CN106970386B - A kind of optimization method of Radar Doppler beam sharpening - Google Patents
A kind of optimization method of Radar Doppler beam sharpening 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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/883—Radar or analogous systems specially adapted for specific applications for missile homing, autodirectors
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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
The invention discloses a kind of optimization method of Radar Doppler beam sharpening, main thoughts are as follows: determines that radar, radar emit pulse in its detection range, and there are several targets within the scope of detections of radar, then determines pulse recurrence frequency PRF；Doppler beam sharpening active phase radar is set to there are the azimuth sweep ranges that all mesh target areas are scanned, and Z frame subgraph is obtained according to the azimuth sweep range computation, calculate N × M dimension echo-signal matrix Sr apart from time domain, orientation time domain of z frame subgraph after process of pulse-compressionpc[N,M]；To Srpc[N, M] processing of height clutter, Estimation of Doppler central frequency, Range Walk Correction processing, the processing of scan angle center compensation, doppler filtering, geometric distortion correction processing and Doppler beam sharpening processing are successively carried out, z frame subgraph is obtained apart from time domain, the corresponding Doppler beam sharpening sub-image data of orientation frequency domain；It enables z bonus point not take 1 to Z, and then obtains the Doppler beam sharpening image array of radar imagery.
Description
Technical field
The invention belongs to digital signal processing technique field, in particular to a kind of optimization side of Radar Doppler beam sharpening
Method is a kind of missile-borne Doppler beam sharpening (DBS) method wide based on imaging beam, operating distance is remote, is suitable for missile-borne thunder
Up to sea/ground scene multi-sources distinguishing real time imagery.
Background technique
With the development that is constantly progressive of science and technology, hyundai electronics, IT-based warfare propose modern radar more next
Higher requirement, high speed, high resolution and high accuracy at target have become the missile weapon system developing direction of precise guidance, how general
Beam sharpening (DBS) is strangled because having the characteristics that round-the-clock, round-the-clock work, it has also become commonly use in numerous precise guidance Detection Techniques
A kind of mode.Doppler beam sharpening (DBS) is a kind of intermediate resolution sea image or ground that can provide large area in real time
The imaging technique of face image, because the technology has, computational load is lower, real-time is relatively strong, imaged viewing angle wider range advantage,
So no matter military or have on civilian very important effect.
Doppler beam sharpening (DBS) method proposed at present mainly has: Yang Bo " airborne radar Doppler beam sharpening
Algorithm improvement, modern radar, 2008,30 (11): 53-55 " proposes to be replaced in quick Fu with improved frequency response (FR) filtering
Leaf transformation (FFT) form carries out Doppler beam sharpening method, however the method requires system to adjust pulse repetition frequency stage by stage
Rate and coherent accumulation pulse number, the requirement to radar transmit-receive system and real time signal processing is relatively high, the work on missile-borne platform
Cheng Shixian is relatively difficult.
Zhang Hui et al. " application of the DBS imaging technique in MMW Seeker, fire control radar technology, 2014,43
(2): propose that the DBS method based on SPECAN algorithm, the method compress to obtain one-dimensional distance to figure by pulse in 30-34 ", then
It handles to obtain range Doppler two dimension DBS image by orientation Range Walk Correction and FFT；However the method is but only applicable to
The close situation of operating distance.
Modern missile-borne radar Doppler beam sharpening (DBS) requires radar can, feelings that imaging beam wide remote in operating distance
There is provided quality preferable image for system under condition, and both the above method is not able to satisfy this requirement；In addition, both the above method
In designing system parameter pulse recurrence frequency, the whole unambiguous situation of Doppler beam sharpening (DBS) all only considered,
The influence of range ambiguity and height clutter is all avoided, so the operation all without removing height clutter；Therefore in imaging beam
Under conditions of width, Doppler beam sharpening (DBS) operating distance that both the above method generates is all close, and practicability is all at this stage
Less, and it is all high to system hardware Platform Requirements, it is also all difficult to realize in engineering.
Summary of the invention
In view of the above-mentioned problems of the prior art, it is an object of the invention to propose a kind of missile-borne radar doppler beam
Sharpening method, this kind of Radar Doppler beam sharpening method is close for existing method DBS operating distance, application range is small not
Foot, in the case where guaranteeing radar imagery quality, operating distance wide with imaging beam far application background, adjusting parameter design
Mode expands application range, can satisfy the requirement in practical application to radar horizon and real-time.
Main thought of the invention: according to the intrinsic parameter of radar and technical requirements, reasonable DBS pulse recurrence frequency is designed
With the pulse accumulation time；Height clutter can not be eliminated in the time domain in view of the parameter designing stage, using in constant quick Fu of repetition
Leaf transformation (FFT) method eliminates height clutter in signal processing stage；DBS imaging finally is carried out to radar imagery scene.
To reach above-mentioned technical purpose, the present invention is realised by adopting the following technical scheme.
