CN106707269A - Radar object speed tracking method based on cross-product automatic frequency control - Google Patents

Radar object speed tracking method based on cross-product automatic frequency control Download PDF

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Publication number
CN106707269A
CN106707269A CN201510781236.8A CN201510781236A CN106707269A CN 106707269 A CN106707269 A CN 106707269A CN 201510781236 A CN201510781236 A CN 201510781236A CN 106707269 A CN106707269 A CN 106707269A
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data point
cross product
frequency
signal
formula
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CN201510781236.8A
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盛卫星
蒋兵兵
张仁李
韩玉兵
马晓峰
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Priority to CN201510781236.8A priority Critical patent/CN106707269A/en
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a radar object speed tracking method based on cross-product automatic frequency control. A cross-product automatic frequency control method is used to measure target Doppler frequency difference, a measured value is sent to a loop filter, the object speed in a next coherent processing interval is predicted, and a speed tracking loop is formed. According to the method, the problem that the tracking precision relies on the resolution of rapid Fourier transform is overcome, the problem of deficiency in a data filtering function is solved, and the method is low in errors and high in precision.

Description

A kind of radar target speed tracing method based on the control of cross product automatic frequency
Technical field
The invention belongs to radar target tracking technical field, and in particular to a kind of radar mesh based on the control of cross product automatic frequency Mark speed tracing method.
Background technology
Traditional radar target speed tracing method is the narrow band signal by radar speed passage by Fast Fourier Transform (FFT) After (Fast Fourier Transformation, FFT), the tracking to target Doppler is realized using height tracking filter, And then the pursuit gain of target velocity is obtained, it is achieved in tracking of the radar to target velocity.
This method is primarily present two shortcomings, radar can be caused low to the tracking accuracy of target velocity and tracking error Greatly.(1) tracking accuracy of conventional speed tracking depends on FFT resolution ratio, and can on hardware signal processing platform The FFT resolution ratio of offer is limited so that limited precision of the conventional speed tracking to tachometric survey；(2) tradition Current velocity measurement is only used in speed tracing method, data filtering has not been carried out to several measured values before Treatment, the adjacent value of speed tracing twice generally differs larger, and the burr of speed tracing curve is more, causes tracking error big.
The content of the invention
It is an object of the invention to provide a kind of radar target speed tracing method based on the control of cross product automatic frequency, the party Method error is small, high precision.
In order to solve the above-mentioned technical problem, the present invention provide it is a kind of based on cross product automatic frequency control radar target speed with Track method, comprises the following steps：
The first step, the data point of radar speed channel signal is extracted using sliding window, obtains M data point；
Second step, Frequency mixing processing is carried out by M data point by digital controlled oscillator, the signal after being mixed；
3rd step, real part treatment is taken to the signal after mixing and imaginary part treatment is taken respectively, is obtained solid part signal and is believed with imaginary part Number；
4th step, according to the solid part signal and imaginary signals, mixed signal is calculated according to cross product computational methods respectively The M cross product value of data point, and the cross product value of M data point is added up, obtain cross product energy and P；Simultaneously with modulus Mode calculates mixed signal the corresponding modulus value of M data point of acquisition respectively, and obtains M data point mould to calculating The average A of value；
5th step, the slope K for obtaining frequency discrimination curve is calculated using cross product auto frequency control method, and according to described oblique Rate K is calculated and is obtained Doppler's frequency difference on the frequency dfd；
6th step, by Doppler frequency difference dfdDoppler frequency difference df is obtained in feeding loop filterdFilter value；So Afterwards by Doppler frequency difference dfdFilter value feeding digital controlled oscillator in obtain Doppler frequency filter value fd；
7th step, judges whether all to extract all signal datas for finishing radar speed passage using sliding window, if extracted Complete whole signal datas, then the filter value f of the Doppler frequency that will be obtaineddOutput, and enter the 8th step；Otherwise return to One step.
8th step, calculates and obtains the pie slice value v of radar target, shown in computational methods such as formula (1)：
In formula (1), λ is radar operation wavelength.
Further, shown in the computational methods such as formula (2) of cross product value described in the 4th step,
Pt(k)=Ik-1·Qk-Qk-1·Ik (2)
In formula (2), PtK () is the corresponding cross product value of k-th data point, IkIt is k-th solid part signal of data point, QkIt is k-th imaginary signals of data point, k ∈ M.
Further, shown in the computational methods such as formula (3) of modulus value described in the 4th step,
In formula (3), AtK () is the corresponding modulus value of k-th data point, I in mixed signalkIt is k-th data point Solid part signal, QkIt is k-th imaginary signals of data point, k ∈ M.
Further, shown in the calculation such as formula (4) of the slope K of frequency discrimination curve described in the 5th step：
In formula (4), T is the time interval of the data point that radar speed channel signal is extracted using sliding window.
Further, Doppler's frequency difference on the frequency df described in the 5th stepdComputational methods such as formula (5) shown in：
