler centre to perform the directional Doppler central compensation on the latter small matrix; then performing the directional FFT (Fast Fourier Transform), using the interpolation frequency point to extract a sub-image from the data behind the FFT, splicing the sub-image according to the receiving order to obtain a large image. Compared with the traditional DBS (direct broadcasting by satellite) imaging method, the Doppler wave beam sharpening rapid imaging method has low computation, and low requirement on the radar performance, and can be applied to the traditional mechanical scanning radar DBS imaging.

Description

The Doppler beam sharpening fast imaging method of mechanical scanning radar
Technical field
The invention belongs to the signal processing technology field, relate to radar imagery, can be used for the quick ground surface imaging of scope with great visual angle of real-time.
Background technology
Fixed ground target in the airborne radar wave beam irradiated region is because the orientation difference causes its sight line also different with the angle of the velocity vector of radar, and promptly their relative carrier aircrafts have different radial velocities and produce different Doppler shifts.Doppler beam sharpening DBS becomes some narrow beamlet with the permanent echo beam splitting in the same wave beam, because different beamlet has different position angles, corresponding different Doppler frequencies, therefore can improve radar bearing effectively to resolution by separately separately with different position angles Doppler frequency.
In the Doppler beam sharpening imaging algorithm, there is following relation:
Δ f d N = f r M
Δ f in the formula dBe the doppler bandwidth at certain scan angle place, f rBe pulse repetition rate, M is a pulse accumulation number, and N is the sharpening ratio.
Because doppler bandwidth Δ f dChange with scan angle, for guaranteeing the resolution unanimity, sharpening should remain unchanged than N is common.So how to coordinate pulse repetition rate f r, coherent accumulation number M, and antenna rotation rate are the keys of Doppler beam sharpening image mosaic under the scanning work.For Phased Array Radar Antenna, the scanning speed and the residence time control ratio of its antenna beam are easier to, and can guarantee has constant sharpening ratio under the different scanning angle.But to the mechanical scanning antenna, antenna scanning is continuous working, owing to reasons such as machinery inertials, is difficult for realizing non-uniform rotation.During coherent accumulation, pulse repetition rate and pulse accumulation number all are to keep constant in theory.But keep sharpening than constant, have one among both at least with the position segmentation step transition of scanning ripple.
Guarantee that sharpening has two kinds of thinkings usually than constant under the antenna uniform speed scanning:
Thinking one: fixed pulse accumulation number M makes pulse repetition rate f rChange with scanning angle;
Thinking two: fixed pulse repetition frequency f r, pulse accumulation number M is changed with scanning angle.
Contrast is above to guarantee that sharpening is than two kinds of constant thinkings: thinking one, pulse accumulation number M is constant, the wave filter fixed number in the promptly relevant narrow band filter group.At this moment, f rNeed with bandwidth deltaf f in scan angle variation and the main beam dBe consistent, thereby make that bank of filters always is filled in Δ f in any case dThinking two, f rConstant, pulse accumulation number M changes with scan angle, thereby guarantees that frequency resolution is constant.Thinking one often adopts f in engineering reality rStaged transition is to having relatively high expectations of Antenna Design; M changes in the thinking two, make troubles to signal Processing: often adopt DFT to realize coherent accumulation in the signal Processing, when using DFT here, the input data length is that M changes, and the length of output data should equal sharpening than N, the DFT that counts for difference, need extract the twiddle factor table, programming is trouble, and implementation efficiency is low, is unfavorable for real-time implementation.
According to above two kinds of thinkings, at present commonly used have two kinds of methods: wave beam sharpening method and f one by one rInterior omnidistance FFT wave beam sharpening method.
Comparative maturity on these two kinds of theoretical methods, but concerning most of mechanical scanning radar, still relatively more difficult on Project Realization.In order to solve this difficult problem, the someone has proposed at pulse repetition rate f rConstant, keep the sharpening pre-filtering method more constant under the also constant prerequisite of coherent accumulation number M than N.This method is before FFT echo to be carried out filtering and down-sampled, but designs a bandwidth with Δ f dThe wave filter that changes and have good stopband characteristic and a linear phase characteristic is very difficult on engineering.
