CN106772308A - Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference - Google Patents
Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference Download PDFInfo
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Abstract
The present invention provides a kind of Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference, the feature of signal is received by using wideband radar solution line frequency modulation mode (Dechirp), micro-doppler ambiguity solution is realized based on arteries and veins internal interference, the features such as with Efficient robust, and do not increase system complexity simultaneously.
Description
Technical field
The present invention relates to radar system design and Radar Signal Processing Technology field, it is specifically related to a kind of based on dry in arteries and veins
The Terahertz wideband radar micro-doppler ambiguity solution method for relating to.
Background technology
It is a kind of widely used method to realize that Target Motion Character is extracted using radar means, with round-the-clock, whole day
The features such as time, high accuracy, there is highly important application at aspects such as remote sensing survey, military surveillances.Terahertz (Terahertz,
THz) frequency range is often referred to electromagnetic wave of the frequency between 0.1THz to 10THz (30 μm of -3mm of corresponding wavelength), and its frequency is between milli
Between metric wave and infrared light, in macroelectronics to the transition frequency range of microcosmic photonic propulsion, occupy very special in electromagnetic spectrum
Position, with the special nature different from other wave bands.In recent years, with THz source, detection and the breakthrough of related device,
Terahertz Radar Technology is quickly grown, and advantage is gradually shown in terms of high-resolution imaging and the fine measurement of motion.
It is small that fine motion (Micro-motion) refers to vibration, the rotation of target or target component in addition to barycenter translation etc.
Motion, proposes that the Doppler frequency shift caused by fine motion is referred to as micro- how general by professor V.C.Chen of US Naval Research Laboratory earliest
Strangle (Micro-Doppler).Fine motion phenomenon in nature and life is very universal, such as the breathing heartbeat of human body, helicopter
Vibration of the rotation of rotor, vehicle bridge etc. etc.,
But in actually measurement, according to sampling thheorem, pulse recurrence frequency (the pulse repetition of radar signal
Frequency, PRF) define that the frequency between only-PRF/2 to PRF/2 can be directly observed.When doppler values be located at-
When outside PRF/2 to PRF/2, will occur fuzzy.Terahertz radar due to its carrier frequency higher, compared to conventional microwave radar,
There is its sensitiveness to target fine motion, this is the advantage of Terahertz radar；But, carrier frequency higher is also caused in Terahertz frequency range mesh
Mark micro-doppler value is easily obscured beyond observation scope.
These rolling targets are monitored using radar equipment simultaneously and are of great significance.But these rotation mesh
Mark is shaken during exercise due to mechanical reason or applied external force often along with vibration interference to these targets
Emotionally condition needs also exist for being monitored, and by the monitoring to vibrating, can provide important for equipment running status and security
Auxiliary information.
Realize that target fine motion parameter Estimation has had quite extensive research using radar means, but Terahertz frequency range
Research is also much not enough.In microwave section, existing scholar is studied micro-doppler fuzzy problem, mainly from radar system
Design and two aspects of signal transacting are accounted for.
In the prior art：
In terms of system design, multichannel and many repetitions measurement are mainly carried out.Multichannel is by by big antenna head
Different platforms are placed in for several miniature antennas or by several antennas to form multichannel, at the joint of multi-channel data
Manage to realize Doppler ambiguity-resolution.Many repetitions are by needing to launch many repetitions (typically 2~3) train of pulse to realize obscuring
Property.
In terms of signal transacting, mainly by signal domain and time-frequency domain, using target prior information, using digital picture
The methods such as inverse Radon transform, the Hough transform of process field are corrected to the time-frequency curve for obscuring or compensate micro- to realize
Doppler ambiguity-resolution.