Compared with prior art, its remarkable advantage is that the present invention is using cross product auto frequency control method (Cross to the present invention Product Automatic Frequency Control, CPAFC) measurement of the realization to target Doppler frequency difference, then will be many In the general measured value feeding loop filter for strangling frequency difference, next coherent processing interval (Coherent Processing are predicted Interval, CPI) target velocity, be consequently formed speed tracing loop, so as to solve conventional radar target velocity tracking The tracking accuracy of method need to rely on FFT resolution ratio, and data filtering afunction problem.
Brief description of the drawings
Fig. 1 is radar target speed tracing method flow schematic diagram of the present invention based on the control of cross product automatic frequency.
Fig. 2 is to use in the present invention sliding window to extract the schematic diagram of radar speed channel signal data point.
Fig. 3 is the schematic diagram of a scenario of the Computer Simulation in emulation experiment of the present invention.
Fig. 4 is the speed change curves schematic diagram of radar target in emulation experiment of the present invention.
Fig. 5 is that the inventive method is shown with the tracking performance correlation curve of speed tracing method of the tradition based on fast Fourier transformation It is intended to.
Specific embodiment
It is readily appreciated that, according to technical scheme, in the case where connotation of the invention is not changed, this area Those skilled in the art can imagine radar target speed tracing method of the present invention based on the control of cross product automatic frequency Numerous embodiments.Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, And be not to be construed as whole of the invention or be considered as limitation or restriction to technical solution of the present invention.
With reference to Fig. 1, radar target speed tracing method of the present invention based on the control of cross product automatic frequency is comprised the following steps：
The first step, the data point of radar speed channel signal is extracted using sliding window, obtains M data point.Such as Fig. 2 institutes Show, since radar speed passage first data point of signal, M data point is extracted using sliding window, obtain this The data point for the treatment of needed for secondary coherent processing interval (CPI).Next CPI extract data point when, sliding window order to A data point is moved afterwards, obtains M corresponding data point of next CPI.
Second step, Frequency mixing processing is carried out by M data point by digital controlled oscillator, the signal after being mixed.
3rd step, real part treatment is taken to the signal after mixing and imaginary part treatment is taken respectively, obtains solid part signal I and imaginary part Signal Q.
4th step, the cross product value of M data point of mixed signal, calculating side are calculated according to cross product computational methods respectively Shown in method such as formula (1),
Pt(k)=Ik-1·Qk-Qk-1·Ik (1)
In formula (1), PtK () is the corresponding cross product value of k-th data point, IkK-th data point that step 3 is obtained Solid part signal, QkIt is the imaginary signals of k-th data point that step 3 is obtained, k ∈ M.
5th step, by the M cross product value P of data pointtK () is added up, obtain corresponding cross product energy and P, cross product energy With P such as formulas (2) Suo Shi：
6th step, the corresponding modulus value of M data point is calculated mixed signal in modulus mode respectively, and computational methods are such as Shown in formula (3),
In formula (3), AtK () is the corresponding modulus value of k-th data point in mixed signal.
7th step, calculates M data point modulus value AtThe average A of (k), shown in computational methods such as formula (4)：
8th step, the slope K for obtaining CPAFC frequency discrimination curves, calculating side are calculated using cross product auto frequency control method Shown in formula such as formula (5)：
In formula (5), T is the time interval of the data point that radar speed channel signal is extracted using sliding window.
9th step, calculates and obtains Doppler's frequency difference on the frequency dfd, shown in computational methods such as formula (6)：
Tenth step, by Doppler frequency difference dfdIn feeding loop filter, Doppler frequency difference df is obtaineddFilter value.
11st step, will obtain the filter value of Doppler frequency in the filter value feeding digital controlled oscillator of Doppler frequency difference fd。
12nd step, judges whether all to extract all signal datas for finishing radar speed passage using sliding window, if carried Total data is taken, then the filter value f of the Doppler frequency that will be obtaineddOutput, and enter the 13rd step；Otherwise return to One step.
13rd step, calculates and obtains the pie slice value v of radar target, shown in computational methods such as formula (7)：
Formula (7), λ is radar operation wavelength.
The present invention can be further illustrated by following emulation experiment.
With reference to Fig. 3, target maneuver flight, radar and target move toward one another, wherein, target moves along a curved path, and radar is made Linear motion.Fig. 4 be Computer Simulation scene between radar and target radial velocity change curve.Fig. 5 gives In the Computer Simulation scene shown in Fig. 3, using the inventive method and speed tracing side of the tradition based on Fourier transformation The speed tracing performance comparison curve of method.From figure 5 it can be seen that the tracking error of the inventive method is smaller, Er Qiesui The carrying out of tracking mode, due to not using data filtering in conventional speed tracking, it cannot be accurately pre- Survey the radial velocity of radar and target in next CPI.Therefore, in the scene of radial velocity acute variation, using height The speed tracing error of the conventional speed tracking of low Doppler Tracking wave filter is with the change aggravation of radial velocity Become bigger and bigger, or even occur in that obvious divergent trend.Contrast apparently, the speed tracing error that the inventive method is obtained according to It is old to maintain a highly desirable level.Using the speed tracing loop of conventional speed tracking, its speed tracing is square Root error is 1.0981m/s；The speed tracing root-mean-square error that proposition method of the present invention obtains speed tracing loop is 0.0924 M/s, is the 8.4% of control methods, and performance is significantly improved.

