CN104166135A - Method for processing original point trace condensation of broadband radar target - Google Patents
Method for processing original point trace condensation of broadband radar target Download PDFInfo
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- CN104166135A CN104166135A CN201410453655.4A CN201410453655A CN104166135A CN 104166135 A CN104166135 A CN 104166135A CN 201410453655 A CN201410453655 A CN 201410453655A CN 104166135 A CN104166135 A CN 104166135A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a method for processing original point trace condensation of a broadband radar target. According to the method, a reference radial length L and a reference direction length W are set; the traces of points of the same target are merged in the radial distance direction; condensation is carried out on data of the traces, merged in the radial direction, of the points to obtain radial distance condensation points; the radial distance condensation points of the same target are merged on echo scanning lines in the adjacent directions; a background target is removed; sidelobe clutters are removed, direction condensation is carried out on the rest of the radial distance condensation points, and the direction parameter estimated value and the distance parameter estimated value of the same target are obtained. By means of the method, the radar original point trace data can be easily and quickly processed, the validity of point trace condensation and the accuracy of target parameter estimation are improved, and good essential data are provided for subsequent target tracing.
Description
Technical field
The present invention relates to radar signal processing field, be specifically related to a kind of original point mark agglomeration process method of wideband radar target, be applicable to process the wideband radar target echo signal after CFAR detection is processed.
Background technology
Radar is a kind of basic unlimited electric detection device, has the ability of round-the-clock, the all-weather detection of a target.Early stage radar comes across 19th century the '30s, only has target is detected and positioning function.Through the development of decades, Radar Technology has obtained huge progress, and various new system radars continue to bring out, and radar performance constantly improves, and application is also in continuous expansion.Modern radar can the detection of a target various parameters, measuring accuracy is also more and more higher, even the radar of some system has the ability of obtaining target fine structure, the technology that these advanced radars have is wideband radar technology.At present, wideband radar technology becomes the important development direction of countries in the world Radar Technology just gradually.
After being proposed by people the seventies in last century, there is various different system wideband radar equipment in wideband radar concept, such as various airborne, satellite-borne SAR radars, and ground ISAR radar.But up to the present, field of radar does not also have unified, strict definition to the concept of wideband radar.In general, according to radar relative width η, define:
Wherein, Δ f is the instantaneous broadband of radar, f
0for radar carrier frequency.It is generally acknowledged, when 0.01≤η≤0.25, be wideband radar.When η >=0.25, it is ULTRA-WIDEBAND RADAR.Yet the usually said wideband radar of people refers to that the absolute bandwidth transmitting is very large, a plurality of strong scatterings center that can resolution target; The absolute bandwidth of radar is wider, and its Range resolution unit is less.
Compare Narrow-band Radar, wideband radar all has outstanding advantage aspect a lot.At present, the relevant treatment technology of the low Resolution Radar in arrowband is quite ripe, fast-developing as for Wideband High Resolution Radar technology, not yet arrives the stage of ripeness.Because the echoing characteristics of arrowband and wideband radar has a great difference, cause the signal of a lot of Narrow-band Radar and the processing that data processing technique is no longer applicable to wideband radar target echo.Introduce respectively the characteristic that the echo of arrowband, broadband target has below.
Due to the range resolution of the Narrow-band Radar physical size much larger than target, so arrowband target is regarded as " point target " model.From the angle of signal system, understand, its system function can be regarded as an impulse function, and target echo is exactly the convolution transmitting with this impulse function so.The result of convolution is exactly that echo is still retaining the feature transmitting, and it is relevant transmitting to echoed signal, by echoed signal is carried out to matched filtering, just can obtain best output signal-to-noise ratio, thereby obtain, well detects performance.
The echo character of wideband radar can characterize the target spatial distribution characteristic at strong scattering center with it, and strong scattering center refers to the larger position of scattering strength in target, such as edge, turning and connecting portion etc.For wideband radar, its range resolution unit is much smaller than the physical size of target, therefore broadband target can not be counted as " point target " again, but the combination of a plurality of strong scattering central distribution in target zone, occupied a plurality of Range resolutions unit, be referred to as broadband range extension target or distributed object, simultaneously in one dimension radial distance direction, form the target amplitude image that a pair has the feature that just rises and falls, be referred to as high resolution radar target one-dimensional range profile (HRRP).Because broadband target echo signal is subject to the modulation of its scattering center distribution characteristics, cause the correlativity of transmit waveform and echo waveform to weaken, even degree of correlation is very low.This just makes some theory and technology (comprising signal and data processing technique) of traditional narrow radar no longer be applicable to broadband target.Therefore, study some data processing method scheduling theories that are applicable to broadband target and technology and there is important theory and engineering significance.
