CN104678373B - A kind of easy Radar Multi Target parameter extracting method - Google Patents
A kind of easy Radar Multi Target parameter extracting method Download PDFInfo
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- CN104678373B CN104678373B CN201510119894.0A CN201510119894A CN104678373B CN 104678373 B CN104678373 B CN 104678373B CN 201510119894 A CN201510119894 A CN 201510119894A CN 104678373 B CN104678373 B CN 104678373B
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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
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Abstract
A kind of easy Radar Multi Target parameter extracting method, D=3 target, when number of targets is more than 3, can copy the formula for writing out similar (3) and (4), simply expression formula is more tediously long, specifically includes following steps：Step 1), estimate aspect initial parameter, i is from 1 to D, D representation signal ordinal numbers, it is assumed that D=3, for i=1, calculateObtain estimating target bearing initial parameter valueI is from 1 to 3；Step 2), main iterative cycles, according to step 1) obtain initial parameter estimationI is from 1 to 3；Obtain their accurate estimation；Step 3), for step 2) obtained accurate estimationI is calculated from 1 to 3 using formula (4) and formula (8)With3 target waveform parameter Estimations are obtained, parameter foundation is provided for target positioning, waveform identification；As target number D >=3, by means of existing expression formula such asCorresponding matrix is just write out with following matrix inversion interative computation relationQiAnd projection matrix operatorExpression formula；Fundamentally reduce its computational complexity and evade error when inverting.
Description
Technical field
The invention belongs to Radar Multi Target parameter detecting and estimation technique field, more particularly to a kind of many mesh of easy radar
Mark parameter extracting method.
Background technology
Radar Multi Target parameter detecting is widely used in military and civilian field with estimation technique, especially in current multiple warhead
With under hair and many interference co-existence military technology backgrounds and extensive multiple-input and multiple-output civilian technology system, the technology seems particularly
It is important.
The parameters such as orientation, the waveform of Radar Multi Target parameter detecting and estimation technique to obtain multiple different targets are to distinguish
It each, and then provides basis to recognize them.Existing Radar Multi Target parameter detecting is roughly divided into data with estimation technique
Fitting and subspace fitting, the former will be related to matrix inversion when multiple target is realized and the latter is related to matrix- eigenvector-decomposition computing,
These computings are the main causes of their complexity, and the application is fitted mainly for data.
Data fitting class technology is derived by maximum likelihood multiple target parameter detecting technology mostly, and the maximum of the technology lacks
It is to be related to inverting for corresponding matrix in multiple target separation and identification process is realized to fall into, and matrix inversion not only makes what detection was realized
Complexity is lifted, and more crucially when multiple targets are gathered in small range, its arithmetic eror will be significantly increased, so that not only
What lifting target detection was recognized realizes that difficulty also increases its detection and identification error rate.
Classical Radar Multi Target detects that signal model is：
Y (t)=A (Θ) s (t)+n (t), t=1,2 ..., N
Wherein y (t) is radar measured data, and A (Θ) is referred to as array manifold matrix, and it includes target number, and orientation (is bowed
Face upward) etc. information, its structural form depend on radar structure.S (t) is target echo waveform, and n (t) is additive noise,
N is data sampling number or data time domain length (fast umber of beats).In Radar Multi Target detection technique research, the form knot of radar
Structure, target number (having special detection algorithm research to discuss) assumes known.If known have D target and be concerned only with its orientation
Parameter, then Θ=(θ1,θ2,…,θD)
A (Θ)=[a (θ1),a(θ2),,…,a(θD)]
Wherein a (θD) it is referred to as array manifold vector, it is conventional for the uniform linear array vector a (θ) with M array element
Form is,
A (θ)=[1, ej2π(d/λ)sin(θ),,…,ej2π(M-1)(d/λ)sin(θ)]T
Classical maximum likelihood target component detection can be expressed as (data fitting) [1-3] with algorithm for estimating
Target bearing
Target waveform s (t)=[AH(Θ)A(Θ)]-1AH(Θ)y(t)
Or it is expressed as (data covariance matrix fitting)：
Target bearing
Target waveform s (t)=[AH(Θ)A(Θ)]-1AH(Θ)y(t)
Wherein tr { } is to ask mark computing,For measurement data y (t) data covariance matrix.Either data are fitted
Or data covariance matrix fitting is all " multi-target non-linear " optimization.
