CN106443614B - Hypersonic target measuring acceleration method - Google Patents
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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 hypersonic target measuring acceleration method, mainly the solution prior art is not high to hypersonic target measuring acceleration precision, can survey the small problem of range.Implementation step is：(1) echo data is received；(2) Frequency mixing processing；(3) matched filtering；(4) frequency domain phase difference；(5) spectral coordinate matrix is constructed；(6) spectrum peak search method；(7) aimed acceleration is calculated；(8) aimed acceleration is exported to system.The present invention can effectively extract the acceleration factor in echo-signal phase by using frequency domain phase differential method so that the present invention has levels of precision height, the low advantage of computation complexity.By using spectral line searching method, the fuzzy contradiction with maximum measurand acceleration of acceleration can be efficiently solved so that the present invention has the advantages that interval range can be surveyed big.By being handled in two-dimensional frequency so that the present invention has the advantages that be suitable for low signal-to-noise ratio situation.
Description
Technical field
The invention belongs to fields of communication technology, further relate to the hypersonic target detection technique of Radar Signal Processing
A kind of hypersonic target measuring acceleration method in field.The present invention is used using the frequency domain information of Doppler radar echo signal
Signal processing method estimates aimed acceleration, realizes ballistic missile defense, the hypersonic target detection in space.
Background technology
Traditional target radial acceleration estimation method, by calculating the target range of multiple period echoes, construction two
Then order difference equation calculates acceleration using least square method, but since range error is added in acceleration calculation, make
At acceleration estimation value error bigger.
The paper that Jia Shuyi, kingdom are macro, Zhang Lei delivers at it " estimate by the maneuvering target radial acceleration based on compressed sensing
A kind of compressed sensing skill is disclosed in meter " (system engineering and electronic technology, in September, 2013 the 9th phase page 1815~1820 of volume 35)
Art measures acceleration method.This method establishes over-complete dictionary of atoms according to maneuvering target echo features first, obtains signal
Decomposition coefficient projection on over-complete dictionary of atoms, then carries out lack sampling using an observing matrix to the signal after decomposition,
By the Least Square Solution under the conditions of one 1- norm constraint of solution, the frequency modulation rate of signal is extracted, is finally utilized radial
Acceleration Formula realizes acceleration estimation.Shortcoming existing for this method is to need to build sufficiently large atom just carry
High measurement accuracy, computation complexity are higher.
Paper " the pulse radar radial acceleration Study on Extraction Method that first Jian Hai, Wu Shangshang, Xu Xu, Yue Rui are delivered at it
With application " (play arrow with guidance journal, the 3rd phase page 191~202 of volume 34 in June, 2014) in a kind of multinomial phse conversion is disclosed
With Short Time Fourier Transform method.This method carries out polynomial-phase transformation and Short Time Fourier Transform to echo data first,
The Time-Frequency Information containing radial acceleration is obtained, then gravity model appoach is utilized to extract target radial acceleration.Existing for this method not
Foot place is, when target has high acceleration, to can not achieve acceleration ambiguity solution, it is small can to survey range.
Invention content
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of hypersonic target measuring acceleration method.
This method makes full use of frequency domain phase difference and 2-d spectrum spectral line search method, solves measuring acceleration precision problem and acceleration mould
The not high problem of paste.
The basic ideas of the object of the invention are：It is first depending on the thought that aimed acceleration is easy to extraction in a frequency domain, is passed through
Frequency domain phase difference filters out the phase change caused by target range, target velocity, then with the range of object to be measured acceleration
The region of search is obtained, spectral line search is carried out in 2-d spectrum, realizes ambiguity solution processing, finally solves object to be measured acceleration
Degree.