The general main multiple target tracking task that completes of data processing technique of radar.But for target following, only wish that a target only produces unique some mark data that represent its physical location.In fact, a certain target by radar illumination through target echo that radar antenna received, after signal is processed, generally often produce a plurality of original point mark data, this just need to sort out these original point mark data, and the some mark data that same target is produced are returned together, finally adopt certain computing method, make a target obtain the some mark data of unique sign target physical position, this process is called as Targets Dots agglomeration process, also can be called the pre-service to original point mark.Targets Dots agglomeration process, for follow-up target tracking data processing module provides basic data, is directly determining the quality of Track In Track quality, is one of gordian technique of radar data processing system.From above, broadband target is broadband extended distance formula target, on distance and bearing, occupy a plurality of unit, another fact is exactly the some mark data of arrowband target, often also occupy a plurality of range units, the reason that produces ambiguity as for arrowband target in distance, orientation will not be discussed in this patent.The important technology index that the processing accuracy of some mark cohesion and ability are radar system.A well behaved some mark disposal system is to guarantee track documents information accurately and reliable precondition.
No matter be broadband or Narrow-band Radar point mark agglomeration process, it is consistent that its basic task requires: can differentiate and remove non-effective Targets Dots; Can distinguish the adjacent objects in azimuth-range, as much as possible the some mark aggregation of data of same target together; Because range accuracy is higher than bearing accuracy, and in processing in real time, can first obtain the data that distance makes progress, so in coacervation process, be first apart from back side.The fact that another is important, is exactly that broadband is different with arrowband target echoing characteristics separately, makes the inapplicable respective handling with to broadband target of arrowband target original point mark agglomeration process technology.Dimension, needs further investigation, designs a kind of original point mark agglomeration process method that is suitable for broadband target.
Prior art one: the general principle of some mark agglomeration process and the method for the low Resolution Radar of traditional narrow
Narrow-band Radar original point mark agglomeration process treatment technology is to the effect that: a large amount of " compression " signal original object point mark data, differentiate and remove non-effective some mark, the point mark cohesion of the same target that single pass is obtained is unique some mark, and then accurately estimates the distance and bearing parameter of this target.
Prior art two: not yet have unitized principle and method about broadband target Targets Dots agglomeration process method at present, and almost can't see the data that studies in great detail of related fields.There is a small amount of data, its some disposal routes have been referred to simply, a basic thinking arranges exactly with reference to radical length and reference azimuth radical length, in order to merger and resolution in distance and direction, then adopt the some mark agglomeration process method of asking for barycenter, the distance and bearing parameter of estimating target.
Prior art one existent defect is: traditional some mark agglomeration process method for arrowband target, no matter be based target barycenter or center calculation, all can not be applicable to the original point mark data of broadband target to process.
Prior art two shortcomings: although continued to use some concept and methodologies of traditional narrow Targets Dots agglomeration process, formulated the method that is used in broadband target original point mark agglomeration process, but the complicacy due to broadband Targets Dots characteristic presentation, can not utilize rejecting abnormalities original point mark in conventional art to comprise that eliminating secondary lobe affects, make them be difficult to formulate some criterions and carry out rejecting abnormalities data, cause the estimation degree of accuracy of target component not high; And major part all adopted the some mark agglomeration process algorithm of asking for barycenter, cause calculated amount large, treatment effeciency is not high.
Summary of the invention
The object of patent of the present invention is to overcome existing technological deficiency, and a kind of original point mark agglomeration process method of wideband radar target is provided.The technical matters that the present invention mainly solves is, according to the characteristic of wideband radar target echo, has proposed a kind of wideband radar Targets Dots agglomeration process method of processing based on strong scattering point Range-based.The method can be simply, rapidly radar original point mark data are processed, and improved the validity of some mark cohesion and the accuracy that target component is estimated, for follow-up target following provides good basic data.
