CN106054165B - A method of realizing distributed passive radar target detection - Google Patents
A method of realizing distributed passive radar target detection Download PDFInfo
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- CN106054165B CN106054165B CN201610402234.8A CN201610402234A CN106054165B CN 106054165 B CN106054165 B CN 106054165B CN 201610402234 A CN201610402234 A CN 201610402234A CN 106054165 B CN106054165 B CN 106054165B
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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
- G01S13/04—Systems determining presence of a target
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Abstract
The invention discloses a kind of method for realizing distributed passive radar target detection, this method belongs to passive radar target detection technique field.Existing target detection is to each bistatic to individually carrying out related and crossing threshold processing completion target detection, it recycles estimation to obtain bistatic distance and the doppler information development target positioning of target, causes subsequently to need to solve the problems, such as complicated location ambiguity during realizing that target is accurately positioned.For this purpose, present invention introduces target location and velocity vector, a kind of centralized target detection statistic is constructed so that also achieve the positioning to target while realizing target detection, target location ambiguity problem need not be reprocessed.In addition, this method before detection receives multiple transmittings can improve target detection probability to carrying out non-inherent accumulation to obtain space diversity gain, more stable target detection performance is obtained, to realize that the continuous-stable tracking to target provides the foundation.
Description
Technical field
The invention belongs to passive radar target detection technique field, more particularly to a kind of distributed passive radar target of realization
The method of detection.
Background technology
Passive Radar System use third party's radiation emission signal, as FM broadcast, DAB, DVB-T, GPS signal, respectively
The signal of kind of mobile communication base station transmitting, target is irradiated realize detection to aerial Small object and low flyer and
Positioning, therefore also referred to as external illuminators-based radar.In the more than ten years in past, the target detection and positioning performance one of Passive Radar System
Directly steadily improving.But from system system, disclosed Passive Radar System was mainly based upon single-shot list receipts in recent years
Bistatic geometry framework, target detection performance are influenced very big by the geometric position of target and attitudes vibration, and then make it in mesh
Shortcomings in mark detection stability and tracking continuity.In order to make up passive radar existing gap in practical applications, into
One step pushes the battle application of passive radar, and Europe and many research institutions of the U.S. have all carried out to be believed based on FM, DAB, DVB-T
Number radiation source multiple-input multiple-output system distributed passive radar technology research.
The target detection process of distributed passive radar classics is to utilize each transmitter-target-receiver bistatic right,
Target echo signal is obtained by making antenna direction be directed toward the region of transmitter and scheduled target appearance, is then calculated with reference to logical
Cross ambiguity function or broad sense cross-correlation between road and monitoring channel receiving signal realize target detection.Due to its target detection mistake
Journey internally carries out respectively in each bistatic transmitting reception, therefore is distributed object detection.In addition, using multiple-input multiple-output
The target detection and localization process of the distributed Passive Radar System of geometry framework are carried out in two steps, i.e., first to each bistatic
Then transmitter and receiver utilizes obtained bistatic distance to individually carrying out related and crossing threshold processing completion target detection
Dopplergram estimates to obtain the bistatic distance of target and doppler information, then using the thought of cross bearing and multi-Step Iterations into
The realization of one step is accurately positioned target.The greatest drawback of this traditional treatment method is exactly that multi-Step Iterations processing is time-consuming longer,
And the problem of location ambiguity present in position fixing process, that is, target " terrible point ", need it is complicated goes " terrible point " logic, by subsequently into
The processing of one step is removed.In practice, since multiple receiver cloth station is influenced by complicated landform environment, exist not
With very scabrous location ambiguity problem between array acceptor.
Invention content
The object of the present invention is to provide a kind of methods for realizing distributed passive radar target detection, can be used in solving more
The hair target detection problems for receiving distributed Passive Radar System under geometry framework, wherein technical problems to be solved include more：
(1) it provides under multiple-input multiple-output geometry framework, establishes distributed passive radar direct-path signal component and target echo
The implementation process of signal component；
(2) under multiple-input multiple-output geometry framework, build distributed passive radar realize centralized target detection statistic and
The implementation process of target detection.