A kind of optimization method of Radar Doppler beam sharpening, comprising the following steps:
Step 1, radar is determined, radar sampling frequency is Fs, radar emits pulse, and detections of radar in its detection zone
There are several targets in region, then determine pulse recurrence frequency PRF；
The azimuth sweep range that setting radar is scanned its detection zone, and according to the azimuth sweep range
Z frame subgraph is calculated, Z is the positive integer greater than 0；
Initialization: enabling z ∈ { 1,2 ..., Z }, and Z is subgraph totalframes, and the initial value of z is 1；Orientation sampling is determined respectively
Points N and distance are to sampling number M, and each frame subgraph separately includes N number of pulse；M, N is respectively the positive integer for being greater than 0；Often
The azimuth dimension of frame subgraph indicates the localizer unit of the frame subgraph, the distance unit for showing the frame subgraph apart from dimension table of every frame subgraph；；
It step 2, is F by radar sampling frequency to z frame subgraphs, distance to sampling number be M sampling after, obtain
Z frame subgraph include M distance unit, N number of localizer unit N × M dimension echo-signal matrix Sr [N, M], then to the N ×
M ties up echo-signal matrix Sr [N, M] and carries out process of pulse-compression, obtain z frame subgraph after process of pulse-compression apart from time domain,
N × M of orientation time domain ties up echo-signal matrix Srpc[N,M]；
Wherein, N indicates orientation sampling number, and a pair equal with the localizer unit total number value of z frame subgraph
It answers；M indicates distance to sampling number, and one-to-one correspondence equal with the distance unit total number value of z frame subgraph；
Step 3, echo-signal square is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after process of pulse-compression
Battle array Srpc[N, M] carries out the processing of height clutter, obtains the N apart from time domain, orientation time domain of z frame subgraph after removal height clutter
× M ties up echo-signal matrix Srpc2[N,M]；
Step 4, echo-signal square is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after removal height clutter
Battle array Srpc2 [N, M] carry out Estimation of Doppler central frequency, obtain z frame subgraph without fuzzy accurate doppler centroid
Step 5, according to z frame subgraph without fuzzy accurate doppler centroidTo z after removal height clutter
N × M apart from time domain, orientation time domain of frame subgraph ties up echo-signal matrix Srpc2 [N, M] carry out Range Walk Correction processing, obtain
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr after to Range Walk Correction processingpc3[N,
M]；
Step 6, N × M dimension echo apart from time domain, orientation time domain of z frame subgraph after walking about correction process of adjusting the distance is believed
Number matrix Srpc3 [N, M] are scanned angle center compensation, obtain z frame subgraph after scan angle center compensation apart from time domain, side
N × M of position time domain ties up echo-signal matrix Srpc4[N,M]；
Step 7, echo-signal is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after scan angle center compensation
Matrix Srpc4 [N, M] carry out doppler filtering processing, obtain doppler filtering processing after z frame subgraph apart from time domain, orientation
N × M of frequency domain ties up echo-signal matrix Srpc5[N,M]；
Step 8, echo-signal is tieed up to N × M apart from time domain, orientation frequency domain of z frame subgraph after doppler filtering processing
Matrix Srpc5 [N, M] carry out geometric distortion correction processing, obtain geometric distortion correction processing after z frame subgraph apart from time domain,
N × M of orientation frequency domain ties up echo-signal matrix Srpc6[N,M]；
Step 9, to N × M dimension echo letter apart from time domain, orientation frequency domain of z frame subgraph after geometric distortion correction processing
Number matrix Srpc6 [N, M] carry out Doppler beam sharpening processing, obtain the distance of z frame subgraph after Doppler beam sharpening processing
The result data matrix Sr of time domain, orientation frequency domainz[Na', M] is denoted as z frame subgraph corresponding apart from time domain, orientation frequency domain
Doppler beam sharpening sub-image data；Na' is the interpolation frequency points of orientation, and Na' is natural number；
Step 10, it enables z add 1, is repeated in and executes step 2 to step 9, until obtaining Z frame subgraph apart from time domain, side
The corresponding Doppler beam sharpening sub-image data of position frequency domain, and by the 1st frame subgraph obtained at this time apart from time domain, orientation frequency
The corresponding Doppler beam sharpening sub-image data in domain is to Z frame subgraph apart from time domain, the corresponding Doppler's wave of orientation frequency domain
Beam sharpening sub-image data is successively stitched together respectively along azimuth dimension, and then obtains the Doppler beam sharpening figure of radar imagery
As matrix.
Compared with the prior art, the present invention has the following advantages:
First, the present invention is not necessarily to stringent hardware requirement, and in the requirement for relaxing parameter designing, (height clutter is to parameter designing
Limitation) in the case where, guarantee that mapping band does not obscure, simply do range ambiguity resolving operation, increase the effect of radar away from
From.
Second, the present invention can be eliminated compared to traditional Doppler beam sharpening (DBS) algorithm because relaxing parameter designing
Restrictive condition and the height clutter that introduces, extend the application range of Doppler beam sharpening (DBS).
Detailed description of the invention
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of optimization method flow chart of Radar Doppler beam sharpening of the invention；
Fig. 2 is Doppler beam sharpening of the invention (DBS) observation geometry；
Fig. 3 is the temporal constraint figure of the radar transmitted pulse and receives echo-signal in the present invention；
Fig. 4 is the pulse recurrence frequency zebra figure that the present invention designs；
Fig. 5 is the present invention in MATLAB simulation imaging result schematic diagram.
Specific embodiment
It referring to Fig.1, is a kind of optimization method flow chart of Radar Doppler beam sharpening of the invention；The wherein radar
The optimization method of Doppler beam sharpening, comprising the following steps:
Step 1, pulse recurrence frequency PRF and coherent accumulation time T is designed according to the intrinsic parameter of radar and technical requirementss。
Specifically, it is determined that radar, the radar is missile-borne radar, and radar sampling frequency is Fs, radar is in its detection zone
Interior transmitting pulse, and the receives echo-signal after a pulse repetition period, note range ambiguity number are a, and a is just whole greater than 0
Number；It is Doppler beam sharpening (DBS) observation geometry of the invention referring to Fig. 2, in Fig. 2, radar is Q, radar in platform
Place platform Q is projected as O on ground, establishes three-dimensional system of coordinate as origin in projection O of the platform Q on ground using radar
XOY plane in XOYZ, three-dimensional system of coordinate XOYZ is ground level or sea level, and includes several targets in XOY plane；Radar
Place platform Q is with flying height H, speed v along Y-axis unaccelerated flight；Radar includes T antenna, and T is just whole greater than 0
It counts, T=1 in the present embodiment.
Radar emits pulse to its detection zone using T antenna, the electromagnetic field radiated when by T antenna transmitting pulse with
The figure of the respective direction change of T antenna, is denoted as antenna radiation pattern, the antenna radiation pattern multiple waves different by radiation intensity
Shu Zucheng, wherein the maximum wave beam of radiation intensity is main lobe wave beam on antenna radiation pattern, remaining is secondary lobe wave beam, in main lobe wave beam
It is main lobe beamwidth △ that radiation direction two sides radiation intensity at maximum intensity point reduces angle between the two sides after 3dB respectively
θ, the region being crossed to form during main lobe beam XOY plane with XOY plane are main lobe beam region, main lobe wave
The center of beam irradiation area and the line of radar between platforms are main lobe beam central line, and main lobe beam central line is in XOY
The projection of plane and the angle of Y-axis are main lobe beam center azimuth angle thetac, based on the angle of main lobe beam central line and XOY plane
Valve beam center pitch angle
According to the detection zone of radar, selection one can cover multiple targets in XOY plane, and respectively distribution is corresponding
Main lobe beam region, be denoted as radar imagery scene；Main lobe wave beam and XOY plane intersection pair in radar imagery scene
The radial distance smallest point answered is short distance point Rmin, the main lobe wave beam in radar imagery scene is corresponding with XOY plane intersection
Radial distance maximum point is distant points Rmax, distant points RmaxWith closely point RminDifference be distance to mapping bandwidth Wr, away from
Bandwidth W is surveyed and drawn in descriscentrInterior includes several targets, chooses wherein any one target, takes any point in the target, be denoted as
Point P, R are the radial distance of point P,For the pitch angle of point P, θ is the azimuth of point P.