Summary of the invention
The present invention is directed to present DBS formation method and can not be applied to this shortcoming of mechanical scanning radar, proposed a kind of Doppler beam sharpening fast imaging method of mechanical scanning radar,, realize the real time imagery function on the engineering to improve the speed of signal Processing.
For achieving the above object, performing step of the present invention comprises as follows:
(1) utilize known mechanical scanning radar running parameter, calculate constant radar pulse accumulation number M:
M = Δθ v θ · f r
Wherein, v θBe antenna rotation rate, Δ θ is a beam angle, f rIt is radar pulse repetition frequency;
(2) according to the radar pulse of gained accumulation number M and known mechanical scanning radar running parameter, the sharpening of calculating Doppler beam sharpening is than N:
N = Δf dl · M f r
Wherein, Δ f DlThe doppler bandwidth at minimum place, expression antenna scanning angle;
The radar return passages through which vital energy circulates punching press that (3) will constantly receive contract the back as the distance to, line up the range-azimuth matrix in proper order by reception, the radar return number that recorder is simultaneously arrived, when the radar return number that receives reaches 3*M, is 3*M with an orientation to length, the sliding window that distance equates to sampling number to length and radar return distance, reading of data in the range-azimuth matrix of having lined up;
(4) with the 1st to 2*M small distance-orientation matrix A that radar return is lined up in the data that read out, small distance-orientation matrix B that M+1 is lined up to 3*M radar return, to A and these two range-azimuth matrixes of B respectively the uses energy equalization carry out the Doppler center and estimate, obtain the Doppler center f of small distance-orientation matrix A D1And the Doppler center f of small distance-orientation matrix B D2
(5) according to two estimated Doppler center f D1And f D2, determine interpolation frequency point set f n:
5a)
Figure BDA0000050303030000031
N=1,2, Λ N, N are even numbers;
5b)
Figure BDA0000050303030000032
N=1,2, Λ N, N are odd numbers;
(6) according to estimated Doppler center f D2Small distance-orientation matrix B is carried out the orientation to the compensation of Doppler center, make the orientation move on to 0 frequency place to the centre frequency of data;
(7) data after the compensation of Doppler center are carried out the orientation to FFT, to finish the signal energy accumulation, the range-azimuth matrix after Doppler center compensation this moment has become distance-frequency matrix, and its frequency range is :-f r/ 2 to f r/ 2;
(8) from distance-frequency matrix, extract and be positioned at interpolation frequency point set f nData on institute's respective frequencies obtain a width of cloth orientation to the angular resolution unanimity, and the subgraph of data transfer rate unanimity;
(9) with the subgraph that obtains by the order that obtains along frequency to directly splicing, obtain the width of cloth image of scope with great visual angle;
(10) wait for that radar receives M radar return data once more after, will slide the windowsill orientation to downslide M, reading of data once more, execution in step (11);
(11) repeating step (4) is to step (10).
The present invention has following advantage:
The present invention has improved the antenna scanning speed that is allowed again because recycling radar return data had both guaranteed that the target in the wave beam irradiated region had enough and identical accumulation, thereby has reduced the possibility of image generation distortion; Because the present invention adopts fixing coherent accumulation number M, use FFT energy accumulation is carried out to echo data in the orientation, thereby greatly improved the speed of Radar Signal Processing simultaneously; In addition because the present invention adopts constant radar pulse repetition frequency f r, with the designing requirement of reduction to antenna system, thus the convenient Doppler beam sharpening function that on the existing mechanical scanning radar, installs additional.
Experimental result shows that the present invention can be applied on the mechanical scanning radar, and can access the ground image of comparatively desirable scope with great visual angle.
Description of drawings
Fig. 1 is the Doppler beam sharpening fast imaging process flow diagram of mechanical scanning radar of the present invention;
Fig. 2 is to the real time imagery in certain city figure as a result with Doppler beam sharpening of the present invention.