A kind of method for realizing distributed passive radar target detection of the present invention, includes the following steps：
(1) distributed passive radar direct-path signal component and target echo signal point under multiple-input multiple-output geometry framework are established
Amount, specific implementation process include the following steps：
A1. it builds under multiple-input multiple-output geometry framework, the signal quilt of i-th of radiation emission in distributed Passive Radar System
N-th array element of j-th of array acceptor receives and the direct-path signal component after Base-Band Processing
A2. when the movement of structure target, the signal of i-th of radiation emission is reflected through target in distributed Passive Radar System
It is received afterwards by the n-th array element of j-th of array acceptor and the target echo signal component after Base-Band Processing
A3. to the i-th j bistatic centerings, what n-th of array element of j-th of receiver received is returned by direct wave and target
Involve receiver noise and composition signalQuantization sampling is carried out, using its discrete shape of delay-Doppler operator representation
Formula, and provide the target echo signal after Wave beam formingWith through reference signal wave
A4. N in distributed Passive Radar System is utilizedrA array acceptor receives and NtA non-cooperation radar emission
The corresponding all direct waves in source and target echo signal sampling, construct the matrix s being made of direct wave and target echo signal；
(2) under multiple-input multiple-output geometry framework, distributed passive radar carries out the implementation steps of centralized target detection, specifically
Including following sub-step：
B1. the position and speed information for introducing target to be detected utilizes echo-signal matrix s as object detection unit
Binary alternative hypothesis is built to examine；
B2. using the hypothesis testing built, its Generalized Logarithmic likelihood ratio is derived, obtains distributed passive radar target inspection
The centralized detection statistic ξ of surveyrs；
B3. according to the actual samples of all signals in distributed Passive Radar System, target detection statistic ξ is calculatedrs,
By comparing detection statistic ξrsWith thresholding κrsSize, then judge target whether there is, complete target detection.
Preferably, each array acceptor in step (1) receives direct-path signal and target echo signal simultaneously, then
Direct-path signal component and target echo signal component are respectively obtained by beamforming algorithm；
Preferably, in step (1) between different receivers array it is non-coherent, and different receptions during target detection
Phase synchronization processing need not be carried out between machine array.
Compared with the classical way of distributed passive radar target detection, centralized object detector of the present invention in construction
When, introduce target location and velocity vector so that while realizing target detection, the positioning to target is realized indirectly,
Additional positioning reconciliation Fuzzy Processing need not be carried out again, save positioning time；Target detection process obtains space diversity
Gain improves target detection probability, obtains more stable target detection performance, to realize that the continuous-stable to target tracks
It provides the foundation.In addition, the present invention receives direct-path signal and target echo signal simultaneously using array acceptor antenna, then lead to
It crosses Wave beam forming and respectively obtains direct-path signal component and target echo signal component, do not need two individual antennas and connect respectively
Direct-path signal and target echo signal are received, between different receivers array is non-coherent during carrying out target detection, no
It is handled with Phase synchronization need not be carried out between array acceptor.
Description of the drawings
Attached drawing 1 is the topological structure schematic diagram of the distributed passive radar of the present invention.
Attached drawing 2 is geometrical relationship figures of the i-th j of distributed passive radar to transmitter-target-receiver of the present invention.
Attached drawing 3 is that the bistatic Wave beam forming to corresponding direct wave and target echo signal of the i-th j of the present invention is illustrated
Figure.
Attached drawing 4 is the distributed passive radar object detection method implementing procedure figure of the present invention.
Attached drawing 5 is the computer artificial result schematic diagram of the embodiment of the present invention.
Specific implementation mode
Below in conjunction with Figure of description, present invention is further described in detail.