Pulse recurrence frequency PRF and coherent accumulation time T is designed according to the intrinsic parameter of radar and technical requirementss, specific
Process are as follows:
(1a) pulse recurrence frequency PRF design should meet claimed below:
Referring to Fig. 3, for the temporal constraint figure of radar transmitted pulse and receives echo-signal in the present invention；Radar of the present invention
Transmitting and the temporal constraint figure for receiving signal, TpFor the pulse time width of radar transmitted pulse, C is the light velocity, and PRI is that pulse repeats week
Phase, PRI=1/PRF, PRF are pulse recurrence frequency, τpThe guard time of echo is received for radar.
(1a1) distance does not obscure:
Doppler beam sharpening (DBS) of the present invention works other than 60km, operating distance farther out, wide to 5 ° of main lobe wave beam with
On；Radar emits pulse, and the receives echo-signal after a pulse repetition period in its detection zone, and a is just greater than 0
Integer；Therefore the value of pulse recurrence frequency PRF should ensure that distance to mapping bandwidth WrInterior all targets arrived by beam
Echo-signal fall in the same pulse repetition period PRI, PRI=1/PRF, i.e. distance to mapping bandwidth do not obscure；It is described
Pulse recurrence frequency PRF, calculation formula are as follows:
The orientation (1a2) does not obscure:
To prevent the corresponding echo-signal Doppler frequency aliasing of main lobe wave beam, pulse recurrence frequency PRF should be greater than main lobe
Wave beam doppler bandwidth △ fd, it may be assumed that
(1a3) transmitting pulse is not blocked:
Determine that radar, the radar are missile-borne radar, radar emits pulse in its detection zone, if radar is in a+1
Start receives echo-signal when a pulse repetition period, i.e. range ambiguity number is a；To guarantee distance to mapping bandwidth WrInterior institute
Have by beam to the echo-signal of target all fall in the same pulse repetition period, closely point RminWith it is remote
Point RmaxBetween less than one pulse repetition period of echo-signal delay inequality, it may be assumed that
Meet three above constraint condition, (1a1) and (1a2) first determines the upper and lower bound of pulse recurrence frequency PRF, root
Zebra figure is drawn according to (1a3), referring to Fig. 4, is schemed for the pulse recurrence frequency zebra that the present invention designs, as shown in figure 4, in blank space
Select a reasonable pulse recurrence frequency PRF value；The present embodiment takes empirical value 13kHz.
Since radar horizon is remote, radar transmitted pulse energy is decayed, and radar projects to XOY in platform and puts down
The image quality of DBS is influenced when the echo-signal of the point in face enters echo-signal from secondary lobe wave beam, therefore radar of the present invention exists
The echo-signal that platform Q projects to the point of XOY plane is to put echo under bullet, and the present invention will put echo under the bullet to be denoted as height miscellaneous
Wave, and the height clutter enters in the received echo-signal of radar from secondary lobe wave beam；Since the present invention draws in consideration secondary lobe wave beam
In the case where the height clutter entered, reasonable pulse recurrence frequency PRF can not be obtained, so the present invention repeats frequency in design pulse
The influence of height clutter is not considered when rate PRF.
(1b) coherent accumulation time TsThe condition for being a little able to carry out coherent accumulation should be met.
By taking point P as an example, it is assumed that main lobe wave beam can be irradiated to point P always within the coherent accumulation time, and radar is in its detection
Emit pulse in region, it be carrier frequency is f that the pulse, which is radar emission,c, fast time be t, the linear tune that complex envelope is A (t)
Frequency rectangular pulse signal St, St=A (t) × exp (j2 π fc t)。
If the slow time of n-th of coherent accumulation pulse is tn, tn=nPRI, For coherent accumulation arteries and veins
Rush number, R (tn) it is slow time t of the point P in n-th of coherent accumulation pulsenThe radial distance at moment, exp are exponential function, and j is
Imaginary unit；And then obtain echo-signal Sr (t, the t of point Pn), expression formula are as follows:
If R0For the initial oblique distance between radar and point P, point P is calculated in n-th of coherent accumulation according to the cosine law
The slow time t of pulsenRadial distance R (the t at momentn), expression formula are as follows:
With Taylor series expansion, point P is obtained in the slow time t of n-th of coherent accumulation pulsenRadial distance R (the t at momentn)
Taylor series expansion R (tn) ', expression formula are as follows:
Herein by point P n-th of coherent accumulation pulse slow time tnRadial distance R (the t at momentn) Taylor series exhibition
Open type R (tn) ' in cubic term and more high-order term is ignored, and echo-signal Sr (t, the t of substitute point Pn) in, point P is calculated and exists
The slow time t of n-th of coherent accumulation pulsenEcho-signal Sr (t, the t at momentn) ', expression formula are as follows:
Coherent accumulation time TsMeet the condition that point P is able to carry out coherent accumulation, i.e., point P is in n-th of coherent accumulation arteries and veins
The slow time t of punchingnEcho-signal Sr (t, the t at momentn) ' in quadratic phase item be no more than ± π, so coherent accumulation time Ts
Meet following condition:
Wherein, λ is the wavelength of radar transmitted pulse,fcFor the carrier frequency of radar transmitted pulse；R0For radar and point P
Between initial oblique distance, i.e.,
So coherent accumulation time TsMeet following condition:
According to conditions above, coherent accumulation time T is determinedsValue range, and thereby determine that coherent accumulation pulse number
N',The power that N' is 2, PRI is the pulse repetition period；And then the corresponding orientation sampling number that obtains is N；Orientation
Sampling number is equal with pulse accumulation number value.