The present invention is as follows：
(1) echo data is received：
The echo data that acquisition radar array element receives, and be stored in Installed System Memory with a matrix type；
(2) Frequency mixing processing：
Frequency mixing processing is carried out to echo data, obtains low-frequency data；
(3) according to the following formula, matched filtering is carried out to low-frequency data, obtains observation data matrix：
Y=H*X
Wherein, y indicates that observation data matrix, H indicate that matched filtering function, * indicate that convolution operation, X indicate low-frequency data；
(4) frequency domain phase difference：
(4a) does Fourier transformation to the every a line for observing data matrix, obtains frequency-domain data matrix；
(4b) takes out the preceding P rows of frequency-domain data matrix, as preceding paragraph difference matrix, wherein P indicates preceding paragraph difference matrix
Line number, the value of P are appointing in the half to this total section of frequency-domain data matrix row of the sum of frequency-domain data matrix row
Meaning positive integer；
(4c) takes out the rear Q rows of frequency-domain data matrix, as consequent difference matrix, wherein Q indicates consequent difference matrix
The value of line number, Q is equal with the value of line number P of preceding paragraph difference matrix；
(4d) carries out calculus of differences using preceding paragraph difference matrix and consequent difference matrix, obtains difference matrix；
(4e) does Fourier transformation to each row of difference matrix, obtains spectral matrix；
(5) spectral coordinate matrix is constructed：
The row of (5a) where searching greatest member value in all elements of a row among spectral matrix, by greatest member value
Row coordinate of the row at place as intercept；
The Parameters Calculation of (5b) set by total line number of spectral matrix, the total columns of spectral matrix and radar system is fuzzy
Slope；
(5c) utilizes slope formula, calculates intercept slope；
(5d) according to the following formula, calculates the value of each element in spectral coordinate matrix：
Wherein, [Ψ]i,jIndicate the element value of the i-th row jth row of spectral coordinate matrix, i ∈ { 1,2 ..., 2h+1 }, ∈ tables
Showing relation belonging to, h indicates the maximum detection fuzziness of the acceleration estimation according to object to be measured, j ∈ 1,2 ... N, Ψ tables
Show that spectral coordinate matrix, K indicate to obscure slope, κ indicates that intercept slope, N indicate that the sum of spectral matrix row, L indicate spectral matrix
Row sum；
(5e) arranges all elements of spectral coordinate matrix according to column locations, constitutes spectral coordinate matrix；
(6) spectral line search method：
(6a) arbitrarily chooses an element value from spectral coordinate matrix, using selected element value as the vertical seat of spectral line data
Mark, using the row where selected element value as spectral line serial number, using the row where selected element value as spectral line data
Abscissa；
(6b) calculates the element value of spectral line matrix using search formula；
(6c) judges all element values whether have been chosen in spectral coordinate matrix, if so, (6d) is thened follow the steps, otherwise,
Execute step (6a)；
Every data line of (6d) cumulative spectral line matrix, obtains one-dimensional spectral line data；
The coordinate of (6e) where searching maximum value in all elements of one-dimensional spectral line data, by the coordinate where maximum value
As spectral peak coordinate；
(6f) utilizes fuzziness formula, calculates fuzziness；
(7) according to the following formula, the acceleration of object to be measured is calculated：
Wherein, a indicates that the acceleration of object to be measured, c indicate that the light velocity, T indicate that the period of transmitting signal, M indicate observation number
According to the line number of matrix, n indicates the line number of difference matrix, f0Indicate that the carrier frequency of transmitting signal, r indicate that fuzziness, L indicate frequency spectrum square
The sum of the row of battle array, p indicate the row coordinate of intercept；
(8) object to be measured acceleration is exported to system.
Compared with the prior art, the present invention has the following advantages：
First, the present invention uses frequency domain phase differential method, can effectively extract the acceleration in echo-signal phase
The factor overcomes the prior art and needs to build the shortcomings that sufficiently large atom could improve measurement accuracy so that the present invention has
There are levels of precision height, the low advantage of computation complexity.
Second, due to that using spectral line searching method, can efficiently solve, acceleration is fuzzy to be added the present invention with maximum detection
The shortcomings that contradiction of speed overcomes the prior art when target has high acceleration, can not achieve acceleration ambiguity solution so that
The present invention has computational accuracy high, can survey the big advantage of interval range.
Third, the present invention overcome existing due to using the method handled in two-dimensional frequency, being accumulated with multicycle echo
Have the shortcomings that technology is not high in low signal-to-noise ratio precision so that the present invention has the advantages that be suitable for low signal-to-noise ratio situation.
Description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the experiment simulation figure of the present invention.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1, specific implementation step of the invention is as follows：
Step 1. receives echo data.
The echo data that acquisition radar array element receives, and be stored in Installed System Memory with a matrix type.
Using the period of the chirp pulse signal of transmitting as time interval, the echo data in a cycle is stored as
A line.
Step 2. Frequency mixing processing.
Frequency mixing processing is carried out to echo data, obtains low-frequency data.
Mixing function is designed according to the chirp pulse signal of transmitting, lower mixing is carried out and obtains low-frequency data.
Step 3. carries out matched filtering according to the following formula, to low-frequency data, obtains observation data matrix.
