CN106353744B - Multi-parameter combined estimation method based on bistatic FDA-MIMO radars - Google Patents
Multi-parameter combined estimation method based on bistatic FDA-MIMO radars Download PDFInfo
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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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- 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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to a kind of multi-parameter combined estimation methods based on bistatic FDA MIMO radars, first with FDA and MIMO radar characteristic design transmitting signal；The docking collection of letters number carries out a matched filtering, vectorization and space smoothing processing；Then estimate joint steering vector and estimation DOA and speed parameter using ESPRIT algorithms and transmitted waveform feature is combined to carry out decoupling and parameter Estimation to DOD and range information；The distance results estimated using ESPRIT algorithms are adjusted the distance in conjunction with impulse time delay estimation and estimate ambiguity solution, and passing through MUSIC algorithms to velocity estimation in conjunction with the signal characteristic under high impulse number carries out ambiguity solution.The present invention can effectively solve the problem that the problem that distance and velocity estimation obscure under single PRF, realize 3 dimension position and speeds estimations of target.Simulation result shows that this method has good estimated accuracy and stability.
Description
Technical field
The invention belongs to MIMO radar technical fields, more particularly to a kind of to be based on bistatic FDA-MIMO radars
Multi-parameter combined estimation method.
Background technology
So-called MIMO radar refers to while being connect using multiple using the waveform of multiple transmitting antennas synchronously transmitting diversity
Antenna receives echo-signal is received, and focuses on a kind of New Type Radar system of receiving and transmitting signal.MIMO radar and traditional phased array
Radar is maximum, and difference lies in MIMO radars to be realized in degree of freedom by changing array structure or the irrelevant waveform of transmitting
Promotion.According to " distance " of antenna spatial distribution, MIMO radar is broadly divided into 2 classes：Centralized MIMO radar and distribution
MIMO radar.The dual-mode antenna positional distance of centralized MIMO radar system generally cannot all reach incoherent MIMO compared with " close "
Spacing size required by radar.Since each antenna can emit different signals, there is good waveform diversity gain,
It is good so as to be shown in the promotion of parameter identification estimated capacity, adaptive technique utilization and flexible waveform design etc.
Effect.The antenna of distributed MIMO radar transmit-receive array apart compared with " remote " and is distributed in space different location.Each antenna is opposite
There is apparent difference in the angle of target, therefore shows good space diversity gain.The advantage of the type radar mainly exists
Yu Qineng makes full use of the fluctuation characteristic of target radar scattering cross-section product (RCS) spatially, to overcome target RCS angle scintillations
Improve target detection performance and Parameter Estimation Precision.The present invention is mainly using the bistatic radar in centralized MIMO radar as object
It is studied.
Existing solution PRF in velocity estimation contradictory method mainly have the multi-pulse repetition period either it is irregular
The method of repetition.However this method still will produce ambiguous estimation.Since centralized MIMO radar can be different by emitting
Waveform realizes waveform diversity gain.Therefore, it is different from conventional radar, MIMO radar can be combined with FDA technologies, is utilized
FDA makes the carrier frequency of transmitting signal as emission array forms a frequency increment, to utilize single PRF by waveform diversity
Solve the problems, such as ambiguous estimation.However, this method can generate the coupling of DOD and range information on transmitting steering vector, cause
It is unable to estimate out DOD and range information in the case of bistatic MIMO radar.A kind of solution is to be divided into emission array
The frequency increment of two submatrixs, two submatrixs is different；Another method is that frequency increment in a transmitting pulse is made to be 0, next
Frequency increment is not 0 in a pulse, alternate emission, to using the signal under different pulses, estimate respectively angle information and
Range information.The present invention is carried out decoupling using the first solution.Simultaneously because when Doppler frequency shift is with carrier frequency and pulse
It is related to prolong number, in the case where impulse time delay number is smaller, the influence for emitting steering vector can be ignored, and in number
It can not ignore in the case that mesh is larger, therefore can estimate DOD and distance in impulse time delay number hour, in impulse time delay number
Solve the problems, such as that velocity estimation is fuzzy when larger.Meanwhile for coherent signal, current main method is Space planar angle and square
Battle array Reconstruction Method.The former can be such that the aperture of radar is reduced；To reduce estimated accuracy, transmitting signal of the latter for radar
It is had certain limitations with parameter Estimation, flexibly not as good as the former, and can also have the case where aperture reduction.