Object of the present invention can realize by following technical proposal:
An original point mark agglomeration process method for wideband radar target, comprises the following steps:
Step 1, arrange with reference to radical length L and reference azimuth length W;
Step 2, the original point mark data of processing after CFAR detection, distance on same echo sweep trace is less than to the some mark that the some mark merger with reference to radical length L is same target, and adds up the some mark number of same target in each echo sweep trace radial distance direction;
Step 3, each target merger point mark data together in radial distance direction are further made to agglomeration process, obtain the radial distance congealing point of each target on each echo sweep trace;
Step 4, on the echo sweep trace in adjacent orientation, the radial distance congealing point merger being less than with reference to radical length W of adjusting the distance is the radial distance congealing point of same target on different echo sweep traces;
Step 5, rejecting orientation width are greater than orientation higher limit H
ube less than orientation lower limit H
ltarget;
Step 6, the number of arranging from big to small the some mark on each orientation echo sweep trace of same target, according to corresponding radial distance congealing point on the less echo sweep trace of the number of predetermined ratio deletion point mark, remaining radial distance congealing point is carried out to azimuth direction cohesion again, obtain the direction parameter estimated value of this same target, calculate the distance parameter estimated value of this same target that remaining radial distance congealing point is corresponding simultaneously.
Predetermined ratio interval in step 6 as above is 0～1/3.
Orientation higher limit H as above
uinterval is 110 °～360 °; Described orientation lower limit Hl interval is 0 °～3 °.
Direction parameter estimated value as above is averaging acquisition by the remaining radial distance congealing point in step 6 is carried out to orientation values; Described distance parameter estimated value is averaging acquisition by the remaining radial distance congealing point in step 6 is carried out to radial distance value.
The present invention compared with prior art has following beneficial effect:
The present invention proposes a kind of broadband Targets Dots agglomeration process method that is applicable to of processing based on strong scattering point Range-based.The method can be simply, rapidly radar original point mark data are processed, and improved the validity of some mark cohesion and the accuracy of Targets Dots parameter estimation, for follow-up target following provides good basic data.
Accompanying drawing explanation
Fig. 1 is target merger and cohesion schematic diagram in radial distance direction;
Fig. 2 is target merger and cohesion schematic diagram on azimuth direction;
Fig. 3 is the some agglomeration process process of the inventive method.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment 1:
In traditional narrow radar, its mark agglomeration process be adopt sliding window method in radial distance direction to front slide, according to the corresponding criterion of formulating, judge in advancing slip window whether have Targets Dots, if existed, carry out reference point mark agglomeration process.These theoretical methods according to being: show-narrow band noise of radar center limit theorem Gaussian distributed, its envelope Rayleigh distributed, while containing echo signal in echo, envelope is obeyed this distribution of Lay.When echo is after antenna radiation pattern modulation, the some mark in echo-peak both sides also may surpass thresholding.Therefore, can judge according to the some mark number that surpasses thresholding in sliding window the existence of target.
Research shows, the target echo of wideband radar no longer has this envelope trait of Lay, shows as the form of range extension target, and target often exists a plurality of somes marks that belong to it on radial distance and azimuth direction.For target is followed the tracks of, the some mark that need to belong to same target to these is differentiated, classification and agglomeration process.In traditional narrow radar, general adopt " centroid method " carries out a mark agglomeration process, thereby obtains the estimated value of the distance and bearing parameter of target.But for broadband Targets Dots, due to the discontinuous and unevenness that belongs to the some mark data of same target and distribute, make the some mark agglomeration process method of traditional narrow radar no longer be applicable to process the target echo of wideband radar.The present invention is according to wideband radar target echo characteristic, and with reference to the some mark agglomeration process method of traditional narrow radar, proposed a kind of wideband radar point mark agglomeration process algorithm of processing based on strong scattering point Range-based.
A kind of original point mark agglomeration process method of wideband radar target:
Step 1, arrange with reference to radical length and reference azimuth length, be made as respectively L and W.The definite merger precision of Targets Dots on distance and bearing that determined of these two length parameters.
Merger in step 2, radial distance direction.The echo sweep trace of take is unit, the original point mark data of processing after CFAR detection, the point mark that belongs to same target is found in utilization in the radial distance direction of echo sweep trace with reference to radical length L, on same echo sweep trace, distance is less than the some mark that the some mark with reference to radical length L is same target, by the some mark merger that belongs to same target on same echo sweep trace together, and add up the some mark number of each target in each echo sweep trace radial distance direction on each echo sweep trace.