In above-mentioned existing micro-doppler ambiguity solution scheme, multichannel and many repetitions measurement have its intrinsic problem, and seriously
Increased the complexity of radar system so that the stability of a system and practicality deteriorate.For the means synthesis of existing signal transacting
With process it is complicated, computationally intensive, universality is poor the problems such as, it is difficult to extensive use in systems in practice.Therefore, it is how quick high
What is imitated realizes micro-doppler ambiguity solution, gives full play to the advantage of Terahertz radar micro-doppler sensitiveness and while realizes ambiguity solution
Problem is still a problem for requiring study, for this problem, current not effective means.
The content of the invention
It is an object of the invention to provide a kind of Terahertz wideband radar micro-doppler ambiguity solution side based on arteries and veins internal interference
Method, the invention solves the technical problem of wideband radar fine motion target micro-doppler ambiguity solution.
The present invention provides a kind of Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference, including following
Step：
Step S100：The wideband echoes signal of fine motion target to be monitored is received using wideband radar solution line frequency modulation mode, it is right
Gained wideband echoes signal carries out residual video phase compensation, is compensated wideband echoes signal；
Step S200：The signal in compensating wide band echo-signal is extracted one by one, and the frequency of each signal to being extracted enters
Line frequency is interfered, and obtains multiple interference signals；
Step S300：Time frequency analysis are carried out to interference signal, ambiguity solution micro-doppler curve is obtained, and utilize inverse Radon
Transform method processes ambiguity solution micro-doppler curve, and parameter is estimated in the fine motion for obtaining fine motion target to be monitored.
Further, also include carrying out cumulative step to interference signal in step S200.
Further, interference difference frequency used is B/2 in accumulation step.
Further, time frequency analysis are to be carried out using the Short Time Fourier Transform method in linear time-frequency distribution.
Further, fine motion target to be monitored is rolling target.
Technique effect of the invention：
1st, the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference that the present invention is provided, by using
Wideband radar solution line frequency modulation mode (Dechirp) receives the feature of signal, using the sampling of several frequencies of frequency sweep cycle inside
Signal is interfered and is added up to realize micro-doppler ambiguity solution, and micro-doppler ambiguity solution is realized based on arteries and veins internal interference, is had
The features such as Efficient robust, and do not increase system complexity simultaneously.Fine motion target micro-doppler mould is solved from field of signal processing
Paste problem, reduces the increase to radar system complexity while realizing fine motion parameter Estimation.
2nd, the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference that the present invention is provided, using broadband
Radar solution line frequency modulation mode receives mode and obtains fine motion target wideband echoes signal, and residual video phase is carried out to echo-signal
(residual video phase, PVP) is compensated；Then the signal for extracting two different frequent points in broadband signal enters line frequency
Interference, and all interference signals are added up to eliminate the interference of cross term；Frequency division when finally being carried out to the signal after interference
Analysis, obtains unambiguous micro-doppler curve, and is processed using the inverse Radon transform in image processing field and to estimate to treat
Monitor the fine motion parameter of fine motion target.Using arteries and veins internal interference principle, the carrier frequency in micro-doppler expression formula is converted to interference
Difference frequency, drastically reduce micro-doppler value, while save the other information in echo again, being conducive to subsequent analysis to process makes
With.
3. the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference that the present invention is provided, can be quick
Stable realizes micro-doppler ambiguity solution, and can be applied to multiple target scene, while Terahertz frequency range advantage is given full play to,
Solve the problem of doppler ambiguity.
Specifically refer to the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference of the invention
The various embodiments for proposing it is described below, will cause that above and other of the invention aspect is apparent.
Brief description of the drawings
Fig. 1 is the flow of the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference that the present invention is provided
Schematic diagram；
Fig. 2 is the preferred embodiment schematic flow sheet that the present invention is provided；
Fig. 3 is rolling target structural representation used in the preferred embodiment that the present invention is provided；
Fig. 4 is undressed corner reflector echo time-frequency distributions schematic diagram in the preferred embodiment that the present invention is provided, its
It is middle a) for rolling target rotating speed be 40r/min when；B) for rolling target rotating speed be 60r/min when；
Fig. 5 be the present invention provide preferred embodiment in using the method provided by the present invention treatment after corner reflector echo when
Frequency distribution schematic diagram, wherein a) for rolling target rotating speed be 40r/min when；B) for rolling target rotating speed be 60r/min when；
Fig. 6 is the parameter space result schematic diagram after inverse Radon transform in the preferred embodiment that the present invention is provided, wherein
A) for rolling target rotating speed be 40r/min when；B) for rolling target rotating speed be 60r/min when.