Y=H*X
Wherein, y indicates that observation data matrix, H indicate that matched filtering function, * indicate that convolution operation, X indicate low-frequency data.
Chirp pulse signal design of the matched filtering function according to transmitting, and to low-frequency data matrix per data line
Do matched filtering.
Step 4. frequency domain phase difference.
Every a line to observing data matrix does Fourier transformation, obtains frequency-domain data matrix.
The preceding P rows for taking out frequency-domain data matrix, as preceding paragraph difference matrix, wherein P indicates the total of preceding paragraph difference matrix row
Number, the value of P are arbitrary in the half to this total section of frequency-domain data matrix row of the sum of frequency-domain data matrix row
Positive integer.
The rear Q rows for taking out frequency-domain data matrix, as consequent difference matrix, wherein Q indicates the total of consequent difference matrix row
Number, the value of Q are equal with the value of line number P of preceding paragraph difference matrix.
Calculus of differences is carried out using preceding paragraph difference matrix and consequent difference matrix, obtains difference matrix.
Calculus of differences carries out according to the following formula：
Z=Y1·conj(Y2)
Wherein, Z indicates difference matrix, Y1It indicates preceding paragraph difference matrix, indicates that dot product operation, conj expressions take conjugation to grasp
Make, Y2Indicate consequent difference matrix.
Phase difference is realized by conjugate multiplication operation.
Fourier transformation is done to each row of difference matrix, obtains spectral matrix.
When doing Fourier transform to each row of difference matrix, Fourier transform can be selected according to the line number of difference matrix
Points, the transformation of such as 512 point Fouriers or the transformation of 1024 point Fouriers.
Step 5. constructs spectral coordinate matrix.
The row where greatest member value is searched among from spectral matrix in all elements of a row, it will be where greatest member value
Row coordinate of the row as intercept.
Parameters Calculation set by total line number of spectral matrix, the total columns of spectral matrix and radar system is fuzzy oblique
Rate.
Fuzzy slope is calculated according to the following formula：
Wherein, K indicates to obscure slope, and L indicates that the sum of the row of spectral matrix, w indicate radar sampling frequency, f0Indicate hair
The carrier frequency of signal is penetrated, N indicates the sum of spectral matrix row.
The size of radar sampling frequency refers to that staff carries out discrete adopt when receiving echo data using radar array element
The size of identified radar sampling frequency when sample.
Using slope formula, intercept slope is calculated.
Slope formula is as follows：
Wherein, κ indicates that intercept slope, w indicate that radar sampling frequency, p indicate that the row of intercept sits target value, and L indicates frequency spectrum
The sum of row matrix, N indicate the sum of spectral matrix row.
According to the following formula, the value of each element in spectral coordinate matrix is calculated：
Wherein, [Ψ]i,jIndicate the element value of the i-th row jth row of spectral coordinate matrix, i ∈ { 1,2 ..., 2h+1 }, ∈ tables
Show that relation belonging to, h indicate that the maximum detection fuzziness of the acceleration estimation according to object to be measured, j ∈ { 1,2 ..., N, }, Ψ indicate
Spectral coordinate matrix, K indicate that fuzzy slope, κ indicate that intercept slope, N indicate that the sum of spectral matrix row, L indicate spectral matrix
Capable sum.
Maximum detection fuzziness value is 10 in the embodiment of the present invention.
The all elements of spectral coordinate matrix are arranged according to column locations, constitute spectral coordinate matrix.
Step 6. spectral line search method：
An element value is arbitrarily chosen from spectral coordinate matrix, using selected element value as spectral line data ordinate,
Using the row where selected element value as spectral line serial number, using the row where selected element value as the horizontal seat of spectral line data
Mark.
Using search formula, the element value of spectral line matrix is calculated.
It is as follows to search for formula：
Wherein, [z]α,βIndicating the element value of the α rows β row of spectral line matrix, the value of α is equal with the value of spectral line serial number,
The value of β is equal with the value of spectral line data abscissa, and z indicates spectral line matrix,Indicate the of spectral matrixRow χ row
Element value,Value it is equal with the value of spectral line data ordinate, the value of χ is equal with the value of spectral line data abscissa.
Judge whether chosen all element values in spectral coordinate matrix, if so, thening follow the steps (6d), otherwise, executes
Step (6a).
Every data line of cumulative spectral line matrix, obtains one-dimensional spectral line data.
From in all elements of one-dimensional spectral line data search maximum value where coordinate, using the coordinate where maximum value as
Spectral peak coordinate.