Doppler beam sharpening (DBS) active phase radar is set to its detection zone, i.e. the side that is scanned of XOY plane
Parallactic angle scanning range isFor the minimum scan position angle of setting,For the maximum scan azimuth of setting,
Typically no more than -35 °~35 °；And then Z frame subgraph is calculated,Ceil is the function that rounds up,For azimuth sweep interval,△ θ is main lobe beamwidth, and Z is the positive integer greater than 0.
Initialization: the beam center azimuth of z frame subgraph is denoted as θ respectivelyz, the beam center of z frame subgraph is bowed
The elevation angle is denoted asZ is subgraph totalframes, and the initial value of z be 1, Z for the positive integer greater than 0.
Accumulating number according to coherent pulse is N', and the corresponding orientation sampling number that obtains is N, orientation sampling number and arteries and veins
It is equal that number value is tired out in alluviation.
Determine distance to sampling number be M, M be 2 power；Z frame subgraph includes N number of pulse, each pulse is respectively
Carrier frequency is fc, fast time be t, the linear FM rectangular pulse signal that complex envelope is A (t)；M, N is respectively the positive integer for being greater than 0；
The azimuth dimension of every frame subgraph indicates the localizer unit of the frame subgraph, the distance list for showing the frame subgraph apart from dimension table of every frame subgraph
Member.
It step 2, is F by radar sampling frequency to z frame subgraphs, distance to sampling number be M sampling after, obtain
Z frame subgraph includes M distance unit, N × M dimension echo-signal matrix Sr [N, M] of N number of localizer unit, expression formula are as follows:
Wherein, N indicates orientation sampling number, and a pair equal with the localizer unit total number value of z frame subgraph
It answers；M indicates distance to sampling number, and one-to-one correspondence equal with the distance unit total number value of z frame subgraph；tmIndicate the
The sampling instant of m distance unit, tm=m/Fs,R(tn) it is point P relevant at n-th
Accumulate the slow time t of pulsenThe radial distance at moment, tn=nPRI, For coherent accumulation pulse number；
C is the light velocity, and exp is exponential function, and j is imaginary unit, fcFor the carrier frequency of radar transmitted pulse, H is that radar flies in platform
Row height, A () are complex envelope function, and exp is exponential function, and j indicates imaginary unit.
Determine that N number of pulse compression filter, the coefficient of each pulse compression filter are that carrier frequency is fc, fast time be t,
Complex envelope is the conjugation of the linear FM rectangular pulse signal of A (t)；The filter compressed using N number of pulse is to z frame subgraph packet
N × M dimension echo-signal matrix Sr [N, M] containing M distance unit, N number of localizer unit carries out process of pulse-compression, obtains pulse
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr after compression processingpc[N,M]；Wherein distance is single
The distance dimension of the corresponding z frame subgraph of first number, the azimuth dimension of the corresponding z frame subgraph of localizer unit number.
Step 3, since radar imagery wave beam is wide (5 ° or more), pulse is designed to satisfy the use demand, in step 1 and is repeated
When frequency PRF, the influence of height clutter is had ignored, and includes M distance unit, N number of localizer unit obtaining z frame subgraph
The height clutter of secondary lobe wave beam is introduced during N × M dimension echo-signal matrix Sr [N, M].Therefore, it is necessary to introduce to secondary lobe
Height clutter be pocessed.
Echo-signal matrix Sr is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after process of pulse-compressionpc
[N, M] carries out orientation Fast Fourier Transform (FFT) FFT processing, obtain z frame subgraph after process of pulse-compression apart from time domain, orientation
N × M of frequency domain ties up echo-signal matrix Srpc1 [N, M], and by after process of pulse-compression z frame subgraph apart from time domain, orientation
N × M of frequency domain ties up echo-signal matrix SrpcZero Doppler frequency corresponding pixel points are all set to 0 in 1 [N, M], i.e., compress pulse
N × M apart from time domain, orientation frequency domain of z frame subgraph ties up echo-signal matrix Sr after processingpcThe first row element in 1 [N, M]
It is all set to 0, orientation time domain is then returned to from orientation frequency domain by inverse fast fourier transform IFFT again, and then obtains removal height
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr after clutterpc2[N,M]。
Step 4, it is tieed up back with N × M apart from time domain, orientation time domain of the correlation method to z frame subgraph after removal height clutter
Wave signal matrix Srpc2 [N, M] carry out Estimation of Doppler central frequency, obtain z frame subgraph without fuzzy accurate Doppler center
Frequency
It is generated when radar platform corresponds to when Y-axis irradiates XOY plane along Y-axis linear uniform motion and main lobe beam elevation
Power spectrum, be denoted as Doppler power spectra S0(f), Doppler power spectra S0(f) symmetrical about zero Doppler frequency, f is Doppler
Frequency；When the doppler centroid of z frame subgraph is fd0When, the corresponding Doppler power spectra S for generating z frame subgraphb(f),
Sb(f)=S0(f-fd0), thus according to Sb(f)=S0(f-fd0) estimate to obtain the doppler centroid of z frame subgraph.
In order to improve estimated accuracy, to the Doppler power spectra S of z frame subgraphb(f) inverse fast fourier transform is carried out
IFFT obtains the corresponding correlation function R of doppler centroid of z frame subgraphb(PRI), expression formula are as follows:
Rb(PRI)=R0(PRI)×exp(j2πfd0/PRF)
Wherein, RbIt (PRI) is Doppler power spectra S0(f) corresponding correlation function.