Invention content
To overcome deficiency in the prior art, the present invention to provide a kind of multi-parameter connection based on bistatic FDA-MIMO radars
Method of estimation is closed, the problem of for bistatic centralized MIMO radar parameter Estimation, in conjunction with FDA technologies, solves Sing plus weight
Frequently under (PRF) distance estimations and velocity estimation fuzzy problem, realize target 3 dimension positioning.
According to design scheme provided by the present invention, a kind of multi-parameter Combined estimator based on bistatic FDA-MIMO radars
Method comprises the following steps：
Step 1 is obtained using waveform diversity characteristic design transmitting signal according to the frequency increment Δ f of transmitting signal carrier
Transmitted waveform related with DOD and range information；
Step 2 carries out the transmitted waveform signal received matched filtering, vectorization and space smoothing processing, is expired
The signal covariance matrix of order；
Step 3 is based on signal covariance matrix, estimates joint steering vector using ESPRIT algorithms；
Step 4, using joint steering vector estimation DOA and speed parameter, and to DOD and range information carry out it is decoupling and
Parameter Estimation；
Step 5, information estimated result of adjusting the distance in conjunction with impulse time delay estimation carry out ambiguity solution processing；
Step 6, in conjunction with high impulse number LaUnder signal characteristic speed parameter estimated result is solved by MUSIC algorithms
Fuzzy Processing.
Above-mentioned, step 1 includes specifically following content：Radar emission array is divided into two by reference point of array center
The frequency increment of a submatrix, design submatrix 1 is-Δ f, and submatrix 2 is Δ f, and obtained transmitting steering vector is：
Wherein, θp
And RpRespectively target DOD and DOA, dtFor the spacing of transmitting antenna, drFor the spacing of reception antenna, λ is signal wavelength, and c is light
Speed, v are target velocity, RpFor the sum of the distance of target to transmitting terminal and receiving terminal.
Above-mentioned, step 2 is specifically as follows comprising content：
Step 201：The docking collection of letters number carries out a matched filtering processing, obtains the letter under l (l=1,2 ..., L) a pulse
Number, it is expressed as：
In formula,To receive steering vector,To emit steering vector, aP(v, l) is multiple for target
Scattering coefficient and Doppler frequency shift, w (l) are noise vector；
Step 202：Reception signal under L pulse is expressed as：X=[x (1), x (2) ..., x (L)], it is carried out to
Quantification treatment obtains signal：
, then signal covariance matrix be expressed as：RY=E (YYH), wherein ⊙ is Khatri-Rao products, BL×P(v) how general it is
Vector is strangled, h is target scattering coefficient；
Step 203：Space smoothing processing is carried out to signal, design (l, n) a smoothing matrix is as follows：
, then it is smooth after signal covariance matrix be：
, whereinIt is accumulated for Kronecker, l0=L-pv+ 1, n0=N-pr+ 1, wherein pvAnd prIt indicates to lead reception respectively
The smooth number of space smoothing, H=diag (h) Λ are carried out to vector sum doppler vectorT,C0=Z11C1, work as pvpr>=P and l0n0When >=P,The as signal covariance of full rank
Matrix, wherein P are target total number.
Above-mentioned, step 3 is specifically as follows comprising content：
Step 301：Feature decomposition is carried out to signal covariance matrix and obtains signal subspaceDue to
span{Es}=span { C0, then EsMeet Es=C0T-1；
Step 302：By EsIt is divided into two sub-spaces Es1And Es2, obtainWherein, UsWith
T isFeature vector,To contain the diagonal matrix of DOD and velocity information；
Step 303：Calculating joint steering vector is
Above-mentioned, the step 4 is specifically as follows comprising content：
Step 401：It is as follows using joint steering vector estimation DOA and speed, specific formula：
Step 402：Using transmitting signal the characteristics of to DOD and apart from carry out it is decoupling, specific formula is as follows：
Step 403：DOD is calculated by formula and distance, specific formula for calculation are as follows：
Above-mentioned, step 5 is specifically as follows comprising content：It is using the actual distance measured by radar pulseIn formula, kpIt is integer, rut=c/fPRFIndicate maximum unambiguous distance,It indicates to measure
Distance；Using FDA-MIMO radars survey actual distance beIn formula, qpIt is integer, ruΔf=
C/4 Δs f indicates maximum unambiguous distance,Indicate estimated distance；Then unambiguous distance can be estimated to obtain by following formula：
Above-mentioned, step 6 is specifically as follows comprising content：Nothing is solved according to speed under big umber of pulse and the relationship of frequency increment
Fuzzy speed, LaReception signal under pulse is：
In formula, emit steering vector：
, it is assumed that true velocity isD is integer, vu=c/2f0T is velocity ambiguity, is utilized
MUSIC algorithms solve d：
In formula, Cv1(La) and Cv2(La) it is the joint steering vector based on two transmitting submatrixs.
