CN108549064A - External sort algorithm moving-target detection method based on Doppler frequency fuzzy compensation in arteries and veins - Google Patents
External sort algorithm moving-target detection method based on Doppler frequency fuzzy compensation in arteries and veins Download PDFInfo
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- 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
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Abstract
The invention belongs to external illuminators-based radar field of locating technology, are related to a kind of external sort algorithm moving-target detection method based on Doppler frequency fuzzy compensation in arteries and veins.The present invention realizes the improvement to the gain under doppler ambiguity by compensating doppler ambiguity in arteries and veins；The influence for reducing doppler ambiguity there are the system gain under Doppler frequency ambiguity to system output gain is improved by being combined effect with doppler ambiguity compensation between arteries and veins.
Description
Technical field
The invention belongs to external illuminators-based radar field of locating technology, are related to a kind of based on Doppler frequency fuzzy compensation in arteries and veins
External sort algorithm moving-target detection method.
Background technology
External illuminators-based radar (Fig. 1), also known as passive radar are one kind itself not electromagnetic signals, and by using
Passive radar system of the signals such as existing broadcast, TV, base station as irradiation source has anti-low-level penetration, survival ability strong
And the advantages that anti-stealthy, it is one of the hot spot of current studies in China.Existing external radiation source radar system mostly uses single irradiation source
Signal, available signal power is limited, operating distance, positioning accuracy and detection performance etc. are restricted.It is shone for this purpose, expanding
Source number is penetrated, increases available signal power to improve the detection performance of system, become external illuminators-based radar one is important
Developing direction.
DVB-S signals are satellite-based digital video broadcasting Transmission systems, it is specified that satellite digital broadcasting modulation standard.
At present DVB-S oneself become international mainstream standard.
QPSK modulation systems are used for DVB-S signals.The step of generating DVB-S signals is broadly divided into two steps, the first step
Information source is encoded using MPEG-2 code streams, to realize, digital television signal is answered after the multiplexing of video and audio
With.Second step is using forward error correction encoding channel coding and up-conversion.
DVB-S signals can be expressed as：
Wherein, T is the inverse of the character rate of QPSK signals, and g (t) is to roll into the square root raised cosine that coefficient is α to roll into
The shock response of filter, duration T；In addition, the usual values of α are 0.35.ω0For carrier angular frequencies,For the phase of nth symbol, N is symbol numbers.
The DVB-S signals above formula of complex envelope can be converted to：
Wherein, the frequency-domain transmission function of raised cosine filter has according to definition：
Wherein, fN=1/2Ts, phaseIt is approximately being uniformly distributed under value { π/4 the π/4,7 of π/4,5 of π/4,3 }
And independently of one another.
Detection for external illuminators-based radar to high-speed moving object, main problem to be solved come from due to length
The accumulation of time, target movement cause serious range migration, affect accumulation and detection to target energy.
Invention content
The purpose of the present invention is be solve due to target have very high speed, lower equivalent pulse repetition rate
(PRF) lack sampling is caused, so as to cause the problem that Doppler frequency obscures, is had studied fuzzy based on Doppler frequency in arteries and veins
The correlative accumulation method of the external sort algorithm moving-target detection of compensation.To there are the fuzzy coherents of Doppler frequency as a result, mending
It repays, improves coherent integration result.
In order to make it easy to understand, the technology used to the present invention is introduced, the present invention is based on Keystone converter techniques, realize
Correlative accumulation：
It is as follows that Keystone converts algorithm steps (Fig. 2)：
(1) monitoring antenna is received by direct-path signal is mixed to base band and obtain st(t), it is returned to what primary antenna received
Wave signal is mixed to base band and obtains sr(t), and have：
Wherein, τ0For target initial delay, aτFor Delay Variation rate.
(2) while to the reception echo data for receiving direct wave data and primary antenna of monitoring antenna segment processing is carried out：
Wherein, st(n) it is the direct wave base band data received, direct wave data are divided into MsegSection is long per segment data
Degree is Lseg, it is T to every segment data tail portion addition lengthdmax0, m indicate slow time,Indicate the fast time.
Wherein, sr(n) it is the target echo base band data received, echo data is divided into MsegSection is long per segment data
Degree is Lseg, it is T to every segment data tail portion addition lengthdmaxEcho data, enable LT=Lseg+TdmaxFor the segment length after addition, m
Indicate the slow time,Indicate the fast time.It needs to meetTdmax>τmaxfsWherein τmaxFor system
The corresponding time delay of maximum detectable range, fsFor sample rate, B is signal bandwidth, and c is the light velocity, vdmaxSpeed is moved for target maximum radial
Degree.
(3) pass through calculatingBy echo-signal and direct wave
The fast time dimension of signal transforms to frequency domain, and wherein F { } indicates that Fast Fourier Transform (FFT), f indicate fast time dimension frequency domain.