Document Superresolution frequency estimation by alternating notch period-
gram【J.K.Hwang,Y.C.Chen,IEEE Trans SP-41,No.2,727-741,Feb.,1993】The alternating of proposition is thrown
Multi-objective nonlinear optimization is converted into a series of changing for simple target nonlinear optimizations by shadow multiple target parameter detecting estimation technique
For form, its step is：
The first step：Initial parameter is estimated, for i=1 to D (assuming that having D target), calculates
Wherein
So obtain initial
Parameter Estimation, i is from 1 to D.
Second step：Main iterative cycles, for k=0 to one than larger positive integer, i is computed repeatedly from 1 to D
Wherein
Until for all i from 1 to D,ε is a threshold value set in advance.
3rd step：For obtained " accurate " estimationI is from 1 to D.Utilize
Obtain target echo estimation.
It is thus that target positioning and target identification provide foundation.Wherein either initial estimation or main iteration ring portion
Point, matrix inversionIt is inevitable.
With reference to the ASAP algorithms for alternately separating (AS) and alternating projection (AP) algorithm【Shao Chao, waits E volumes of Chinese science, 34
(4),448-456,2004】Propose be one be similar to alternating projection multiple target parameter detecting estimation technique, it is also one
Data covariance matrix is fitted detection technique, and their difference is embodied in following steps, and its step is：
The first step：Initial parameter is estimated, for i from 1 to D, it is assumed that there is D target, calculates,
WhereinQ1=I, acquisition initially estimates parameter meter
Second step：Major loop iteration part, for k=0 to one than larger positive integer, i is computed repeatedly from 1 to D,
WhereinMatrix QiStructural form be：
Wherein Projection matrix operator
Such as above detection technique.Compared with above detection technique, fitting vector hereinWith above
Fitting vector have essential distinction.But matrix QiExpression formula in matrix inversionIt is inevitable.Matrix
Inversion operationComputational complexity defect is not only, more crucially when target bearing parameter(i from 1 to
D), when difference is smallerConditional number very little causeCalculation error is very big, makes detection algorithm
It is easily trapped into local extremum and then whole detection technique is failed.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of easy Radar Multi Target ginseng
Number extracting method, can evade matrixInversion operation and can equivalent realize the side of same detection technique above
Method, the present invention is also by matrix inversionThe algebraical sum of signal manifold vector apposition is expressed as according to target number
Form and corresponding form is made, fundamentally reduces its computational complexity and evade error when inverting, to above-mentioned detection technique without
By being that hardware is realized or software and hardware combining realization can bring great convenience, as target number D=3, formula (1) and (2) can
Accordingly it is reduced to formula (3) and formula (4)：
Wherein constant coefficient
Wherein constant coefficient：
To achieve the above object, the technical solution adopted by the present invention is：A kind of easy Radar Multi Target parameter extraction side
Method, D=3 target, when number of targets is more than 3, can copy (3), the derivation principle of (4) formula to write out the public affairs of similar (3) and (4)
Formula, simply expression formula is more tediously long, specifically includes following steps：
Step 1), estimate aspect initial parameter, i is from 1 to D, D representation signal ordinal numbers, it is assumed that D=3, for i=1,
CalculateUtilize formula：
For i=2, order
Utilize formula
For i=3, order
In primary signal direction parameter searching methodCalculated using formula (3)；ConstantUtilize public affairs
Formula：
Obtain estimating target bearing initial parameter valueI is from 1 to 3；
Step 2), main iterative cycles, according to step 1) obtain initial parameter estimationFrom 1 to 3；To obtain them
Accurate estimation, specific practice is, utilizes following equation to carry out the conversion of cyclic shift assignment and obtains new target bearing parameterFrom 1 to 3；Circulation until for all i from 1 to 3,In formula：ε is a door set in advance
Limit value, k is iterations；
For i=1, orderPrimary signal direction parameter searching method
InCalculated with formula (3),Utilize formula
More accurately estimate in the orientation for obtaining target 1
For i=2, orderEvenGeneration
Enter formula (3),Utilize formula
More accurately estimate in the orientation for obtaining target 2
For i=3, orderEven Formula (3) is substituted into,Utilize formula
More accurately estimate in the orientation for obtaining target 3
Step 3), for step 2) obtained accurate estimationI is calculated from 1 to 3 using formula (4) and formula (8)With3 target waveform parameter Estimations are obtained, are
Target positioning, waveform identification provide parameter foundation；
As target number D >=3, by means of existing expression formula such asWith following matrix inversion interative computation relation
It just can intactly write out corresponding matrixQiAnd projection matrix operatorTable
Up to formula.