Then pass through correlation method correlation function R corresponding to the doppler centroid of z frame subgraphb(PRI) phase
Carry out the Estimation of Doppler central frequency of z frame subgraph；Since azimuth sample is discrete, and then z frame subgraph is calculated
Doppler centroid fd0Expression formula are as follows:
Wherein, arg is to seek phase angle function；As the doppler centroid of the place z frame subgraph of fruit dot P is greater than pulse weight
Complex frequency PRF, then the doppler centroid f of z frame subgraphd0Expression formula in pulse recurrence frequency PRF there is fuzzy, root
The Doppler center rough estimate evaluation f provided according to inertial guidance datad0_INSAmbiguity solution is carried out, obtains z frame subgraph without fuzzy accurate more
General Le centre frequencyIts expression formula are as follows:
Wherein, round expression, which takes, closes on integer function, fd0_INSFor the Doppler center rough estimate provided according to inertial guidance data
Evaluation, fd0_INS∈[-PRF,PRF]。
Step 5, according to z frame subgraph without fuzzy accurate doppler centroidTo z after removal height clutter
N × M apart from time domain, orientation time domain of frame subgraph ties up echo-signal matrix Srpc2 [N, M] carry out Range Walk Correction processing, obtain
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr after to Range Walk Correction processingpc3[N,
M]。
Specific implementation are as follows: the coherent accumulation time of z frame subgraph is set as N × PRI, N indicates orientation sampling number, with
The localizer unit total number value of z frame subgraph is equal and corresponds；PRI is the pulse repetition period, and by z frame subgraph
Coherent accumulation time N × PRI is as a process cycle, using intermediate timeIt is as a reference point to removal height clutter
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr afterwardspc2 [N, M] are carried out at Range Walk Correction
Reason.Since this process is really a delay process, thus to removal height clutter after z frame subgraph apart from time domain, orientation time domain
N × M tie up echo-signal matrix Srpc2 [N, M] carry out distance and are transformed into Fast Fourier Transform (FFT) FFT processing apart from frequency domain, obtain
N × M apart from frequency domain, orientation time domain of z frame subgraph ties up echo-signal matrix after to removal height clutter, then in distance frequency
Domain by remove height clutter after z frame subgraph apart from frequency domain, orientation time domain N × M dimension echo-signal Matrix Multiplication with compensate because
Son is corrected, and is carried out inverse fast fourier transform IFFT again after correction and is returned to apart from time domain, and then obtains range walk school
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr after positive processingpc3[N,M]。
Wherein, it is described apart from frequency domain by remove height clutter after z frame subgraph apart from frequency domain, N × M of orientation time domain
Dimension echo-signal Matrix Multiplication is corrected with compensation factor, specifically:
N × M dimension echo letter apart from frequency domain, orientation time domain of z frame subgraph after it will remove height clutter apart from frequency domain
The corresponding compensation factor of row k multiplied by corresponding compensation factor, is denoted as p (f respectively by number every a line of matrixt, k), expression formula are as follows:
Wherein, f' be each distance unit after process of pulse-compression corresponding distance to frequency,
K ∈ { 1,2,3 ..., N }, N indicate that orientation is adopted
Number of samples, N × M dimension echo letter apart from frequency domain, orientation time domain with the z frame subgraph after it will remove height clutter apart from frequency domain
Total line number value of number matrix is equal and corresponds；M expression distance is total with the distance unit of z frame subgraph to sampling number
Number value is equal and corresponds；λ is the wavelength of radar transmitted pulse, and C is the light velocity, and PRF is pulse recurrence frequency,For
Z frame subgraph is without fuzzy accurate doppler centroid.
Step 6, N × M dimension echo apart from time domain, orientation time domain of z frame subgraph after walking about correction process of adjusting the distance is believed
Number matrix Srpc3 [N, M] are scanned angle center compensation, obtain z frame subgraph after scan angle center compensation apart from time domain, side
N × M of position time domain ties up echo-signal matrix Srpc4[N,M]。
Step 7 of the present invention realizes doppler filtering with FFT method, obtains the N point output of orientation, wherein in the output of N point
For the data of only a length of Na point in corresponding image scene doppler bandwidth, the data of a length of Na point are valid data,
The valid data of a length of Na point are denoted as, the length Na of the valid data is to sharpen ratio；So before step 7 doppler filtering,
Scan angle center compensation should be first done, the valid data of a length of Na point are moved by Doppler's filter by the operation of scan angle center compensation
Preceding Na point or centre Na point after wave operation in the output of N point, then the preceding Na point or centre Na point are taken out, can be obtained and sweep
Retouch the DBS sub-image data of z frame subgraph after the center compensation of angle.
Specific implementation are as follows: the N × M apart from time domain, orientation time domain of z frame subgraph after walking about correction process that adjusts the distance is tieed up back
Wave signal matrix Srpc3 [N, M] are in the time domain multiplied by penalty function, that is, the distance for the z frame subgraph after walking about correction process of adjusting the distance
N × M dimension echo-signal matrix Sr of time domain, orientation time domainpcEach column of 3 [N, M] are respectively multiplied by corresponding penalty function, wherein will
M' arranges corresponding penalty function and is denoted as g (fm'',k')；And then obtain z frame subgraph after scan angle center compensation apart from when
Domain, orientation time domain N × M tie up echo-signal matrix Srpc4[N,M]。
Wherein m' arranges corresponding penalty function g (fm'', k'), expression formula are as follows:
fm'' for the m' distance unit after process of pulse-compression corresponding distance to frequency,
M' ∈ { 0,1 ..., M-1 }, k' ∈ 1,2 ... and .., N }, M indicates distance to sampled point
Z frame subgraph apart from time domain, orientation after number, with the processing of the distance unit total number and Range Walk Correction of z frame subgraph
N × M of time domain ties up echo-signal matrix SrpcTotal columns value difference of 3 [N, M] is equal and corresponds；N indicates that orientation is adopted
Number of samples, and one-to-one correspondence equal with the localizer unit total number value of z frame subgraph；PRF is pulse recurrence frequency,For
Z frame subgraph is without fuzzy accurate doppler centroid, FsFor radar sampling frequency.