Beneficial effects of the present invention：
1, the present invention ensures signal covariance matrix full rank using the method for space smoothing, is led to doppler vector and reception
It is carried out at the same time space smoothing to vector, is solved and velocity estimation and distance under the Sing plus repetition period exists in the prior art is estimated
Meter is also easy to produce fuzzy problem, improves parameter Estimation performance.
2, the present invention makes full use of MIMO radar waveform diversity feature, and MIMO radar and frequency control battle array FDA are combined, it is made
It includes range information even velocity information that transmitted waveform, which not only has DOD information also, to realize DOD, DOA, distance and speed
Combined estimator, solve in traditional phased-array radar due to velocity estimation and distance caused by the pulse repetition period (PRF)
Estimate the contradiction without blur estimation, improves the performance of parameter Estimation；The decoupling of DOD and range information is realized, to allow
Angle and distance Combined estimator is possibly realized, and solves the problems, such as that distance estimations are fuzzy under single PRF；Using Doppler frequency shift and
The relationship of carrier frequency realizes the ambiguity solution of velocity estimation when impulse time delay number is larger using MUSIC algorithms, to realize mesh
Mark DOD, DOA, distance and 4 parameters of speed are effectively estimated, so that it is determined that the three-dimensional coordinate of target；It is calculated using space smoothing
Method to doppler vector and receives steering vector smoothing processing simultaneously, solves coherent signal and Angle Ambiguity Problem, ensure that
The full rank condition of covariance matrix.
Description of the drawings：
Fig. 1 is bistatic FDA-MIMO radar systems structural schematic diagram；
Fig. 2 is the flow diagram of the present invention；
Fig. 3 is the phase of the lower transmitting steering vector of the present invention with the change curve of SNR；
Fig. 4 is the root-mean-square error of lower 4 parameters of the present invention with the change curve of SNR；
Fig. 5 is the root-mean-square error of lower 4 parameters of the present invention with the change curve of sampled point；
Fig. 6 be angle ambiguity under the conditions of 4 parameters root-mean-square error with SNR change curve.
Specific implementation mode：
The present invention is described in further detail with technical solution below in conjunction with the accompanying drawings, and detailed by preferred embodiment
Describe bright embodiments of the present invention in detail, but embodiments of the present invention are not limited to this.
Embodiment one, shown in Fig. 1~2, a kind of multi-parameter Combined estimator side based on bistatic FDA-MIMO radars
Method comprises the following steps：
Step 1 is obtained using waveform diversity characteristic design transmitting signal according to the frequency increment Δ f of transmitting signal carrier
Transmitted waveform related with DOD and range information ensures to realize decoupling to DOD and range information in parameter estimation procedure
It closes；
Step 2 carries out the transmitted waveform signal received matched filtering, vectorization and space smoothing processing, is expired
The signal covariance matrix of order；
Step 3 is based on signal covariance matrix, estimates joint steering vector using ESPRIT algorithms；
Step 4, using joint steering vector estimation DOA and speed parameter, and to DOD and range information carry out it is decoupling and
Parameter Estimation；
Step 5, information estimated result of adjusting the distance in conjunction with impulse time delay estimation carry out ambiguity solution processing；
Step 6, in conjunction with high impulse number LaUnder signal characteristic speed parameter estimated result is solved by MUSIC algorithms
Fuzzy Processing.
The present invention ensures signal covariance matrix full rank using the method for space smoothing, to doppler vector and receives guiding
Vector is carried out at the same time space smoothing, solves and velocity estimation and distance estimations under the Sing plus repetition period exist in the prior art
It is also easy to produce fuzzy problem, improves parameter Estimation performance.