As shown in Figure 1, distributed Passive Radar System includes NtA transmitter, transmitter are also referred to as in passive radar field
For non-cooperation radiation source, NrA array acceptor, 1 target, wherein Nt>=2, Nr≥2。
As shown in Fig. 2, the i-th j in distributed Passive Radar System is also referred to as the i-th j to transmitter-target-receiver
Bistatic right, the position and speed of i-th of transmitter is denoted as d respectivelyiWithI=1 ..., Nt, the position of j-th of array acceptor
It sets and is denoted as r respectively with speedjWithJ=1 ..., Nr, and the position and speed of target be denoted as respectively t andWherein di、rj、t、All it is the function of time.Under normal circumstances, transmitter and receiver, target are all movements.I-th of transmitter is to
The distance of j receiver isSimilarly,WithI-th is indicated respectively
The distance of a transmitter range-to-go and target to j-th of receiver.J-th of reception antenna is that haveThe battle array of a array element
Row,1≤j≤Nr, the position of n-th of array element isWhereinIt is reference array element
Position,It is direction offset vector of n-th of the array element with respect to reference array element, andThe array number of receiving antenna array is all
It is identical, i.e.,J=1 ..., Nr.The unit pointing vector of n-th of array element of j-th of receiver to position x is
I.e.In far field, for given x,It is i.e. a certain from array elements to far field
The unit pointing vector approximately equal of position.
As shown in figure 3, under multiple-input multiple-output geometry framework in distributed Passive Radar System, all passive receivers are all made of
Array antenna is respectively formed reference channel and targeted surveillance channel, to realize direct-path signal by the method for Wave beam forming
With the reception respectively of target echo signal.
The signal of i-th of radiation emission is
Wherein,For carrier frequency, T is signal duration,For the corresponding signal of i-th of transmitter, ui(t) it is to correspond to
Complex envelope, frequency domain Ui(ω), bandwidth Bi, and work as | ω | ＞ π BiWhen, Ui(ω) ≈ 0,In frequency
Domain is not overlapped.
Signal travels to j-th of receiver along direct path and destination path channel, and the n-th of j-th of array acceptor
The signal that a array element receivesIt is to make an uproar from all direct-path signals in receiver band and target echo and receiver
The sum of sound, i.e.,
Wherein,WithThe respectively range coefficient of direct path and destination path channel, αijIt is a with the i-th j
The bistatic multiple bistatic reflectance factor to corresponding target,WithDirect path is corresponded to respectively and destination path is logical
The propagation delay in road,It is that power spectral density isExtended stationary white Gaussian noise,
Bandwidth is Bj, carrier frequency isChannel factorWithConsider transmitting, propagation and direct path and destination path
The influence in channel, respectivelyWherein,
The Effective Radiated Power of x is directed toward for i-th of transmitter,Emitting the wavelength of signal for i-th of transmitter, c is the light velocity,In [0, T],WithIt is not significantly altered, therefore,WithSignalAfter the processing of downconverted and frequency domain channelization, the complex baseband signal of each transmitting signal is extracted,
Remember that the complex baseband signal in i-th of channel isUsing formula (1) and (2), signal that n-th of array element of j-th of receiver receives
For
Wherein, θjFor j-th of receiver down-converted when local oscillator unknown phase, show between different receivers to be non-phase
Ginseng, Phase synchronization processing need not be carried out between different receivers array.
As shown in figure 4, the present invention provides a kind of method for realizing distributed passive radar target detection and localization, specific implementation
Mode includes the following steps：
A1. it builds under multiple-input multiple-output geometry framework, the transmitting signal quilt of i-th of radiation source in distributed Passive Radar System
N-th array element of j-th of array acceptor receives and the direct-path signal component after Base-Band ProcessingDetailed process is as follows：
Wherein, Between the n-th array element for i-th of transmitter to j-th of array acceptor
Distance is further represented as after considering array element spacing
Complex exponential itemIt is only related with array number n.It enablesFor the phase of complex exponential item,
Wherein,Narrowband approximation is carried out to formula (5), i.e., complex envelope is in entire array
All it is approximately inside constant, then
Then it utilizesIt substitutes into (7)
Wherein,For time scale factor,For non-cooperation radiation source and array acceptor
Between Doppler frequency caused by relative motion, be defined as
The direct wave after Base-Band Processing by i-th of radiation emission that then the n-th array element of j-th of receiver receives is believed
Number component is
In formula, (a) is amplitude scale factor, is (b) unknown local oscillator phase, is (c) that n-th of array element receives direct-path signal
The phase difference of opposite reference array element, (d) for the phase difference introduced with reference to carrier frequency delay, the complex baseband signal delayed when being (e),
(f) it is the Doppler modulation factor.