The beneficial effects of the invention are as follows：
Assuming that there is the uniform linear array radar system being made up of 10 array elements, array element spacing is equal to two points of signal wavelength
One of；There are three targets in spatial domain relative to array radar normal, and their azimuth is -2 °, 0 ° and+2 °, mesh at this moment respectively
Mark gun parallax is approximately equal to 1/5th half power lobe width, and this situation is more typical for super-resolution radar.It is false
Being located at each target of big-sample data situation relative to ambient noise there is identical signal to noise ratio to be 20 (dB).
Compared with the conventional method, in primary signal direction parameter searching methodCalculated using formula (1)；
And the present invention uses following very succinct formula：
It is (3) formula；It is an advantage of the invention that fairly obvious.Brought being realized to the software and hardware of such method very
It is significant to improve.
The present invention Radar Multi Target parameter detecting classical applied to several comparisons involved by current document and estimation side
Method：The maximum likelihood Radar Multi Target parameter detecting and estimation technique Maximumlikelihood realized such as monodimensional iterative
localization of multiple sources by alternating projection【Ziskind and M.Wax,
IEEE Trans.Acoust.,Speech,Signal Process.,vol.36,no.10,pp.1553–1560,
Oct.1988】、characterization of the IterativeMulti-Parameter(IMP)algorithm
【J.L.Mather, proceedings of the Institute of Acoustics, vol-11, part-8,189-197,
1989】, Superresolution frequency estimation by alternating notch period-gram and
Multiple target alternating separation parameter detection and estimation technique.
Brief description of the drawings
When Fig. 1 is directly detects echo signal using former alternative projection algorithm,System is because of matrix inversion error
Alarm screen sectional drawing.
Fig. 2 is the search procedure figure for the alternative projection algorithm Direction-of-Arrival [- 2 °, 0 ° ,+2 °] realized using the present invention.
Fig. 3 is the search procedure for the alternating separation detection technique Direction-of-Arrival [- 2 °, 0 ° ,+2 °] realized using the present invention
Figure.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
The present invention's provides two groups of embodiments, and one is the direct detection algorithm realized using former maximum likelihood alternating projection,
Two be that the detection method that the maximum likelihood alternating projection simplified using the present invention is realized alternately separates echo signal inspection with the present invention
Survey method.
Embodiment 1
The monodimensional iterative of classical Maximum Likelihood Detection technology is realized --- the implementation of alternating projection detection technique.
The structure of array radar system is completely known, thus on the popular vector form of its array be it is completely known,
That is vector a (θi)=aiForm be completely known.The snapshot data exported for radar, we can calculate its covariance
Matrix R.
The technology is obtaining the initial estimation stage, if being related to more than 3 targets just needs to use method designed by this technology,
(3) what formula was provided is the algebraic expression of two Target situation projection operators, when estimating the 3rd target known to two target components
During parameter, the formula is just utilized.More Target situations are iterated with (expansion) Inversion Formula ask it again.Its specific implementation step
For：
Aspect initial value is estimated, by taking 3 targets as an example
The first step：Initial parameter is estimated, for i from 1 to 3,
1. calculate：Utilize formula：
Obtain the estimation of " first " target initial parameter
2. make
Utilize formula：
Obtain the estimation of second target initial parameter
3. makeWherein(3) formula i.e. above, constantUtilize formula：
" the 3rd " target initial parameter is obtained to estimateSo obtain initial parameter estimationFrom 1 to 3；
Second step：Main iterative cycles, for k=50 or 100, one, than larger positive integer, in actual applications may
Seldom several iteration just restrain！Here only for its acquisition track can be clearly displayed, if having obtained target bearing parameterFrom 1 to 3；Obtain further belowAccurate estimation, it is provided herein be cyclic shift assignment conversion, can also adopt
Converted with other displacement assignment；
1. make Using as follows
Formula
Obtain the further fine estimation of the 3rd target bearing parameter
2. make
Obtain the further fine estimation of second target direction parameter
3. make
Obtain further " accurate " estimate of " first aim " direction parameterThus obtain new target side
Position parameterI is from 1 to 3；
Circulation until for all i from 1 to 3,ε is a threshold value set in advance；
3rd step：For obtained " accurate " estimationI utilizes (8) to calculate from 1 to 3
WithObtain three target echo (waveform) parameter Estimations simultaneously.
Embodiment 2
The implementation of alternating separation detection technique.