Embodiment two, shown in Fig. 1~6, a kind of multi-parameter Combined estimator side based on bistatic FDA-MIMO radars
Method, including following content：
Step 1, the bistatic MIMO radar constituted based on M transmitting array element, N number of reception array element, utilize waveform diversity spy
Property design transmitting signal, according to transmitting signal carrier frequency increment Δ f, obtain transmitted wave related with DOD and range information
Radar emission array is divided into two by shape in order to solve the problems, such as DOD and range information coupling by reference point of array center
Submatrix calculates for convenience, and the frequency increment of design submatrix 1 is-Δ f, and submatrix 2 is Δ f, and obtained transmitting steering vector is：
Wherein, θp
And RpRespectively target DOD and DOA, dtFor the spacing of transmitting antenna, drFor the spacing of reception antenna, λ is signal wavelength, and c is light
Speed, v are target velocity, RpFor the sum of the distance of target to transmitting terminal and receiving terminal, ensureing can be to DOD in parameter estimation procedure
It is realized with range information decoupling.
Step 2 carries out the transmitted waveform signal received matched filtering, vectorization and space smoothing processing, is expired
The signal covariance matrix of order includes specifically following content：
Step 201：The docking collection of letters number carries out a matched filtering processing, obtains the letter under l (l=1,2 ..., L) a pulse
Number, it is expressed as：
In formula,To receive steering vector,To emit steering vector, aP(v, l) is multiple for target
Scattering coefficient and Doppler frequency shift, w (l) are noise vector；
Step 202：Reception signal under L pulse is expressed as：X=[x (1), x (2) ..., x (L)], it is carried out to
Quantification treatment obtains signal：
, then signal covariance matrix be expressed as：RY=E (YYH), wherein ⊙ is Khatri-Rao products, BL×P(v) how general it is
Vector is strangled, h is target scattering coefficient；
Step 203：Space smoothing processing is carried out to signal, the case where merger in order to avoid angle of arrival, is designed (l, n)
A smoothing matrix is as follows：
, then it is smooth after signal covariance matrix be：
, whereinIt is accumulated for Kronecker, l0=L-pv+ 1, n0=N-pr+ 1, wherein pvAnd prIt indicates to lead reception respectively
The smooth number of space smoothing, H=diag (h) Λ are carried out to vector sum doppler vectorT,C0=Z11C1, work as pvpr>=P and l0n0When >=P,The as signal covariance of full rank
Matrix.
Step 3 utilizes ESPRIT based on signal covariance matrix according to the invariable rotary shape of FDA-MIMO radar signals
Algorithm estimates joint steering vector, specifically as follows comprising content：
Step 301：Feature decomposition is carried out to signal covariance matrix and obtains signal subspaceMeet Es
=C0T-1, wherein due to span { Es}=span { C0, then EsMeet Es=C0T-1；
Step 302：By EsIt is divided into two sub-spaces Es1And Es2, obtainWherein, UsWith
T isFeature vector,To contain the diagonal matrix of DOD and velocity information；
Step 303：Calculating joint steering vector is
Step 4, using joint steering vector estimation DOA and speed parameter, and to DOD and range information carry out it is decoupling and
Parameter Estimation is specifically as follows comprising content：
Step 401：It is as follows using joint steering vector estimation DOA and speed, specific formula：
Step 402：Using transmitting signal the characteristics of to DOD and apart from carry out it is decoupling, specific formula is as follows：
Step 403：DOD is calculated by formula and distance, specific formula for calculation are as follows：
Step 5, information estimated result of adjusting the distance in conjunction with impulse time delay estimation carry out ambiguity solution processing, utilize radar pulse institute
The actual distance of measurement isIn formula, kpIt is integer, rut=c/fPRFIndicate maximum unambiguous distance,Indicate measurement distance；Using FDA-MIMO radars survey actual distance beFormula
In, qpIt is integer, ruΔf=c/4 Δs f indicates maximum unambiguous distance,Indicate estimated distance；Then unambiguous distance can be by following formula
Estimation obtains：
Step 6, in conjunction with high impulse number LaUnder signal characteristic speed parameter estimated result is solved by MUSIC algorithms
Fuzzy Processing is solved according to speed under big umber of pulse and the relationship of frequency increment without fuzzy speed, LaReception signal under pulse
For：
In formula, emit steering vector：
, it is assumed that true velocity isD is integer, vu=c/2f0T is velocity ambiguity, is utilized
MUSIC algorithms solve d：
In formula, Cv1(La) and Cv2(La) it is the joint steering vector based on two transmitting submatrixs.