Using fuzziness formula, fuzziness is calculated.
Fuzziness formula is as follows：
R=m-h-1
Wherein, r indicates that fuzziness, m indicate that spectral peak coordinate, h indicate maximum detection fuzziness.
Step 7. according to the following formula, calculates the acceleration of object to be measured：
Wherein, a indicates that the acceleration of object to be measured, c indicate that the light velocity, T indicate that the period of transmitting signal, M indicate observation number
According to the line number of matrix, n indicates the line number of difference matrix, f0Indicate that the carrier frequency of transmitting signal, r indicate that fuzziness, L indicate frequency spectrum square
The sum of the row of battle array, p indicate the row coordinate of intercept.
Step 8. exports object to be measured acceleration to system.
The effect of the present invention is further described with reference to emulation experiment.
1. simulated conditions：
The configuration of the operation platform of the emulation experiment of the present invention is as follows：
CPU：Intel (R) Core (TM) [email protected], memory 8.00GB；
Operating system：Windows 7 Ultimate, 64 SP1 operating systems；
Simulation software：MATLAB R(2015a).
The simulation parameter setting of the emulation experiment of the present invention is as follows：
Emitting signal uses chirp pulse signal, transmission signal parameters and experiment simulation parameter setting as indicated 1
It is shown.
1 signal parameter of table and experiment simulation parameter list
| Parameter | Value |
| Modulating bandwidth B | 50MHz |
| Frequency modulation on pulse width Tp | 1.0×10-4s |
| Sample frequency w | 100MHz |
| Pulse repetition period | 1.0×10-3s |
| Carrier frequency F | 10GHz |
| Accumulate periodicity M | 128 |
| Target initial distance R0 | 1.5Km |
| Target initial radial velocity v0 | 3400m/s |
| Target radial acceleration a | 340m/s24000m/s2 |
2. emulation content：
Emit signal according to the signal parameter design radar system in table 1, number of echoes is built according to the target component in table 1
According to being emulated.Echo data is handled according to algorithm proposed by the present invention, obtains the measured value of object to be measured acceleration,
And be compared with the aimed acceleration value of emulation setting, obtain acceleration error value.
3. analysis of simulation result：
The simulation experiment result of the present invention is as shown in Figure 2.Abscissa in Fig. 2 indicates the radially accelerated angle value variation of moving-target
Range, ordinate indicates the acceleration calculated and emulates the error amount of the acceleration of setting, and curve is indicated when target acceleration in Fig. 2
Degree is successively from 340m/s2Increase 4000m/s2Error between the acceleration value of the acceleration value and setting that then measure.
Simulation result is analyzed as follows：
Calculated aimed acceleration value and the aimed acceleration of emulation setting are worth error amount in ± 0.3m/s2Between,
When aimed acceleration is in a wide range of interior variation, error amount is still in ± 0.3m/s2Between fluctuate, have stability.
Experimental result show calculated aimed acceleration is searched for using frequency domain phase difference and 2-d spectrum spectral line can be
Solves the problems, such as acceleration fuzzy problem in the case of improving accuracy of detection and can to survey range small, it was demonstrated that the present invention can have in target
In the case of having high acceleration, realize that high-precision aimed acceleration measures.