Embodiment
With reference to Fig. 1, specific implementation process of the present invention is as follows:
Step 1. is calculated constant radar pulse accumulation number.
Mechanical scanning radar is installed on the aircraft that flies at a constant speed, can obtains antenna rotation rate v θ, radar beam width Delta θ and radar pulse repetition frequency f r, utilize these mechanical scanning radar running parameters, calculate constant radar pulse accumulation number M:
M = Δθ v θ · f r .
Step 2. calculate Doppler beam sharpening the sharpening ratio.
Because the doppler bandwidth Δ f of antenna dIncrease with the antenna scanning angle increases, so the doppler bandwidth Δ f of antenna dInterior frequency is counted also to be increased thereupon, in order to obtain the subgraph of data transfer rate unanimity, adopts the doppler bandwidth Δ f at minimum place, antenna scanning angle among the present invention DlInterior frequency is counted as the unified sharpening ratio of Doppler beam sharpening, according to radar pulse repetition frequency f r, the doppler bandwidth Δ f at the minimum place of radar pulse accumulation number M and antenna scanning angle Dl, calculate Doppler beam sharpening sharpening than N:
N = Δf dl · M f r .
Step 3. reading of data.
With the radar return passages through which vital energy circulates punching press that constantly receives contract the back as apart to, line up the range-azimuth matrix in proper order by reception, the radar return number that recorder is simultaneously arrived, when the radar return number that receives reaches 3*M, is 3*M with an orientation to length, the sliding window that distance equates to sampling number to length and radar return distance, reading of data in the range-azimuth matrix of having lined up.
Step 4. Doppler center is estimated.
With the 1st to 2*M small distance-orientation matrix A that radar return is lined up in the data that read out, small distance-orientation matrix B that M+1 is lined up to 3*M radar return, to A and these two range-azimuth matrixes of B respectively the uses energy equalization carry out the Doppler center and estimate, obtain the Doppler center f of small distance-orientation matrix A D1And the Doppler center f of small distance-orientation matrix B D2
Step 5. is determined interpolation frequency point set f n
Two estimated Doppler center f D1And f D2Poor, be exactly the doppler bandwidth of the echo data of small distance-orientation matrix A and B lap, in this bandwidth range, extract sharpening equably and form interpolation frequency point set f than N frequency values n, this interpolation frequency point set f nOdevity according to N frequency values is calculated by following two kinds of formula:
5a)
Figure BDA0000050303030000051
N=1,2, Λ N, N are even numbers;
5b)
Figure BDA0000050303030000052
N=1,2, Λ N, N are odd numbers.
The compensation of step 6. Doppler center.
Because estimated Doppler center f D2The orientation that is small distance-orientation matrix B is to the Doppler center, so when compensating at the Doppler center, each orientation of small distance-orientation matrix B be multiply by Doppler center penalty function: exp (j2 π f respectively to data D2K/f r), k=0,1, Λ 2M-1, just can make the centre frequency of compensation back data move on to 0 place frequently, replace in small distance-orientation matrix B corresponding orientation to data with the data after the compensation, each orientation in this moment small distance-orientation matrix B all is positioned at 0 place frequently to the centre frequency of data.
Step 7. orientation is to FFT.
Each orientation to the small distance-orientation matrix B after the compensation of Doppler center is carried out FFT respectively to data, replace corresponding orientation to data with the data behind the FFT, range-azimuth matrix B after Doppler center compensation this moment has become distance-frequency matrix, and its frequency range is :-f r/ 2 to f r/ 2, this step has also realized the signal energy accumulation simultaneously.
Step 8. extracts subgraph.
Successively from interpolation frequency point set f nMiddle reading frequency value is the frequency resolution of matrix when the frequency values that reads Integral multiple the time, directly extract the data of this frequency correspondence in the distance-frequency matrix, otherwise, in distance-frequency matrix, adopt approach based on linear interpolation to extract the data of this frequency correspondence; The data that extract are become a width of cloth subgraph by the ascending series arrangement of frequency, and this subgraph orientation is to the angular resolution unanimity, and the data transfer rate unanimity.