Claims (5)

1. it is a kind of based on cross product automatic frequency control radar target speed tracing method, it is characterised in that including following Step：
The first step, the data point of radar speed channel signal is extracted using sliding window, obtains M data point；
Second step, Frequency mixing processing is carried out by M data point by digital controlled oscillator, the signal after being mixed；
3rd step, real part treatment is taken to the signal after mixing and imaginary part treatment is taken respectively, is obtained solid part signal and is believed with imaginary part Number；
4th step, according to the solid part signal and imaginary signals, mixed signal is calculated according to cross product computational methods respectively The M cross product value of data point, and the cross product value of M data point is added up, obtain cross product energy and P；Simultaneously with modulus Mode calculates mixed signal the corresponding modulus value of M data point of acquisition respectively, and obtains M data point mould to calculating The average A of value；
5th step, the slope K for obtaining frequency discrimination curve is calculated using cross product auto frequency control method, and according to described oblique Rate K is calculated and is obtained Doppler's frequency difference on the frequency dfd；
6th step, by Doppler frequency difference dfdDoppler frequency difference df is obtained in feeding loop filterdFilter value；So Afterwards by Doppler frequency difference dfdFilter value feeding digital controlled oscillator in obtain Doppler frequency filter value fd；
7th step, judges whether all to extract all signal datas for finishing radar speed passage using sliding window, if extracted Complete whole signal datas, then the filter value f of the Doppler frequency that will be obtaineddOutput, and enter the 8th step；Otherwise return to One step.
8th step, calculates and obtains the pie slice value v of radar target, shown in computational methods such as formula (1)：
v = f d · λ 2 - - - ( 1 )
In formula (1), λ is radar operation wavelength.
2. the radar target speed tracing method for being controlled based on cross product automatic frequency as claimed in claim 1, its feature is existed In, shown in the computational methods such as formula (2) of cross product value described in the 4th step,
Pt(k)=Ik-1·Qk-Qk-1·Ik (2)
In formula (2), PtK () is the corresponding cross product value of k-th data point, IkIt is k-th solid part signal of data point, QkIt is k-th imaginary signals of data point, k ∈ M.
3. the radar target speed tracing method for being controlled based on cross product automatic frequency as claimed in claim 1, its feature is existed In, shown in the computational methods such as formula (3) of modulus value described in the 4th step,
A t ( k ) = I k 2 + Q k 2 - - - ( 3 )
In formula (3), AtK () is the corresponding modulus value of k-th data point, I in mixed signalkIt is k-th data point Solid part signal, QkIt is k-th imaginary signals of data point, k ∈ M.
4. the radar target speed tracing method for being controlled based on cross product automatic frequency as claimed in claim 1, its feature is existed In shown in the calculation such as formula (4) of the slope K of frequency discrimination curve described in the 5th step：
K = 1 A 2 T - - - ( 4 )
In formula (4), T is the time interval of the data point that radar speed channel signal is extracted using sliding window.
5. the radar target speed tracing method for being controlled based on cross product automatic frequency as claimed in claim 1, its feature is existed In Doppler's frequency difference on the frequency df described in the 5th stepdComputational methods such as formula (5) shown in：
df d = P · K 2 π M - - - ( 5 ) .
CN201510781236.8A 2015-11-13 2015-11-13 Radar object speed tracking method based on cross-product automatic frequency control Pending CN106707269A (en)

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Publication number Priority date Publication date Assignee Title
CN109633623A (en) * 2018-11-30 2019-04-16 上海无线电设备研究所 A kind of radar speed track loop design method
CN109633626A (en) * 2017-10-05 2019-04-16 通用汽车环球科技运作有限责任公司 The method for tracking object

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US7053815B1 (en) * 1981-11-30 2006-05-30 Alenia Marconi Systems Limited Radar tracking system
CN104199063A (en) * 2014-08-20 2014-12-10 北京遥测技术研究所 Blind frequency detector processing method based on cross product algorithm
CN104242928A (en) * 2014-08-20 2014-12-24 北京遥测技术研究所 Frequency locking detector processing method based on cross product algorithm in frequency locking loop
CN104320201A (en) * 2014-09-23 2015-01-28 西安空间无线电技术研究所 Spatial coherent optical communication high-dynamic carrier capture tracking loop

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109633626A (en) * 2017-10-05 2019-04-16 通用汽车环球科技运作有限责任公司 The method for tracking object
CN109633623A (en) * 2018-11-30 2019-04-16 上海无线电设备研究所 A kind of radar speed track loop design method

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