Therefore, direct-path signal component is configured to
Wherein,It is i-th j direct path channel propagation coefficient,
A2. structure target moves and target is respectively to when scattering different, and the signal of i-th of radiation emission is after target reflects
It is received by the n-th array element of j-th of array acceptor and the target echo signal component after Base-Band ProcessingSpecific mistake
Journey is as follows：
It is further represented as
(a) is amplitude scale factor in formula, is (b) unknown local oscillator phase, is (c) that n-th of array element receives target echo letter
The phase difference of number opposite reference array element, (d) refers to the carrier phase factor, (e) when delay complex baseband signal, (f) Doppler frequency
The factor, andFor from i-th of transmitter to target to the bistatic time delay of j-th of receiver, i.e.,
Phase difference of the target echo signal with respect to reference array element is received for n-th of array element, i.e.,
For the bistatic Doppler frequency shift of target
Therefore, the signal of i-th of radiation emission is received after target reflects by the n-th array element of j-th of array acceptor
It arrives, and the target echo signal component after Base-Band Processing is configured to
Wherein,It is i-th j destination path channel factor,
A3. to the i-th j bistatic centerings, what n-th of array element of j-th of receiver received is returned by direct wave and target
Involve receiver noise and composition signalQuantization sampling is carried out, using its discrete shape of delay-Doppler operator representation
Formula, and provide the target echo signal after Wave beam formingWith through reference signal waveDetailed process is as follows：
WithSample frequency carry out quantization sampling, thenObtaining discrete signal form is
Wherein,For total sampling number, direct waveAnd target echoQuantized versions be respectively
Wherein,The normalization Doppler frequency of respectively each sample, unit are radian,The normalization time delay of respectively each sample.Note Noise samples sequenceσ2=N0BiFor average noise power,δnFor Kronecker symbols.For transmitted waveform, first of element is
Definition
DL(x)=diag ([ej(0)x,ej(1)x,…,ej(L-1)x]) (21)
Wherein, diagonal entry in diag (x)It is the square formation of L × L, therefore [diag (x)]n,n=[x]n.Most
Afterwards, it enablesFor tenth of the twelve Earthly Branches Discrete Fourier transform, (m, n) a element is
Wherein, m=0 ..., L-1, n=0 ..., L-1., then
Define delay-Doppler operatorFor
Due toTherefore time delay is more
General Le operatorFor unitary operator, i.e.,WhereinIt is Li×Li
Unit matrix.
Therefore, the discrete form of the component of direct wave and target echo signal is respectively
Because direct-path signal and target echo signal are received by identical array acceptor, connect for j-th
The discrete form that receipts machine the n-th array element of array receives signal is
Wherein, Be length be LiZero vector.
Therefore, the target echo signal obtained respectively by Wave beam formingWith through reference signal waveFor
The respectively Beam-former in targeted surveillance channel and direct wave reference channel.
A4. N in distributed Passive Radar System is utilizedrA array acceptor receives and NtA non-cooperation radar emission
The corresponding all direct waves in source and target echo signal sampling, construct the matrix s being made of direct wave and target echo signal, tool
Body process is as follows：
It enablesFor in the space pointing vector in the directions xNoteThen all N of j-th of array acceptoreA array element receives corresponding with i-th of radiation source
Signal phasorFor
Wherein,Variance is σ2, matrixWith
Respectively Indicate that Kronecker products, time delay are more
General Le operatorWithRespectively
Therefore, all NrThe sampling s corresponding with i-th of radiation source that a array acceptor receivesiFor：
And with all NtA non-cooperation radiation source and NrThe matrixes of the corresponding all sampling compositions of a array acceptor are
That is s is all NtA non-cooperation radiation source corresponds to siThe matrix of composition.