Specific embodiment
The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.
Referring to the Terahertz wideband radar micro-doppler ambiguity solution side based on arteries and veins internal interference that Fig. 1~2, the present invention provide
Method, comprises the following steps：
Step S100：The wideband echoes signal of fine motion target to be monitored is received using wideband radar solution line frequency modulation mode, it is right
Gained wideband echoes signal carries out residual video phase compensation, is compensated wideband echoes signal；
Step S200：The signal in compensating wide band echo-signal is extracted one by one, and the frequency of each signal to being extracted enters
Line frequency is interfered, and obtains multiple interference signals；
Step S300：Time frequency analysis are carried out to interference signal, ambiguity solution micro-doppler curve is obtained, and utilize inverse Radon
Transform method processes ambiguity solution micro-doppler curve, obtains rolling target fine motion and estimates parameter.
Gained ambiguity solution micro-doppler curve refers to unambiguous Doppler curve herein.The method can be used to process all kinds of
The fine motion produced in target motion, such as rolling target.Wideband echoes signal herein refers to the letter that wideband radar system is obtained
Number.
Preferably, fine motion target to be monitored is rolling target.The method that the present invention is provided is used to process rolling target timeliness
Fruit is best, because rolling target often has larger radius of turn or angular speed, it is therefore desirable to which certain beam angle is
Can coverage goal；Additionally, micro-doppler value general scope in hundreds of to tens of thousands of hertz of the rolling target in microwave section, in one
It is individual clearly to observe the interval that fine motion phenomenon is unlikely to serious aliasing again.Therefore, rolling target ginseng is carried out using microwave radar
Number is estimated and imaging has some superiority.
The method provided by the present invention is described as follows：
The signal received in the method can be obtained by wideband radar system, and specific radar used can be broadband arteries and veins
Rush radar, or WBFM continuous wave radar.The signal of wideband radar system transmitting used has the mould that is shown below
Formula：
Wherein,It is apart from fast time, tmIt it is the orientation slow time, t is total time, TpIt is pulse radar pulse width or tune
The frequency sweep cycle of frequency continuous wave radar, fcIt is radar carrier frequency, γ is frequency modulation rate, and j is imaginary unit.
The thought that wideband radar solution line frequency modulation mode is received is by the echo-signal and echo signal at a reference distance
Carry out conjugate multiplication, it is assumed that reference distance is Rref, reference signal can be expressed as：
Wherein, c is the light velocity.Assuming that apart from radar R0There are K and fine motion scattering center in place, and these scattering centers are regarded in radar
Projection on line can typically be regarded as simple harmonic motion, then simple harmonic motion apart from RkChange expression formula be：
Wherein ak, ωkWithRespectively the fine motion amplitude of k-th scattering center, fine motion angular speed and initial phase.Then root
According to transmission signal expression formula (1), the fine motion echo for being monitored is written as：
The micro-doppler value of each fine motion scattering center can be expressed as：
Wideband echoes signal form after wideband radar solution line frequency modulation mode is processed is：
Wherein RΔk=Rk-Rref。
Received by wideband radar solution line frequency modulation mode after obtaining wideband echoes signal, can be with according to its expression formula (6)
Find out, the Section 1 in its phase of echoIt is relevant with fine motion target motion to be monitored dividing
Amount, Section 2And Section 3It is the tilting item of envelope and residual video phase, it is necessary to second
Item and Section 3 are compensated.The comparing that compensation method used is discussed in wideband-radar signal treatment is more, can be found in [protect in detail
Polished, Xing Mengdao, Wang Tong radar imagerys principle [M] Electronic Industry Press .2008.] basic ideas are to the fast time by formula (6)
Fourier transformation is carried out, following formula (7) is then multiplied by, finally carried out wide after the compensation that inverse Fourier transform obtains shown in formula (8)
Band echo signal expression, acquired results are through the Section 2 and Section 3 of overcompensation.