It is to be noted, during in traditional narrow radar original point mark data, in radial distance direction, merger is processed, often utilize the characteristic relation of the pulse compression principal subsidiary lobe ratio of echo itself, the point mark data that filtering amplitude is relatively little, the impact of suppressor pulse compression secondary lobe on Targets Dots data formation, but these technology are no longer applicable to the some mark data processing of wideband radar target.
In step 3, radial distance direction, condense.After completing steps 2, tackle same target merger point mark data together in radial distance direction on each echo sweep trace and further make agglomeration process, obtain the radial distance congealing point of each target on echo sweep trace, in fact a demand is got the distance parameter estimated value of this radial distance congealing point.
Merger on step 4, azimuth direction, on the echo sweep trace in adjacent orientation, think that the radial distance congealing point that distance is less than with reference to radical length W is the radial distance congealing point of same target on different echo sweep traces, the radial distance congealing point that above-mentioned distance is less than with reference to radical length W carries out the merger in orientation.The merger of wideband radar in orientation be without arranging azimuth sector, can utilize the radial distance congealing point that W only finds between the data of the echo sweep trace in two adjacent orientation, merger belongs to same target.
Step 5, false target are rejected.Although radar return point mark is after CFAR detection, clutter has obtained a large amount of inhibition, but conventionally still have the original point mark data that thresholding that a small amount of clutter passed through CFAR detection becomes false target, particularly, in bad border of strong clutter, may there are a large amount of extra large clutters, land clutter data.For these clutter data, still can be by orientation higher limit H be set after step 4 completes
uwith orientation lower limit H
l, generally make H
u=120 °, H
l=2 °, reject orientation width and be greater than H
u(wide) and be less than H
lthe target of (narrow), thus suppress and eliminate their harmful effect; Orientation width is the span of the echo sweep trace that occupies of same target on azimuth direction.As orientation higher limit H
u=120 ° and orientation lower limit H
lin the time of=2 °, in the time of in wideband radar has compared with high wind speed environment near coastal port, can reach more than 95% the filtration result of extra large clutter and land clutter.
On step 6, azimuth direction, condense.In step 2, in the criterion by setting, complete target in radial distance direction in merger, also added up the some mark data amount check that this target makes progress the party, these mark data are actually the some mark data of the strong scattering point generation of target, therefore the some mark number of statistics, is also the number of the strong scattering point of target.Strong scattering point is the larger position of scattering strength in target, such as the edge of object construction, turning etc.If more at some position scattering point, illustrate that this part object construction is complicated, be the core of entity structure.Therefore, the strong scattering point number of these same targets in different radial distances direction can be used as a kind of useful information, in order to distance parameter and the direction parameter of unique point of estimating target parameter-sign target physical position.The present invention, just based on these thinkings, has designed the method for estimation of target component.
Add up the some mark data bulk of same target on each orientation echo data line, arrange from big to small the number of the some mark of same target on each orientation echo sweep trace, according to corresponding radial distance congealing point on the less echo sweep trace of the number of predetermined ratio deletion point mark, radial distance congealing point on remaining echo sweep trace is carried out to azimuth direction agglomeration process again, ask for the unique orientation of this same target, distance parameter estimated value.Predetermined ratio is chosen as 1/4.When predetermined ratio is chosen as 1/4, when wideband radar is in lower hybrid wave maritime environment, to the rejection rate of the some mark producing because of radar antenna secondary lobe in ships target original point mark, can reach 98%.
This part has been rejected the radial distance congealing point on some echo sweep traces of target, can play inhibition radar antenna secondary lobe and be with dysgenic effect, in estimation, more trust the data in the orientation that strong scattering point is many, thereby improved the estimated accuracy of target location parameter simultaneously.
In step 2, the method for the some mark of searching, the same target of merger is:
If a certain echo sweep trace is { p
i, p
ifor wherein certain puts mark.At { p
iin radial distance direction, calculate successively current some mark p
iwith previous some mark p
i-1between distance, and judge the magnitude relationship of this distance value and L.If be less than L, just think p
iwith p
i-1the some mark that belongs to same target, by the some mark merger that belongs to same target together; Otherwise, think p
iwith p
i-1the some mark that belongs to different target, wherein p
ifor the forward position of fresh target X, p
i-1for the rear edge of another target T, and add up the some mark number of target T in radial distance direction.