B1. the position and speed information for introducing target to be detected utilizes echo-signal matrix s as object detection unit
It builds binary alternative hypothesis to examine, detailed process is as follows：
The position and speed of target to be detected is enabled to correspond toUnit, i.e. detection unit, wherein p,Mesh is indicated respectively
Target position and speed.It builds binary alternative hypothesis to examine, i.e.,
Wherein, i=1 ..., Nt, j=1 ..., Nr,Table
Show the space pointing vector in the directions pAndMesh is corresponded to when for target location being P
The coefficient of outlet openings is marked,It is for dbjective stateCorresponding delay-Doppler operator.
B2. using the hypothesis testing built, its Generalized Logarithmic likelihood ratio is derived, obtains distributed passive radar target inspection
The centralized detection statistic ξ of surveyrs, detailed process is as follows；
Since receiver noise is unrelated with transmitter channels, soConditional probability density p under assuming that1(s|γd,γp,
U) it is
Wherein,AndSimilarly provide
Conditional probability density p under assuming that0(s|γd,u).Emit signal u and channel factor γdAnd γpAll being to determine property is not
Know parameter.Therefore,It is to emit signal u and channel factor γd、γpFor the composite hypothesis of parameter,It is to emit signal u
With channel factor γdFor the composite hypothesis of parameter, and the unknown quantity in likelihood ratio test is replaced using its maximal possibility estimation.
Enable l1(γd,γp, u | s)=logp1(s|γd,γp, u), l0(γd, u | s)=logp0(s|γd, u), then broad sense
Log-likelihood function is to be written as
It is derived by l respectively1(γd,γp, u | s) and l0(γd, u | after analytical expression s), obtain centralized target inspection
Survey statistic ξrsFor
Wherein, λ1() is the maximum eigenvalue of matrix parameter；For Gram matrixes, ()H
Indicate hermitian transposition, It is the mesh after delay-Doppler compensation
Mark echo-signalThe monitoring channel targets echo-signal of time delay and Doppler frequency shift is removed, It is the reference signal after delay-Doppler compensationWhen removing
Prolong the direct wave channel signal with Doppler frequency shift；κrsIt is passive by distribution for detection threshold
The false-alarm probability of radar system determines.
B3. according to the sampling of all signals in actual distribution formula Passive Radar System, target detection statistic ξ is calculatedrs,
By comparing detection statistic ξrsWith thresholding κrsSize, then judge target whether there is, complete target detection, specific mistake
Journey is as follows：
Utilize N in distributed Passive Radar SystemrA array acceptor corresponds to NtA non-the all of cooperation Radar emitter adopt
Sample constructs echo-signal matrix, target detection statistic ξrs, work as ξrs≥κrsWhen, then judge that target exists, and target location and speed
Degree state isAnd work as ξrs＜ κrsWhen, then judge that target is not present.
As shown in figure 5, the computer artificial result schematic diagram of the embodiment of the present invention.BRng isopleth indicates bistatic in figure
Apart from isopleth, target appears near locations of real targets, therefore this method also achieves while realizing target detection
Positioning to target.In this simulated environment background, the position of two transmitters is respectively d1=[0.5,4] km and d2=[-
0.5, -4] position of km, three receivers are respectively r1=[- 4,2], r2=[- 4,0.5] and r3=[- 4, -2.5] km, target
In t=[4,0] km, target speed isTransmitter signal carrier frequency is respectively 8.0GHz
And 8.1GHz, isotropically radiated power areUniform linear array is made of 6 array elements, and all receiver antennas are all
It is the uniform linear array that 1.875cm is divided between array element, direction+pxThe lobe pattern in direction, each array element isReceiver
Between without Phase synchronization.Complex baseband signalSample rate fs=500kHz, correlative accumulation time are T=2ms, and target echo is put down
Equal signal-to-noise ratio is SNRavgThe average signal-to-noise ratio of=- 15dB, direct wave are DNRavg=15dB,ui=
exp{jθi,Random phase vectors are independent from each other, obeys and is uniformly distributed between [0,2 π], L=fsT=1000,
Target scatter section area is 10dBsm.