Wideband echoes signal expression after compensation is：
Step S200：The treatment of arteries and veins internal interference
Obtain after the wideband echoes signal such as formula (8), each sampled point inside its pulse is equivalent to a single-frequency
Under echo, it is assumed that the number of samples of radar system each pulse is N, has been equivalent to N number of single-frequency echo, and this N number of single-frequency is equal
Positioned at fc- B/2 and fcBetween+B/2, wherein B is signal bandwidth.The expression formula of wherein i-th simple signal is：
Choose i-th and l-th simple signal carries out interference treatment, the signal form after treatment is：
Wherein, K is the micro-doppler related to K scattering center before, thus in formula (10)It is the information for needing to obtain.
Section 2 is cross term, it is necessary to be suppressed.
Preferably, in order to reduce the influence of cross term in formula (10), also include to the interference in the step S200
Signal carries out cumulative step.Specially：I=1,2 ... N/2, l=N/2+1, N/2+2 ... N are taken respectively, by i-th and l-th
Signal conjugate multiplication obtains common N/2 signal vector, and is added up, and signal form after treatment is：
By accumulation process, the degree of accuracy of gained valuation can be effectively improved.
Thus obtain comprising the K echo-signal of scattering center, and the micro-doppler value of this K scattering center is expressed
Formula is changed into
Wherein B is transmitted signal bandwidth, generally much smaller than signal carrier frequency fc.Formula (12) can be seen that compared with formula (5)
Than larger value f in former expression formulacReplaced by a less value B/2, this is equivalent to reduce micro-doppler value
2fc/ B times, thus without departing from the not fuzzy ranges [- PRF/2, PRF/2] of micro-doppler, therefore originally fuzzy Doppler
Curve by that will not obscure again after above-mentioned treatment.So as to improve monitoring accuracy.The step can eliminate the interference of cross term.
Step S300：Fine motion parameter Estimation based on time frequency analysis and inverse Radon transform.
After the fine motion target echo signal for being eliminated fuzzy, it is possible to time frequency analysis are carried out to it micro- how general to observe
Strangle curve.The linear time-frequency distributions of conventional Time-Frequency Analysis Method and secondary Cohen classes time-frequency distributions, it is preferred that in order to reduce
The interference of cross term, the present invention is using Short Time Fourier Transform method (the Short Time Fourier in linear time-frequency distribution
Transform, STFT), the STFT expression formulas of signal s (t) are：
Wherein h (t) is window function.After time-frequency distributions are obtained, due to fine motion target being projected as on radar line of sight
Simple harmonic motion, its micro-doppler is sinusoidal form.According to this feature, the present invention is entered using inverse Radon transform to time-frequency distributions
Row treatment, converts it to parameter space to realize parameter Estimation.Inverse Radon transform is normally used for being word image procossing neck
Domain, the aobvious point of spy that the sine curve for being located at picture centre can be converted into parameter space by it, the position of the aobvious point of spy can be released
Sinusoidal parameter.Thus the method provided by the present invention utilizes this characteristic of the method, so as to enter by Doppler curve
Parameter is estimated accordingly after row treatment.Inverse Radon transform method can be carried out by existing step.Specifically include following step
Suddenly:
If a sinusoidal two-dimentional expression formula is in plane：
Wherein A is sinusoidal maximum,It is its first phase.