Step 7, N number of Doppler filter is set in frequency domain, and to after scan angle center compensation z frame subgraph apart from when
Domain, orientation time domain N × M tie up echo-signal matrix Srpc4 [N, M] carry out doppler filtering processing, i.e., to scan angle center compensation
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr afterwardspc4 [N, M] are carried out in quick Fu of orientation
Leaf transformation FFT processing, and then z frame subgraph is tieed up back apart from N × M of time domain, orientation frequency domain after obtaining doppler filtering processing
Wave signal matrix Srpc5[N,M]。
Step 8, echo-signal is tieed up to N × M apart from time domain, orientation frequency domain of z frame subgraph after doppler filtering processing
Matrix Srpc5 [N, M] carry out geometric distortion correction processing, obtain geometric distortion correction processing after z frame subgraph apart from time domain,
N × M of orientation frequency domain ties up echo-signal matrix Srpc6[N,M]。
Specifically, image geometry deformation of the present invention is mainly introduced by Range Walk Correction, can be considered that Range Walk Correction is inverse
Process；According to z frame subgraph without fuzzy accurate doppler centroidTo z frame subgraph after doppler filtering processing
N × M apart from time domain, orientation frequency domain ties up echo-signal matrix Srpc5 [N, M] carry out geometric distortion correction processing, obtain geometric form
N × M apart from time domain, orientation frequency domain of z frame subgraph ties up echo-signal matrix Sr after change correction processpc6[N,M]。
Specific implementation are as follows: echo is tieed up to N × M apart from time domain, orientation frequency domain of z frame subgraph after doppler filtering processing
Signal matrix Srpc5 [N, M] carry out distance to Fast Fourier Transform (FFT) FFT, obtain z frame subgraph after doppler filtering is handled
N × M apart from frequency domain, orientation frequency domain ties up echo-signal matrix, then z frame after handling apart from frequency domain doppler filtering
N × M dimension echo-signal Matrix Multiplication apart from frequency domain, orientation frequency domain of figure is corrected with corresponding to compensation factor, then by inverse fast
Fast Fourier transformation IFFT is returned to apart from time domain, so obtain geometric distortion correction processing after z frame subgraph apart from time domain, side
N × M of position frequency domain ties up echo-signal matrix Srpc6[N,M]。
N × M apart from frequency domain, orientation frequency domain of the z frame subgraph after handling apart from frequency domain doppler filtering is tieed up
Echo-signal Matrix Multiplication is corrected with corresponding to compensation factor, specifically:
N × M apart from frequency domain, orientation frequency domain of z frame subgraph ties up echo after handling apart from frequency domain doppler filtering
Every a line of signal matrix is respectively multiplied by corresponding compensation factor, wherein by theThe corresponding compensation factor of row is denoted asIts
Expression formula are as follows:
△ f is the doppler bandwidth of radar imagery scene,△θ1For the master of z frame subgraph
Valve wave beam is used for the beam angle of radar imagery, and λ is the wavelength of radar transmitted pulse；F' is each distance unit through extra pulse pressure
Corresponding distance is to frequency after contracting processing,
N indicates orientation sampled point
Frequency domain at a distance from z frame subgraph after number, with doppler filtering processing, orientation frequency domain N × M dimension echo-signal matrix total line number
Value is equal and corresponds；M indicate distance to sampling number, it is equal with the distance unit total number value of z frame subgraph and
It corresponds；λ is the wavelength of radar transmitted pulse, and C is the light velocity, and PRF is pulse recurrence frequency,It is z frame subgraph without fuzzy
Accurate doppler centroid, v be radar platform speed,It bows for the corresponding main lobe beam center of z frame subgraph
The elevation angle, θzFor z frame subgraph corresponding main lobe beam center azimuth, sinusoidal operation is sought in sin expression, and cos indicates complementation string behaviour
Make.
Step 9, according to z frame subgraph without fuzzy accurate doppler centroidWith sharpening ratio, radar imagery is determined
The corresponding Na' interpolation frequency point of wave beam, then using the method for linear interpolation to z frame subgraph after geometric distortion correction processing
N × M apart from time domain, orientation frequency domain ties up echo-signal matrix Srpc6 [N, M] carry out Doppler beam sharpening processing, how general obtain
Strangle beam sharpening processing after z frame subgraph apart from time domain, the result data matrix Sr of orientation frequency domainz[Na', M], it is described how general
Na' × the M apart from time domain, orientation frequency domain for strangling z frame subgraph after beam sharpening is handled ties up result data matrix Srz[Na',M]
Be orientation Na' point, distance to Na' × M of M point tie up echo-signal matrix, and by the Doppler beam sharpening processing after z
Na' × M apart from time domain, orientation frequency domain of frame subgraph ties up result data matrix Srz[Na', M] is denoted as z frame subgraph in distance
The corresponding Doppler beam sharpening DBS sub-image data of time domain, orientation frequency domain；Wherein Na' is the interpolation frequency points of orientation,
And Na' is natural number；The interpolation frequency points of orientation and sharpening are more equal than value.
Step 9 is implemented as follows:
9.1 enable the orientation angles θ in radar imagery scene in z frame subgraph at the i-th pointz i,
△θ1The beam angle of radar imagery is used for for the main lobe wave beam of z frame subgraph,
The initial value of i is
9.2 is as a reference point by the orientation angles in z frame subgraph at the i-th point, calculates in z frame subgraph at the i-th point
Orientation angles θz iCorresponding Doppler frequency, then by the orientation angles θ in z frame subgraph at the i-th pointz iCorresponding Doppler
Frequency as interpolation frequency point, using the method for linear interpolation after geometric distortion correction processing z frame subgraph apart from time domain, side
N × M of position frequency domain ties up echo-signal matrix SrpcIt is corresponding in the orientation of 6 [N, M] to obtain i-th of data.
9.3 enable i take respectivelyExtremelySub-step 9.2 is repeated, and then corresponding obtains theA data are toA data to get arrive Na' data, and using the Na' data as z frame subgraph apart from time domain, orientation frequently
The corresponding Doppler beam sharpening DBS sub-image data in domain, the z frame subgraph is corresponding more apart from time domain, orientation frequency domain
It is general strangle beam sharpening DBS sub-image data be after Doppler beam sharpening processing z frame subgraph apart from time domain, orientation frequency domain
Result data matrix Srz[Na', M], z frame subgraph apart from time domain, orientation frequency domain after Doppler beam sharpening processing
Na' × M ties up result data matrix Srz[Na', M] be orientation Na' point, distance to Na' × M of M point tie up echo-signal matrix.