Near edge of the objective be target at first mark of this radial distance direction, far edge of the objective is target at last some mark of this radial distance direction, has found that far edge of the objective represents certain target completing in this radial distance direction merger.
In step 3, the distance parameter method of estimation of asking for radial distance congealing point has:
For shortcut calculation, can ask for by formula (2) the distance parameter estimated value of the radial distance congealing point of target on echo sweep trace,
R
j＝(R
j front+R
j back)/2 (2)
In formula (2), R
jfor the distance parameter estimated value of the radial distance congealing point of target on its j echo sweep trace, R
j front, R
j backbe respectively same target near edge of the objective and rear distance value along place, place in this radial distance direction.
In step 4, the concrete grammar of the radial distance congealing point of searching, the same target of merger is as follows:
The radial distance congealing point of establishing respectively on the echo sweep trace in two adjacent orientation is { A
m, { B
n.Concurrent access in radial distance direction, calculate current A
mand B
nbetween distance value D
k, judgement D
kmagnitude relationship with reference azimuth length W.If be less than W, think A
mand B
nthe radial distance congealing point of same target, by the radial distance congealing point merger that belongs to same target together, m=m+1 then, n=n+1, continues to calculate A
mand B
nbetween distance value and judgement and W between magnitude relationship If D
kbe not less than W, m remains unchanged, and n=n+1 recalculates A
mand B
nbetween distance value, find and A
mdistance be less than the B of W
n; If finally do not found and A
mdistance be less than the B of W
n, represent that certain target has found all radial distance congealing points that belong to it on azimuth direction, certain target has completed the merger on azimuth direction, and radial distance congealing point A
nthe orientation at place is the termination orientation of this target.
In step 6, the method for asking for the unique distance of target, direction parameter estimated value is as follows:
By formula (3), ask for the unique direction parameter estimated value A of target
0,
By formula (4) formula, obtain the unique distance parameter estimated value R of target
0,
Wherein, n is that this target is remaining apart from congealing point number, V
tthe location reference at t echo sweep trace place of this target, R
tfor this target on its t echo sweep trace after range direction agglomeration process the distance parameter estimated value of required radial distance congealing point.
So far, the original point mark data of target, through agglomeration process, have obtained unique distance, direction parameter estimated value.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (4)
1. an original point mark agglomeration process method for wideband radar target, is characterized in that, comprises the following steps:
Step 1, arrange with reference to radical length L and reference azimuth length W;
Step 2, the original point mark data of processing after CFAR detection, distance on same echo sweep trace is less than to the some mark that the some mark merger with reference to radical length L is same target, and adds up the some mark number of same target in each echo sweep trace radial distance direction;
Step 3, each target merger point mark data together in radial distance direction are further made to agglomeration process, obtain the radial distance congealing point of each target on each echo sweep trace;
Step 4, on the echo sweep trace in adjacent orientation, the radial distance congealing point merger being less than with reference to radical length W of adjusting the distance is the radial distance congealing point of same target on different echo sweep traces;
Step 5, rejecting orientation width are greater than orientation higher limit H
ube less than orientation lower limit H
ltarget;
Step 6, the number of arranging from big to small the some mark on each orientation echo sweep trace of same target, according to corresponding radial distance congealing point on the less echo sweep trace of the number of predetermined ratio deletion point mark, remaining radial distance congealing point is carried out to azimuth direction cohesion again, obtain the direction parameter estimated value of this same target, calculate the distance parameter estimated value of this same target that remaining radial distance congealing point is corresponding simultaneously.
2. the original point mark agglomeration process method of a kind of wideband radar target according to claim 1, is characterized in that, the predetermined ratio interval in described step 6 is 0～1/3.
3. the original point mark agglomeration process method of a kind of wideband radar target according to claim 1, is characterized in that, described orientation higher limit H
uinterval is 110 °～360 °; Described orientation lower limit H
linterval is 0 °～3 °.
4. the original point mark agglomeration process method of a kind of wideband radar target according to claim 1, is characterized in that, described direction parameter estimated value is averaging acquisition by the remaining radial distance congealing point in step 6 is carried out to orientation values; Described distance parameter estimated value is averaging acquisition by the remaining radial distance congealing point in step 6 is carried out to radial distance value.
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