The Cramér-Rao lower bound (Cramer-Rao Bound, CRB) of DOA estimations is unbiased esti-mator deviation theory lower bound.Foundation
The Cramér-Rao lower bound CRB of the signal model of bistatic FDA-MIMO radars, 4 parameters is
Wherein, SNR=(E | ξ |2)/(Mσ2), L, M, N indicate impulse time delay number, transmitting antenna number and receive day respectively
Line number mesh, kv=2 π f0T/c, kθ=2 π dtCos (θ)/λ, κR=2 π Δ f/c,K indicates sampling
It counts out.
The effect of the present invention can be further illustrated by following emulation experiment.
1) simulated conditions：
Bistatic FDA-MIMO radar transmit-receives array is even linear array, parameter setting such as following table：
The parameter setting of 1 bistatic FDA-MIMO radars of table
2) emulation experiment：
(1) influence of the frequency increment to transmitting steering vector
Influence of the frequency increment to transmitting steering vector is mainly studied in the emulation.The DOD of target is 20 °, and distance is
1.5km, speed 450m/s.Fig. 3 gives frequency increment to emitting variation and DOD of the phase of steering vector with pulse
With distance with the change curve of impulse time delay number.By simulation result it can be found that due to speed and carrier frequency and impulse time delay number
Mesh is related simultaneously, but since its magnitude is relatively small, when umber of pulse smaller period is little to the influence for emitting steering vector,
When impulse time delay number is larger, influence be can not ignore.Ambiguity solution can be carried out to velocity estimation using this point.
(2) the parameter Estimation performance of FDA-MIMO radars
The parameter Estimation performance of FDA-MIMO radars is mainly studied in the emulation.It is that estimation performance estimates mean square error first
With the change curve of SNR.Sampling number be 256, DOD be 30 °, DOA be 35 °, distance be 150km, speed 450m/s, wherein
Distance and speed will produce ambiguous estimation.By the simulation result of Fig. 4 it can be found that relative to traditional phased-array radar and MIMO
Radar, the Combined estimator of 4 parameters may be implemented in FDA-MIMO radars, and distance and velocity estimation are without fuzzy.Simultaneously because
The reason of MIMO radar virtual aperture, estimated accuracy increases compared with phased-array radar.
Followed by mean square error is with the change curve of sampling number.SNR=0dB, coordinates of targets are constant.By the emulation of Fig. 5
As a result it can be found that with sampling number increase, the estimated accuracy of radar is also being continuously improved.
(3) the solution angle ambiguity performance of FDA-MIMO radars
In order to verify performance of the method to angle ambiguity of the present invention, we are by the method for the present invention and are not put down using space
Sliding method is compared.It is arranged there are the 2 of angle ambiguity target, DOD is 30 ° and 45 °, and DOA is 35 ° and 36 °, distance
For 150km and 250km, speed is 450m/s and 350m/s.Even if by the simulation result of Fig. 6 it can be found that the method for the present invention
It remains to effectively estimate the target there are angle ambiguity under low signal-to-noise ratio conditions.
The present invention is not limited to above-mentioned specific implementation mode, and those skilled in the art can also make a variety of variations accordingly, but
It is any all to cover within the scope of the claims with equivalent or similar variation of the invention.