Step 10, it enables z add 1, is repeated in and executes step 2 to step 9, until obtaining Z frame subgraph apart from time domain, side
The corresponding Doppler beam sharpening DBS sub-image data of position frequency domain, and by the 1st frame subgraph obtained at this time apart from time domain, side
Frequency domain corresponding Doppler beam sharpening DBS sub-image data in position is to Z frame subgraph corresponding apart from time domain, orientation frequency domain
DBS sub-image data is successively stitched together respectively along azimuth dimension, and then obtains the Doppler beam sharpening DBS figure of radar imagery
As matrix Srfinal[Na' × Z, M], the Doppler beam sharpening DBS image array of the radar imagery are orientation Na' × Z
Point, distance tie up echo-signal matrix to (Na' × Z) × M of M point.
Further verifying explanation is made to effect of the present invention by following emulation experiment.
(1) experiment condition
It tests microcomputer used and is configured to Intel (R) Core (TM) [email protected], 8.00GB memory,
7 Ultimate operating system of Windows, programming platform are Matlab R2015a.DSP is TMS320C6678EVM, CPU frequency
1.0GHz；Radar parameter is set, as shown in table 1.
Table 1
| Wave band | Ku wave band |
| Main lobe beam center pitch angle | 24° |
| PRF | 13KHz |
| The pulse time width of radar transmitted pulse | 20μs |
| Azimuth sweep range | 0 °~20 ° |
| Main lobe beamwidth | 5° |
| Radar is in platform speed | 1300m/s |
| The length of main lobe beam central line | 74km |
The echo data of one frame subgraph is the complex matrix of 128*1024.
(2) experiment content
The echo data MATLAB platform of the compressed surface vessel target of pulse of this experiment construction carries out at signal
Reason is the present invention in MATLAB simulation imaging result schematic diagram referring to Fig. 5；From fig. 5, it can be seen that for 100 meters of distance of warship
Ship target, Doppler beam sharpening (DBS) can be good at opening two point target resolutions.
To sum up, the present invention can effectively carry out multiple target resolutions, and operating distance is relatively remote；Theory analysis and simulation result
Show compared with prior art, the present invention increase Doppler beam sharpening (DBS) removal height clutter function, widen
The application range of Doppler beam sharpening (DBS).
In conclusion emulation experiment demonstrates correctness of the invention, validity and reliability.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range；In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (4)
1. a kind of optimization method of Radar Doppler beam sharpening, which comprises the following steps:
Step 1, radar is determined, radar sampling frequency is Fs, radar emits pulse, and detections of radar region in its detection zone
Interior there are several targets, then determine pulse recurrence frequency PRF；
The azimuth sweep range that setting radar is scanned its detection zone, and according to the azimuth sweep range computation
Z frame subgraph is obtained, Z is the positive integer greater than 0；
Initialization: enabling z ∈ { 1,2 ..., Z }, and Z is subgraph totalframes, and the initial value of z is 1；Orientation sampling number N is determined respectively
With distance to sampling number M, and each frame subgraph separately includes N number of pulse；M, N is respectively the positive integer for being greater than 0；Every frame subgraph
It respectively includes apart from peacekeeping azimuth dimension, the azimuth dimension of every frame subgraph indicates the localizer unit of the frame subgraph, the distance of every frame subgraph
Dimension table shows the distance unit of the frame subgraph；
It step 2, is F by radar sampling frequency to z frame subgraphs, distance to sampling number be M sampling after, obtain z frame
Subgraph includes M distance unit, N × M dimension echo-signal matrix Sr [N, M] of N number of localizer unit, is then tieed up back to the N × M
Wave signal matrix Sr [N, M] carries out process of pulse-compression, obtain z frame subgraph after process of pulse-compression apart from time domain, orientation
N × M of time domain ties up echo-signal matrix Srpc[N,M]；
Wherein, N indicates orientation sampling number, and one-to-one correspondence equal with the localizer unit total number value of z frame subgraph；M
Indicate distance to sampling number, and one-to-one correspondence equal with the distance unit total number value of z frame subgraph；
Step 3, echo-signal matrix Sr is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after process of pulse-compressionpc
[N, M] carries out the processing of height clutter, obtains N × M dimension apart from time domain, orientation time domain of z frame subgraph after removal height clutter
Echo-signal matrix Srpc2[N,M]；
Step 4, echo-signal matrix is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after removal height clutter
Srpc2 [N, M] carry out Estimation of Doppler central frequency, obtain z frame subgraph without fuzzy accurate doppler centroid
Step 5, according to z frame subgraph without fuzzy accurate doppler centroidTo z frame subgraph after removal height clutter
N × M apart from time domain, orientation time domain tie up echo-signal matrix Srpc2 [N, M] carry out Range Walk Correction processing, obtain distance
Walk about N × M dimension echo-signal matrix Sr apart from time domain, orientation time domain of z frame subgraph after correction processpc3[N,M]；
Step 6, the N × M apart from time domain, orientation time domain of z frame subgraph after walking about correction process that adjusts the distance ties up echo-signal square
Battle array Srpc3 [N, M] are scanned angle center compensation, obtain z frame subgraph after scan angle center compensation apart from time domain, orientation when
N × the M in domain ties up echo-signal matrix Srpc4[N,M]；
Step 7, echo-signal matrix is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after scan angle center compensation
Srpc4 [N, M] carry out doppler filtering processing, obtain doppler filtering processing after z frame subgraph apart from time domain, orientation frequency domain
N × M tie up echo-signal matrix Srpc5[N,M]；
Step 8, echo-signal matrix is tieed up to N × M apart from time domain, orientation frequency domain of z frame subgraph after doppler filtering processing
Srpc5 [N, M] carry out geometric distortion correction processing, obtain geometric distortion correction processing after z frame subgraph apart from time domain, orientation
N × M of frequency domain ties up echo-signal matrix Srpc6[N,M]；
Step 9, echo-signal square is tieed up to N × M apart from time domain, orientation frequency domain of z frame subgraph after geometric distortion correction processing
Battle array Srpc6 [N, M] carry out Doppler beam sharpening processing, obtain Doppler beam sharpening processing after z frame subgraph apart from when
Domain, orientation frequency domain result data matrix Srz[Na', M] is denoted as z frame subgraph corresponding more apart from time domain, orientation frequency domain
General Le beam sharpening sub-image data；Na' is the interpolation frequency points of orientation, and Na' is natural number；
Step 10, it enables z add 1, is repeated in and executes step 2 to step 9, until obtaining Z frame subgraph apart from time domain, orientation frequency
The corresponding Doppler beam sharpening sub-image data in domain, and by the 1st frame subgraph obtained at this time apart from time domain, orientation frequency domain pair
The Doppler beam sharpening sub-image data answered is to Z frame subgraph sharp apart from time domain, the corresponding doppler beam of orientation frequency domain
Beggar's image data is successively stitched together respectively along azimuth dimension, and then obtains the Doppler beam sharpening image moment of radar imagery
Battle array.