The splicing of step 9. subgraph.
Is benchmark image with the subgraph that obtains with first width of cloth subgraph, by the order that obtains along frequency to directly arranging, obtain the width of cloth image of scope with great visual angle.
Step 10. will be slided the windowsill orientation to downslide M after waiting for that radar receives M radar return data once more, reading of data once more, execution in step (11).
Step 11. is along with the flight of aircraft and the rotation of antenna, and successional variation has taken place the irradiation area of radar antenna on ground, and repeating step (4) obtains the subgraph in antenna irradiation zone this moment to step (10).
Effect of the present invention can further specify by following experiment:
1, experimental situation and content
Experimental situation: MATLAB 7.5.0, Intel (R) Pentium (R) 2CPU 3.0GHz, Window XPProfessional.
Experiment content:, under simulated environment, use the present invention and carry out imaging with the echo data of airborne mechanical scanning radar admission.
2, experimental result
Application the present invention carries out fast imaging to the echo data of airborne mechanical scanning radar admission, obtains the width of cloth ground image of scope with great visual angle, and the result as shown in Figure 2.
As seen from Figure 2 airport, city and around landforms etc., image quality is better, illustrates that the present invention can be applied to mechanical scanning radar.

Claims (4)

1. the Doppler beam sharpening fast imaging method of a mechanical scanning radar comprises the steps:
(1) utilize known mechanical scanning radar running parameter, calculate constant radar pulse accumulation number M:
M = Δθ v θ · f r
Wherein, v θBe antenna rotation rate, Δ θ is a beam angle, f rIt is radar pulse repetition frequency;
(2) according to the radar pulse of gained accumulation number M and known mechanical scanning radar running parameter, the sharpening of calculating Doppler beam sharpening is than N:
N = Δf dl · M f r
Wherein, Δ f DlThe doppler bandwidth at minimum place, expression antenna scanning angle;
The radar return passages through which vital energy circulates punching press that (3) will constantly receive contract the back as the distance to, line up the range-azimuth matrix in proper order by reception, the radar return number that recorder is simultaneously arrived, when the radar return number that receives reaches 3*M, is 3*M with an orientation to length, the sliding window that distance equates to sampling number to length and radar return distance, reading of data in the range-azimuth matrix of having lined up;
(4) with the 1st to 2*M small distance-orientation matrix A that radar return is lined up in the data that read out, small distance-orientation matrix B that M+1 is lined up to 3*M radar return, to A and these two range-azimuth matrixes of B respectively the uses energy equalization carry out the Doppler center and estimate, obtain the Doppler center f of small distance-orientation matrix A D1And the Doppler center f of small distance-orientation matrix B D2
(5) according to two estimated Doppler center f D1And f D2, determine interpolation frequency point set f n:
5a)
Figure FDA0000050303020000013
N=1,2, Λ N, N are even numbers;
5b)
Figure FDA0000050303020000014
N=1,2, Λ N, N are odd numbers;
(6) according to estimated Doppler center f D2Small distance-orientation matrix B is carried out the orientation to the compensation of Doppler center, make the orientation move on to 0 frequency place to the centre frequency of data;
(7) data after the compensation of Doppler center are carried out the orientation to FFT, to finish the signal energy accumulation, the range-azimuth matrix after Doppler center compensation this moment has become distance-frequency matrix, and its frequency range is :-f r/ 2 to f r/ 2;
(8) from distance-frequency matrix, extract and be positioned at interpolation frequency point set f nData on institute's respective frequencies obtain a width of cloth orientation to the angular resolution unanimity, and the subgraph of data transfer rate unanimity;
(9) with the subgraph that obtains by the order that obtains along frequency to directly splicing, obtain the width of cloth image of scope with great visual angle;
(10) wait for that radar receives M radar return data once more after, will slide the windowsill orientation to downslide M, reading of data once more, execution in step (11);
(11) repeating step (4) is to step (10).