This is by the expression formula of inverse Radon transform comprising sinusoidal image：
Process is pushed over by as shown in formula (15), can will contain expression of the sinusoidal image by inverse Radon
Formula, obtains parameter space figure, and the aobvious point of the spy included on parameter space figure corresponds to sinusoidal parameter respectively.By above-mentioned change
Then change can carry out parameter Estimation by the point that sine curve is converted to parameter space.I.e. special aobvious point arrives the distance of picture centre for just
The maximum of chord curve, the aobvious point of spy is sinusoidal first phase with the angle of picture centre line and image vertical curve.Gained is special
Aobvious point position is equivalent to obtain micro-doppler value and first phase in fine motion parameter.Therefore, can be by by inverse Radon transform
Problem is extracted in the position that fine motion target component estimation problem is converted into the special aobvious point in inverse Radon transform field parameter space, can be direct
Estimation obtains micro-doppler value and first phase.
The method that the present invention is combined using time frequency analysis and inverse Radon transform, frequency division when being carried out to the signal after ambiguity solution
Analysis to obtain complete time-frequency curve, the simple harmonic characteristic for then being moved according to fine motion target, using inverse Radon transform by sinusoidal time-frequency
Curve is transformed into the point of parameter space, to realize last parameter Estimation.
The Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference that the present invention is provided, based on dry in arteries and veins
The micro-doppler ambiguity solution for relating to, will wideband radar solution line frequency modulation mode receive after wideband echoes signal be considered as some single-frequency
Echo-signal, selects suitable difference frequency to be interfered, and the result of interference of all identical difference frequencies is added up, when finally carrying out
Frequency analysis and parameter extraction.It is different from traditional system level solution based on multichannel or many repetitions, the inventive method
It is simple with realizing, the advantages such as system complexity are not increased；Classical signal level solution is different from, this method has amount of calculation
The features such as small, Robust Performance.
Preferably, several signals after interfering are added up to eliminate the influence of cross term, in practice in order to
Reach preferable cross term and suppress purpose, select suitable difference frequency signal to carry out conjugate multiplication, so that carrier frequency is reduced into the two
The difference of carrier frequency, typically takes the half that difference frequency signal is bandwidth in the implementation, thus selection interference difference frequency is B/2, like this, such as
Really each pulse has N number of sampling, just has N/2 group interference signals and is added up, and cross term inhibition is preferable.
The method that the present invention is provided is described in detail below in conjunction with instantiation.
So that a carrier frequency is for the wideband radar system of 220GHz as an example, corner reflector is driven as target using electric rotating machine,
Illustrate the validity of this method.System carrier frequency 221.59GHz in experiment, bandwidth 12.816GHz, pulse repetition period 1ms, i.e.,
PRF is 1000, and sampling number N is 4096 in each pulse, observes pulse number 8192.Two rotations of rotary reflector
Radius is respectively 16cm and 24cm, and angular velocity of rotation arranges value is 40r/min and 60r/min in testing twice.This example is with thunder
Illustrated as a example by the rolling target commonly used up in experimental system.Handled rolling target is as shown in figure 3, be one the two of four sides
Face angle structure, with the scattering properties similar to preferable scattering point, can be considered as ideal point target in processes.
Under these conditions, the method for being provided using the present invention is processed.Two corner reflectors when rotating speed is 40r/min
Micro-doppler theoretical value be respectively 990.08Hz and 1485.1Hz, wideband radar solution line frequency modulation mode receive after signal time-frequency
It is a) shown in distribution such as Fig. 4.The micro-doppler theoretical value of two corner reflectors is respectively 1485.1Hz when rotating speed is 60r/min
And 2227.7Hz, wideband radar solution line frequency modulation mode receive after signal time-frequency distributions such as Fig. 4 in b) shown in.Rotating speed is 40r/
During min and 60r/min, the micro-doppler value of two corner reflectors exceeds well over PRF/2.