Claims (7)
1. a kind of hypersonic target measuring acceleration method, which is characterized in that use frequency domain phase differential method, extraction echo letter
The step of acceleration factor in number phase surveys the acceleration of hypersonic target using spectral line searching method, this method include
It is as follows：
(1) echo data is received：
The echo data that acquisition radar array element receives, and be stored in Installed System Memory with a matrix type；
(2) Frequency mixing processing：
Frequency mixing processing is carried out to echo data, obtains low-frequency data；
(3) according to the following formula, matched filtering is carried out to low-frequency data, obtains observation data matrix：
Y=H*X
Wherein, y indicates that observation data matrix, H indicate that matched filtering function, * indicate that convolution operation, X indicate low-frequency data；
(4) frequency domain phase difference：
(4a) does Fourier transformation to the every a line for observing data matrix, obtains frequency-domain data matrix；
(4b) takes out the preceding P rows of frequency-domain data matrix, as preceding paragraph difference matrix, wherein P indicates the total of preceding paragraph difference matrix row
Number, the value of P are arbitrary in the half to this total section of frequency-domain data matrix row of the sum of frequency-domain data matrix row
Positive integer；
(4c) takes out the rear Q rows of frequency-domain data matrix, as consequent difference matrix, wherein Q indicates the total of consequent difference matrix row
Number, the value of Q are equal with the value of line number P of preceding paragraph difference matrix；
(4d) carries out calculus of differences using preceding paragraph difference matrix and consequent difference matrix, obtains difference matrix；
(4e) does Fourier transformation to each row of difference matrix, obtains spectral matrix；
(5) spectral coordinate matrix is constructed：
The row of (5a) where searching greatest member value in all elements of a row among spectral matrix, will be where greatest member value
Row coordinate of the row as intercept；
The Parameters Calculation of (5b) set by total line number of spectral matrix, the total columns of spectral matrix and radar system is fuzzy oblique
Rate；
(5c) utilizes slope formula, calculates intercept slope；
(5d) according to the following formula, calculates the value of each element in spectral coordinate matrix：
Wherein, [Ψ]i,jIndicate that the element value of the i-th row jth row of spectral coordinate matrix, i ∈ { 1,2 ..., 2h+1 }, ∈ indicate to belong to
In relationship, h indicates that the maximum detection fuzziness of the acceleration estimation according to object to be measured, j ∈ { 1,2 ..., N }, Ψ indicate spectrum
Coordinates matrix, K indicate that fuzzy slope, κ indicate that intercept slope, N indicate that the sum of spectral matrix row, L indicate the row of spectral matrix
Sum；
(5e) arranges all elements of spectral coordinate matrix according to column locations, constitutes spectral coordinate matrix；
(6) spectral line search method：
(6a) arbitrarily chooses an element value from spectral coordinate matrix, using selected element value as spectral line data ordinate,
Using the row where selected element value as spectral line serial number, using the row where selected element value as the horizontal seat of spectral line data
Mark；
(6b) calculates the element value of spectral line matrix using search formula；
(6c) judges all element values whether have been chosen in spectral coordinate matrix, if so, thening follow the steps (6d), otherwise, executes
Step (6a)；
Every data line of (6d) cumulative spectral line matrix, obtains one-dimensional spectral line data；
(6e) from all elements of one-dimensional spectral line data search maximum value where coordinate, using the coordinate where maximum value as
Spectral peak coordinate；
(6f) utilizes fuzziness formula, calculates fuzziness；
(7) according to the following formula, the acceleration of object to be measured is calculated：
Wherein, a indicates that the acceleration of object to be measured, c indicate that the light velocity, T indicate that the period of transmitting signal, M indicate observation data square
The line number of battle array, n indicate the line number of difference matrix, f0Indicate that the carrier frequency of transmitting signal, r indicate that fuzziness, L indicate spectral matrix
Capable sum, p indicate the row coordinate of intercept；
(8) object to be measured acceleration is exported to system.
2. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (4d)
Calculus of differences carries out according to the following formula：
Z=Y1·conj(Y2)
Wherein, Z indicates difference matrix, Y1It indicates preceding paragraph difference matrix, indicates that dot product operation, conj expressions take conjugate operation, Y2
Indicate consequent difference matrix.
3. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (5b)
Fuzzy slope is calculated according to the following formula：
Wherein, K indicates to obscure slope, and L indicates that the sum of the row of spectral matrix, w indicate radar sampling frequency, f0Indicate transmitting letter
Number carrier frequency, N indicate spectral matrix row sum.
4. hypersonic target measuring acceleration method according to claim 3, it is characterised in that：Institute in fuzzy slope formula
The size for the radar sampling frequency stated refers to, when staff carries out discrete sampling when receiving echo data using radar array element
The size of identified radar sampling frequency.
5. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (5c)
Slope formula is as follows：
Wherein, κ indicates that intercept slope, w indicate that radar sampling frequency, p indicate that the row of intercept sits target value, and L indicates spectral matrix
Capable sum, N indicate the sum of spectral matrix row.
6. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (6b)
It is as follows to search for formula：
Wherein, [z]α,βIndicate the element value of the α rows β row of spectral line matrix, the value of α is equal with the value of spectral line serial number, β's
Value is equal with the value of spectral line data abscissa, and z indicates spectral line matrix,Indicate the of spectral matrixThe member of row χ row
Element value,Value it is equal with the value of spectral line data ordinate, the value of χ is equal with the value of spectral line data abscissa.
7. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (6f)
Fuzziness formula is as follows：
R=m-h-1
Wherein, r indicates that fuzziness, m indicate that spectral peak coordinate, h indicate maximum detection fuzziness.
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