Claims (3)
1. a kind of method for realizing distributed passive radar target detection, which is characterized in that include the following steps：
(1) under multiple-input multiple-output geometry framework, distributed passive radar direct-path signal component and target echo signal component are established
Implementation steps, specifically include following sub-step：
A1. it builds under multiple-input multiple-output geometry framework, the signal of i-th of radiation emission is by jth in distributed Passive Radar System
N-th array element of a array acceptor receives and the direct-path signal component after Base-Band Processing
A2. when the movement of structure target, the signal of i-th of radiation emission quilt after target reflects in distributed Passive Radar System
N-th array element of j-th of array acceptor receives and the target echo signal component after Base-Band Processing
A3. to the i-th j bistatic centerings, what n-th of array element of j-th of array acceptor received is returned by direct wave and target
Involve receiver noise and composition signalCarry out quantization sampling, its discrete shape of introducing delay-Doppler operator representation
Formula, and provide the target echo signal after Wave beam formingWith through reference signal wave
A4. N in distributed Passive Radar System is utilizedrA array acceptor receives and NtA non-cooperation Radar emitter pair
All direct waves and the target echo signal sampling answered, construct the matrix s being made of direct wave and target echo signal；
(2) under multiple-input multiple-output geometry framework, distributed passive radar carries out the implementation steps of centralized target detection, specifically includes
Following sub-step：
B1. the position and speed information for introducing target to be detected is built as object detection unit using echo-signal matrix s
Binary alternative hypothesis is examined, i.e.,It is assumed to beIt is assumed to beWherein, sij
For all N of j-th of array acceptoreThe signal phasor corresponding with i-th of radiation source that a array element receives, uiFor transmitted waveform,σ2For variance,Be length be LiZero vector,
It is Li×LiUnit matrix；I=1 ..., Nt, j=1 ..., Nr,It is that i-th j direct path is logical
Road propagation coefficient,For in diThe space pointing vector in direction,For delay-Doppler operator,It indicates
Kronecker is accumulated, Indicate the space pointing vector in the directions p, andFor target position
The coefficient in destination path channel is corresponded to when being set to P,It is for dbjective stateCorresponding delay-Doppler operator, wherein
The position and speed of target to be detected is indicated respectively；
B2. it using the hypothesis testing built, derives respectivelyConditional probability density p under assuming that1(s|γd,γp, u) and
Conditional probability density p under assuming that0(s|γd, u), emit signal u and channel factor γdAnd γpAll unknown ginsengs of being to determine property
Amount, the unknown quantity in likelihood ratio test are replaced using its maximal possibility estimation, and being then derived by its Generalized Logarithmic likelihood ratio isWhereinl0(γd,u|
S)=logp0(s|γd, u |), κrsFor detection threshold, determined by the false-alarm probability of distributed Passive Radar System；It derives again
To l1(γd,γp, u | s) and l0(γd, u | analytic expression s) further constructs and obtains distributed passive radar target detection statistics
Measure ξrsForWherein λ1() is the maximum eigenvalue of matrix parameter；For Gram matrixes, ()HIndicate hermitian transposition, It is the monitoring channel targets echo letter for removing time delay and Doppler frequency shift
Number,It is the direct wave channel signal for removing time delay and Doppler frequency shift,
B3. according to the actual samples of all signals in distributed Passive Radar System, target detection statistic ξ is calculatedrs, pass through
Compare detection statistic ξrsWith thresholding κrsSize, then judge target whether there is, complete target detection.
2. a kind of method for realizing distributed passive radar target detection as described in claim 1, which is characterized in that the step
Suddenly each array acceptor of (1) receives direct-path signal and target echo signal simultaneously, then passes through beamforming algorithm point
Direct-path signal component and target echo signal component are not obtained.
3. a kind of method for realizing distributed passive radar target detection as described in claim 1, which is characterized in that the step
Suddenly it is non-coherent between different receivers array in (1), and is not needed between different receivers array during target detection
Carry out Phase synchronization processing.
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| CN111273274B (en) * | 2020-03-12 | 2022-03-18 | 四川九洲电器集团有限责任公司 | Multi-base cooperative positioning method, storage medium, radar and radar positioning system |
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