(4) pass through calculatingObtain the Correlation Moment of echo-signal and direct-path signal
Battle array, step (2) (three) (four) is referred to as frequency-domain impulse and compressed by us, and step is as shown in Figure 3.
(5) Keystone transformation is carried out：
It obtainsThe range migration of target echo is corrected after transformation.
(6) it when Doppler frequency obscures, is corrected according to fog-level
Wherein, F is fuzzy number.
(7) inverse fast Fourier transform is done along fast time dimension, then Fast Fourier Transform (FFT) is done along slow time dimension, that is, calculated：
(8) to Ψ (fd, τ) and CFAR detections are carried out, if Ψ (i, j)>μ is then judged to the position, and there are targets, are otherwise judged to this
Target is not present in position, and μ is the corresponding CFAR thresholdings in the position.
Technical solution of the present invention is as follows：
(1) assume that airbound target is located at the O of spatial position, fly at a constant speed according to speed v according to horizontal direction.In t moment,
Airbound target position is O'.If launch party is R away from airbound target distanceT(t), airbound target is R away from recipient's distanceR(t)。
It is R (t)=R for target echo signal propagation pathT(t)+RR(t), time delay can be indicated with Doppler frequency
For：
Wherein, λ indicates the wavelength of transmitting signal, and c is the light velocity.
To time delay item τrTaylor series expansion is carried out at t=0, and ignores second order term and higher order term obtains：
τr(t)≈τr0+aτt
Wherein, τr0For initial delay, aτFor Delay Variation rate.
(2) it is approximately Point Target by airbound target, then emits signal after Point Target reflects, reaches reception antenna,
Then echo-signal is represented by：
se(t)=sref(t-τr(t))
=sr(t-τr0-aτt)exp(j2πfc(t-τr0-aτt))
Wherein, sref(t) it is reference signal.
(3) mixing is done with direct-path signal to the echo-signal received to detach, respectively obtain base band echo-signal with it is straight
Arrived wave signal, wherein base band echo-signal can be expressed as：
(3) to the direct-path signal after mixing, echo-signal most segment processing, it is divided into MsegSection is L per segment lengthseg,
And length is extended into Tdmax(generally take Tdmax=Lseg), i.e., it is L per segment lengthseg+Td.The time is known as fast time t in sectionf, intersegmental
Time is known as slow time tm.Wherein, direct-path signal expands Tdmax0 long vector；Echo-signal expands TdmaxLong data to
Amount.Wherein, echo-signal can be expressed as：
Wherein,For the echo-signal after segmentation.
Enable fd=-fcaτIt is echo-signal to the Doppler frequency shift of target, it is assumed that the Doppler frequency has fuzzy, and mould
Paste coefficient is F, apparent frequence f'd, triadic relation can be expressed as：
fd=f'd+F·PRF
Echo-signal can be rewritten as：
Ignore apparent frequence f'dPhase effect within the fast time, then above formula abbreviation be：
(4) compression of pulse frequency domain is realized by FDPC methods：
Fourier transform is asked to the fast time dimension of echo-signal：
Fourier transform is asked to the fast time dimension of direct wave：
Due to echo-signalThere are FPRF frequency displacements for fast time frequency domain, therefore do frequency displacement to direct wave and obtain
Sref(f-F·PRF,tm), Doppler frequency shift fuzzy compensation in arteries and veins is realized, with echo-signalConjugate multiplication realizes arteries and veins
Rush frequency domain compression：
(5) Keystone is utilized to convert：
Wherein, f is (fast time dimension) frequency in pulse, t'mFor the new variables of introducing, virtual slow time dimension.Then introduce
After Keystone transformation, data matrix Si(f,tm) be represented by：
Wherein, above-mentioned calculating can convert (Fig. 3) by Chirp-Z and fast implement, and be as follows：
Implement step：
(1) it indicates that radar receives the umber of pulse of echo with M, chooses the integral number power for meeting that condition L >=2M-1 and L are 2
Smallest positive integral, and enable θ0=0, A0=W0=1,Then have
(2) L point sequence g (n) and h (n) are generated, and carries out FFT transform and obtains G (k) and H (k), i.e.,：
(3)And take the preceding M points of v (n) as weights, it can obtain
(4) signal spectrum after range migration compensation is Z (f, t'm)=IFFT [X (zn)]。
Due to fd=fcaτ=f'd+F·PRF
Then bringing above formula into has：
It enablesFor the slow time compensation item that Doppler frequency obscures, it is after compensation：
Again fourier inverse transformation is done to the formula on fast time dimension, obtains：
Sc(tf,t'm)=sI_im(tf-τ0)exp(-j2πfcτ0)
×exp(-j2πfcaτt'm)
Wherein,Above formula shows to have eliminated range migration.