From the time-frequency distributions of Fig. 4 it is also seen that coming, because the micro-doppler value of rolling target is made considerably beyond PRF/2
Into fuzzy, complete sine curve cannot be obtained in time frequency distribution map.What the method provided by the present invention was obtained after processing
The time frequency distribution map of interference signal is as shown in Figure 5.As can be seen that by arteries and veins internal interference process after, rolling target it is micro- how general
Le value has been reduced 2fc/ B=34.58 times, micro-doppler will not occur in acquired results and obscure, also may be used from its time-frequency distributions
To find out complete sine curve.
The parameter space carried out to the time-frequency distributions after ambiguity solution after inverse Radon transform is as shown in Figure 6.By inverse
Radon is converted, and extracts the distance of special aobvious point and picture centre, can estimate to obtain under 40r/min the micro- how general of two targets
Le value is 28.2Hz and 42.5Hz, is multiplied by contracting than multiple 2fcMicro-doppler estimate is can obtain after/B=34.58
975.157Hz and 1469.65Hz.
It is 42.4Hz and 64.7Hz that two micro-doppler values of target under 60r/min can be estimated to obtain, and is multiplied by contracting ratio
Multiple 2fcMicro-doppler estimate 1466.192Hz and 2330.692Hz are can obtain after/B=34.58.
Estimate is compared with theoretical value and is understood, parameter Estimation relative error of the invention is less than 2%, demonstrates the present invention
The validity of method.
Those skilled in the art will be clear that the scope of the present invention is not restricted to example discussed above, it is possible to which it is carried out
Some changes and modification, without deviating from the scope of the present invention that appended claims are limited.Although oneself is through in accompanying drawing and explanation
The present invention is illustrated and described in book in detail, but such explanation and description are only explanations or schematical, and it is nonrestrictive.
The present invention is not limited to the disclosed embodiments.
By to accompanying drawing, the research of specification and claims, when the present invention is implemented, those skilled in the art can be with
Understand and realize the deformation of the disclosed embodiments.In detail in the claims, term " including " be not excluded for other steps or element,
And indefinite article " one " or " one kind " are not excluded for multiple.Some measures quoted in mutually different dependent claims
The fact does not mean that the combination of these measures can not be advantageously used.It is right that any reference marker in claims is not constituted
The limitation of the scope of the present invention.
Claims (5)
1. a kind of Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference, it is characterised in that including following
Step：
Step S100：The wideband echoes signal of fine motion target to be monitored is received using wideband radar solution line frequency modulation mode, to gained
After wideband echoes signal carries out residual video phase compensation, wideband echoes signal is compensated；
Step S200：The signal in the compensating wide band echo-signal is extracted one by one, and the frequency of each signal to being extracted enters
Line frequency is interfered, and obtains multiple interference signals；
Step S300：Time frequency analysis are carried out to the interference signal, ambiguity solution micro-doppler curve, inverse Radon transform side is obtained
Parameter is estimated in the method treatment ambiguity solution micro-doppler curve, the fine motion for obtaining fine motion target to be monitored.
2. the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference according to claim 1, it is special
Levy and be, also include carrying out cumulative step to the interference signal in the step S200.
3. the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference according to claim 2, it is special
Levy and be, interference difference frequency used is B/2 in the accumulation step.
4. the Terahertz wideband radar micro-doppler solution mould based on arteries and veins internal interference according to any one of claims 1 to 3
Formulating method, it is characterised in that the time frequency analysis are to be carried out using the Short Time Fourier Transform method in linear time-frequency distribution.
5. the Terahertz wideband radar micro-doppler ambiguity solution method based on arteries and veins internal interference according to claim 4, it is special
Levy and be, the fine motion target to be monitored is rolling target.
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| CN112462344A (en) * | 2020-11-12 | 2021-03-09 | 中国人民解放军空军预警学院 | Method for extracting radar signal intra-pulse characteristic parameters through time-frequency domain transformation processing |
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| CN111427035A (en) * | 2020-03-25 | 2020-07-17 | 湖南国科锐承电子科技有限公司 | Radar actual measurement data set expansion method based on sub-band micro-Doppler difference |
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