Claims (3)
1. a kind of multi-parameter combined estimation method based on bistatic FDA-MIMO radars, it is characterised in that：It comprises the following steps：
Step 1, using waveform diversity characteristic design transmitting signal, according to transmitting signal carrier frequency increment Δ f, obtain with
DOD and the related transmitted waveform of range information include specifically following content：By radar emission array using array center as reference point
Two submatrixs are divided into, the frequency increment of design submatrix 1 is-Δ f, and submatrix 2 is Δ f, and the transmitting of p-th obtained of target is oriented to
Vector is：Wherein, θp
And RpRespectively target DOD and DOA, dtFor the spacing of transmitting antenna, drFor the spacing of reception antenna, λ is signal wavelength, and c is light
Speed, v are target velocity, RpFor the sum of the distance of target to transmitting terminal and receiving terminal；
Step 2 carries out the transmitted waveform signal received matched filtering, vectorization and space smoothing processing, obtains full rank
Signal covariance matrix is specifically as follows comprising content：
Step 201：The docking collection of letters number carries out a matched filtering processing, obtains the signal under l (l=1,2 ..., L) a pulse, table
It is shown as：
In formula,To receive steering vector,To emit steering vector, aP(v, l) is that target scatters again
Coefficient and Doppler frequency shift, w (l) are noise vector；
Step 202：Reception signal under L pulse is expressed as：X=[x (1), x (2) ..., x (L)], vectorization is carried out to it
Processing obtains signal：
Then signal covariance matrix is expressed as：RY=E (YYH), wherein ⊙ is Khatri-Rao products, BL×P(v) it is that Doppler swears
Amount, h is target scattering coefficient；
Step 203：Space smoothing processing is carried out to signal, design (l, n) a smoothing matrix is as follows：
Signal covariance matrix after then smooth is：
Wherein,It is accumulated for Kronecker, l0=L-pv+ 1, n0=N-pr+ 1, wherein pvAnd prIt is indicated respectively to receiving steering vector
The smooth number of space smoothing, H=diag (h) Λ are carried out with doppler vectorT,C0=
Z11C1, work as pvpr>=P and l0n0When >=P,The as signal covariance matrix of full rank, wherein P are target total number；
Step 3 is based on signal covariance matrix, estimates joint steering vector using ESPRIT algorithms, specifically as follows comprising content：
Step 301：Feature decomposition is carried out to signal covariance matrix and obtains signal subspaceDue to span
{Es}=span { C0, then EsMeet Es=C0T-1；
Step 302：By EsIt is divided into two sub-spaces Es1And Es2, obtainWherein, UsIt is with TFeature vector,To contain the diagonal matrix of DOD and velocity information；
Step 303：Calculating joint steering vector is
Step 4 carries out decoupling and parameter using joint steering vector estimation DOA and speed parameter, and to DOD and range information
Estimation, it is specifically as follows comprising content：
Step 401：It is as follows using joint steering vector estimation DOA and speed, specific formula：
Step 402：Using transmitting signal the characteristics of to DOD and apart from carry out it is decoupling, specific formula is as follows：
Step 403：DOD is calculated by formula and distance, specific formula for calculation are as follows：
Step 5, information estimated result of adjusting the distance in conjunction with impulse time delay estimation carry out ambiguity solution processing；
Step 6, in conjunction with high impulse number LaUnder signal characteristic to speed parameter estimated result pass through MUSIC algorithms carry out ambiguity solution
Processing.
2. the multi-parameter combined estimation method according to claim 1 based on bistatic FDA-MIMO radars, feature exist
In：The step 5 is specifically as follows comprising content：It is using the actual distance measured by radar pulseIn formula, kpIt is integer, rut=c/fPRFIndicate maximum unambiguous distance,It indicates to measure
Distance；Using FDA-MIMO radars survey actual distance beIn formula, qpIt is integer, ruΔf=
C/4 Δs f indicates maximum unambiguous distance,Indicate estimated distance；Then unambiguous distance can be estimated to obtain by following formula：
3. the multi-parameter combined estimation method according to claim 2 based on bistatic FDA-MIMO radars, feature exist
In：The step 6 is specifically as follows comprising content：It is solved without fuzzy speed according to speed under big umber of pulse and the relationship of frequency increment
Degree, LaReception signal under pulse is：
In formula, emit steering vector：
Assuming that true velocity isD is integer, vu=c/2f0T is velocity ambiguity, utilizes MUSIC algorithms
Solve d：
In formula, Cv1(La) and Cv2(La) it is the joint steering vector based on two transmitting submatrixs.
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| CN106950550B (en) * | 2017-03-31 | 2020-03-03 | 中国人民解放军海军航空大学 | High dynamic deviation on-line estimation method based on cross-fuzzy interval judgment under condition of range finding and speed measuring ambiguity |
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