2. according to the described method of claim 1, wherein step (6) is described according to estimated Doppler center f D2Small distance-orientation matrix B is carried out the orientation to Doppler center compensation, is that each orientation with small distance-orientation matrix B multiply by Doppler center penalty function: exp (j2 π fd respectively to data 2k/ f r), k=0,1, Λ 2M-1 compensates one by one, replaces corresponding orientation to data with the data after the compensation, realizes the orientation of small distance-orientation matrix B is compensated to the Doppler center.
3. according to the described method of claim 1, wherein described the extracting from distance-frequency matrix of step (8) is positioned at interpolation frequency point set f nData on institute's respective frequencies are successively from interpolation frequency point set f nMiddle reading frequency value is the frequency resolution of matrix when the frequency values that reads
Figure FDA0000050303020000021
Integral multiple the time, directly extract the data of this frequency correspondence in the distance-frequency matrix, otherwise, in distance-frequency matrix, adopt approach based on linear interpolation to extract the data of this frequency correspondence; The data that extract are become a width of cloth subgraph by the ascending series arrangement of frequency.
4. according to the described method of claim 1, wherein step (9) described with the subgraph that obtains by the order that obtains along frequency to directly splicing, be that the subgraph that will obtain is a benchmark image with first width of cloth subgraph, by the order that obtains along frequency to directly arranging, obtain the width of cloth image of scope with great visual angle.
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CN104076361A (en) * 2014-07-04 2014-10-01 西安电子科技大学 Super-resolution wide-area imaging method for airborne battlefield monitoring radar of unmanned aerial vehicle
CN105182332A (en) * 2015-09-15 2015-12-23 上海无线电设备研究所 Two-dimensional wave beam sharpening method
CN105589071A (en) * 2015-12-11 2016-05-18 西安电子科技大学 SPICE-based airborne radar high-resolution DBS imaging method
CN106872969A (en) * 2017-03-22 2017-06-20 西安电子科技大学 Radar target angle method of estimation based on MTD pulse accumulations and slip treatment
CN106970386A (en) * 2017-03-31 2017-07-21 西安电子科技大学 A kind of optimization method of RADOP beam sharpening
CN109613532A (en) * 2019-01-02 2019-04-12 电子科技大学 A kind of airborne radar Real Time Doppler beam sharpening super-resolution imaging method
CN109782277A (en) * 2017-11-14 2019-05-21 中电科海洋信息技术研究院有限公司 Become strabismus Spotlight SAR Imaging imaging method, device, equipment and the storage medium of PRI
CN111638505A (en) * 2020-05-22 2020-09-08 桂林长海发展有限责任公司 Radar self-adaptive target detection method and device
CN111650588A (en) * 2020-07-10 2020-09-11 国科北方电子科技(北京)有限公司 Small real-time processing device of SAR (synthetic aperture radar) and RD (RD) algorithm real-time processing method of SAR signals
CN115508803A (en) * 2022-11-23 2022-12-23 深圳市中科海信科技有限公司 Beam sharpening processing method and system based on DSP digital signal processing board

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CN105182332A (en) * 2015-09-15 2015-12-23 上海无线电设备研究所 Two-dimensional wave beam sharpening method
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CN106872969B (en) * 2017-03-22 2019-08-06 西安电子科技大学 Radar target angle estimation method based on MTD pulse accumulation and sliding processing
CN106970386A (en) * 2017-03-31 2017-07-21 西安电子科技大学 A kind of optimization method of RADOP beam sharpening
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CN109613532A (en) * 2019-01-02 2019-04-12 电子科技大学 A kind of airborne radar Real Time Doppler beam sharpening super-resolution imaging method
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CN111638505A (en) * 2020-05-22 2020-09-08 桂林长海发展有限责任公司 Radar self-adaptive target detection method and device
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CN115508803A (en) * 2022-11-23 2022-12-23 深圳市中科海信科技有限公司 Beam sharpening processing method and system based on DSP digital signal processing board
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