The initial detection stage of target component need to only use formula repeatedlyIt can obtain any number of
Target component initial estimation.
In main iteration loop, what (4) formula was provided assumes that target 2 and 3, it is known that target 1 has obtained initial estimation, but to enter one
Step obtains the operator that its relatively precise estimate need to be used.Because target label is entirely artificially to specify.So iterative cycles are sharp
The direction parameter that can obtain target 1,2 and 3 with (4) formula is accurately estimated.More Target situation Resolving probiems strategies are entirely class
As, simply write out corresponding (4) formula.
Estimate aspect initial value (by taking 3 targets as an example)
The first step：Initial parameter is estimated, for i from 1 to 3,
1. calculate：Q1=I,Utilize equation below
Obtain first aim direction parameter initial estimation
2. makeQ2=I-Pa1Q1,Utilize equation below
Obtain second target direction parameter initial estimation
3. makeUsing such as
Lower formula
Obtain " the 3rd target " direction parameter initial estimationSo obtain initial parameter estimationI is from 1 to 3.
Second step：Main iterative cycles, for k=50 or 100, a larger positive integer, if we have obtained target
Direction parameterI is from 1 to 3；Its " accurate " estimation is obtained further below, and provided herein is the conversion of cyclic shift assignment,
Also can be using other displacement assignment conversion；
1. make(order 1-2-3),
Put again
Using equation below,
Obtain " accurate " estimation of " first aim " direction parameter
2. makeOrder 2-3-1,
Put again
Using equation below,
Obtain " accurate " estimation of " second target " direction parameter
3. makeOrder 3-1-2,
Put again
Using equation below,
Obtain " accurate " estimation of " the 3rd target " direction parameterThus obtain the target bearing parameter of " new "I=1,2,3；Circulation until for all i from 1 to 3,ε is a threshold value set in advance；
3rd step：For obtained " accurate " estimationI utilizes (4) and (8) to calculate from 1 to 3
With
Obtain target echo estimation.
For the uniform linear array radar system for thering are 10 array elements to constitute, array element spacing be equal to signal wavelength two/
One, the system half power lobe width is approximately equal to 10 °；Assuming that there are three targets in spatial domain, their azimuth is relative to radar method
Line is respectively -2 °, 0 ° and+2 °, and (target bearing angle difference is approximately equal to 1/5th lobe widths, it is necessary to super resolution technology come area
Partial objectives for), if system output sampled data is 500, each target relative to ambient noise there is identical signal to noise ratio to be 20 (dB).
Iterative step in the specific implementation method provided using the present invention, the search result of acquisition is as shown in Figures 2 and 3.Two methods
Obtain relatively satisfactory effect.
When Fig. 1 is the direct realization detection Multiple Target Signals using maximum likelihood alternating projection,System is because of matrix
Error of inverting makes detection method sink into the alarm of object function local extremum, until detection terminates, also fails to breakaway function
The situation of the constraint of local extremum.At this moment illustrate former method is failure.
Fig. 2 and Fig. 3 are the detection methods of the maximum likelihood alternating projection realization for the simplification set up using us with simplifying
Multiple target alternating method for separating and detecting realize same multi-target detection result.Although two methods of trace specification in figure exist
Error is all than larger during beginning, but as iterations increases, method all converges to the actual value of target bearing parameter.Illustrate
The method invented is effective.
Claims (1)
1. a kind of easy Radar Multi Target parameter extracting method, D=3 target, when number of targets is more than 3, can be copied
(3), the derivation principle of (4) formula writes out the formula of similar (3) and (4), and simply expression formula is more tediously long,
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1
More accurately estimate in the orientation for obtaining target 1
For i=2, orderEvenGeneration
Enter formula (3),Utilize formula
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More accurately estimate in the orientation for obtaining target 2
For i=3, orderEven
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More accurately estimate in the orientation for obtaining target 3
Step 3), for step 2) obtained accurate estimationI is calculated from 1 to 3 using formula (4) and formula (8)With3 target waveform parameter Estimations are obtained, are
Target positioning, waveform identification provide parameter foundation；
As target number D >=3, by means of existing expression formula such asWith following matrix inversion interative computation relation
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It just can intactly write out corresponding matrixQiAnd projection matrix operatorExpression formula,For matrix ADConjugate transposition；βDIt is analogous to β real coefficient；aD=a (θD)；Correspond to parameter vectorLead
To vector matrix；QiIt is analogous to Q1Fit metric.
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