2. a kind of optimization method of Radar Doppler beam sharpening as described in claim 1, which is characterized in that in step 1,
The radar, further includes:
Radar is Q in platform, and radar is projected as O on ground in platform Q, the projection O with radar in platform Q on ground
Three-dimensional system of coordinate XOYZ is established for origin, the XOY plane in three-dimensional system of coordinate XOYZ is ground level or sea level, and XOY plane
Interior includes several targets；Radar is in platform Q with flying height H, speed v along Y-axis unaccelerated flight；Radar includes T
A antenna, T are the positive integer greater than 0；Radar emits pulse to its detection zone using T antenna, and T antenna is emitted pulse
When the electromagnetic field that radiates with the figure of the respective direction change of T antenna, be denoted as antenna radiation pattern, the antenna radiation pattern is by radiating
The different multiple wave beams composition of intensity, wherein the maximum wave beam of radiation intensity is main lobe wave beam on antenna radiation pattern, remaining is side
Valve wave beam, the radiation direction two sides radiation intensity at main lobe beam intensity maximum point reduces respectively presss from both sides between the two sides after 3dB
Angle is main lobe beamwidth △ θ, and the region being crossed to form during main lobe beam XOY plane with XOY plane is main lobe
Beam region, the center in main lobe beam region and the line of radar between platforms are main lobe beam central line,
Main lobe beam central line is main lobe beam center azimuth angle theta in the projection of XOY plane and the angle of Y-axisc, main lobe beam central line
Angle with XOY plane is main lobe beam center pitch angle
According to the detection zone of radar, multiple targets respectively corresponding master of distribution can be covered in XOY plane by choosing one
Valve beam region, is denoted as radar imagery scene；Main lobe wave beam in radar imagery scene is corresponding with XOY plane intersection
Radial distance smallest point is short distance point Rmin, main lobe wave beam radial direction corresponding with XOY plane intersection in radar imagery scene
It is distant points R apart from maximum pointmax, distant points RmaxWith closely point RminDifference be distance to mapping bandwidth Wr, distance to
Survey and draw bandwidth WrInterior includes several targets, chooses wherein any one target, takes any point in the target, be denoted as point P,
R is the radial distance of point P,For the pitch angle of point P, θ is the azimuth of point P；
The pulse recurrence frequency PRF determines method are as follows:
PRI=1/PRF, PRF are pulse recurrence frequency；A is range ambiguity number, and a is greater than 0
Positive integer；TpFor the pulse time width of radar transmitted pulse, C is the light velocity, and sinusoidal operation is sought in sin expression, and cos indicates complementation string behaviour
Make, τpThe guard time of echo is received for radar；λ is the wavelength of radar transmitted pulse；
The Z frame subgraph, specifically: For the minimum scan position angle of setting,For setting
Maximum scan azimuth, ceil are the function that rounds up,For azimuth sweep interval,
3. a kind of optimization method of Radar Doppler beam sharpening as described in claim 1, which is characterized in that in step 3,
N × M apart from time domain, orientation time domain of z frame subgraph ties up echo-signal matrix Sr after the removal height clutterpc2 [N, M],
It obtains process are as follows:
Echo-signal matrix Sr is tieed up to N × M apart from time domain, orientation time domain of z frame subgraph after process of pulse-compressionpc[N,M]
Carry out orientation Fast Fourier Transform (FFT) processing, obtain z frame subgraph after process of pulse-compression apart from time domain, the N of orientation frequency domain
× M ties up echo-signal matrix Srpc1 [N, M], and by after process of pulse-compression z frame subgraph apart from time domain, the N of orientation frequency domain
× M ties up echo-signal matrix SrpcThe first row element in 1 [N, M] is all set to 0, then again by inverse fast fourier transform from
Orientation frequency domain returns to orientation time domain, and then obtains N × M apart from time domain, orientation time domain of z frame subgraph after removal height clutter
Tie up echo-signal matrix Srpc2[N,M]。
4. a kind of optimization method of Radar Doppler beam sharpening as described in claim 1, which is characterized in that in step 6,
N × M dimension echo-signal matrix the Sr apart from time domain, orientation time domain for obtaining z frame subgraph after scan angle center compensationpc4
[N, M], process are as follows:
N × the M apart from time domain, orientation time domain of z frame subgraph after walking about correction process that adjusts the distance ties up echo-signal matrix Srpc3
[N, M] in the time domain multiplied by penalty function, that is, the z frame subgraph after walking about correction process of adjusting the distance apart from time domain, orientation time domain
N × M tie up echo-signal matrix SrpcEach column of 3 [N, M] are respectively multiplied by corresponding penalty function, wherein m' is arranged corresponding
Penalty function is denoted as g (fm’',k')；And then obtain the N apart from time domain, orientation time domain of z frame subgraph after scan angle center compensation
× M ties up echo-signal matrix Srpc4[N,M]；
Wherein m' arranges corresponding penalty function g (fm’', k'), expression formula are as follows:
fm’' be the m' distance unit after process of pulse-compression corresponding distance to frequency,
M' ∈ { 0,1 ..., M-1 }, k' ∈ { 1,2 ... .., N }, M indicate distance to sampling number,
With after the processing of the distance unit total number and Range Walk Correction of z frame subgraph z frame subgraph apart from time domain, orientation when
N × the M in domain ties up echo-signal matrix SrpcTotal columns value difference of 3 [N, M] is equal and corresponds；N indicates orientation sampling
Points, and one-to-one correspondence equal with the localizer unit total number value of z frame subgraph；PRF is pulse recurrence frequency,For z
Frame subgraph is without fuzzy accurate doppler centroid, FsFor radar sampling frequency.
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