(6) Fast Fourier Transform (FFT) is done along slow time dimension again, that is, calculated：
T(τ,fd)=F { Sc(tf,t'm)}|。
(7) to T (τ, fd) CFAR detections are carried out, if T (τ, fd)>μ(1≤i≤Mseg,1≤j≤Lseg) then it is judged to the position
There are target, the corresponding Doppler frequency in the position is estimatedAnd time delayAccording to fd=f'dIt is true that+FPRF calculates estimation
Real Doppler frequency；Otherwise it is judged to the position and target is not present, μ is the corresponding CFAR thresholdings in the position.
Beneficial effects of the present invention are, by compensating doppler ambiguity in arteries and veins, to realize to the increasing under doppler ambiguity
The improvement of benefit, effectively improves there are the system gain under Doppler frequency ambiguity, reduces doppler ambiguity to system
The influence of output gain.
Description of the drawings
Fig. 1 is the biradical model of external illuminators-based radar；
Fig. 2 is Kestone algorithm principle figures；
Fig. 3 is CZT schematic diagrams；
Fig. 4 is traditional algorithm flow chart and flow chart of the present invention；
Fig. 5 is to be composed based on signal RD in the case of doppler ambiguity；
Fig. 6 is based on signal RD spectrums after only being compensated slow time dimension doppler ambiguity in the case of doppler ambiguity；
Fig. 7 be based in the case of doppler ambiguity simultaneously in arteries and veins, the full time do signal RD spectrums after doppler ambiguity compensation.
Specific implementation mode
The present invention is further explained with reference to the accompanying drawings and examples
Embodiment
This example is to be detected to target when receiving echo signal Signal to Noise Ratio (SNR)=- 35dB.
The method of this example is as shown in Fig. 4, and radar system is as shown in Fig. 1 by a primary antenna and a monitoring antenna sets
At monitoring antenna receives signal source direct wave, and primary antenna receives target echo.
Consider that signal source uses satellite TV signal (DVB-S signals), symbol rate Rs=27.5MHz, QPSK signal carrier frequency fc
=11.9GHz, receiver sample rate fs=55MHz, integration time T=50ms.
Assuming that target echo time delay is aboutTarget constant level flies to receiving station, target movement to it is corresponding when
Prolong change rate aτ=-1e-6, practical Doppler frequency are about fd=-aτfc=11900Hz, reference signal Signal to Noise Ratio (SNR)t=
20dB。
Detection method includes the following steps for embodiment：
(1) assume that the direct-path signal that monitoring antenna receives has st(t)：
Wherein sr(t) it is baseband signal, carrier wave fc=11.9GHz, t are observation time.
(2) it is approximately Point Target by airbound target, then emits signal after Point Target reflects, reaches reception antenna,
Then echo-signal is represented by：
Wherein, aτ=-1e-6,
Enable fd=-fcaτIt is echo-signal to the Doppler frequency shift of target, it is assumed that the Doppler frequency has fuzzy, and mould
Paste coefficient is F, apparent frequence f'd, triadic relation can be expressed as：
fd=f'd+F·PRF
Bringing echo-signal into can be expressed as：
(3) to the direct-path signal after mixing, echo-signal most segment processing, it is written as speed time form, is divided into Mseg
=687 sections, be L per segment lengthseg=4000, and length is extended into Tdmax=3000 (generally take Tdmax=Lseg), i.e., per segment length
For Lseg+Td.The time is known as fast time t in sectionf, the intersegmental time is known as slow time tm.Wherein, direct-path signal expands TdmaxLong
0 vector；Echo-signal expands TdmaxLong data vector.Wherein, echo-signal can be expressed as：
Wherein,For the echo-signal after segmentation.
Enable fd=-fcaτIt is echo-signal to the Doppler frequency shift of target, it is assumed that the Doppler frequency has fuzzy, and mould
Paste coefficient is F, apparent frequence f'd, triadic relation can be expressed as：
fd=f'd+F·PRF
Wherein, fd=11900Hz, F=1, f'd=-1851Hz,
Echo-signal can be rewritten as：
Ignore apparent frequence f'dPhase effect within the fast time, then above formula abbreviation be：
(4) compression of pulse frequency domain is realized by FDPC methods：
Fourier transform is asked to the fast time dimension of echo-signal：
Fourier transform is asked to the fast time dimension of direct wave：
Due to echo-signalThere are FPRF frequency displacements for fast time frequency domain, therefore do frequency displacement to direct wave and obtain
Sref(f-F·PRF,tm), Doppler frequency shift fuzzy compensation in arteries and veins is realized, with echo-signalConjugate multiplication realizes arteries and veins
Rush frequency domain compression：
(5) Keystone is utilized to convert：
Wherein, f is (fast time dimension) frequency in pulse, t'mFor the new variables of introducing, virtual slow time dimension.Then introduce
After Keystone transformation, data matrix Si(f,tm) be represented by：
Wherein, above-mentioned calculating can convert (Fig. 3) by Chirp-Z and fast implement, and be as follows：
(1) it indicates that radar receives the umber of pulse of echo with M, chooses and meet condition L >=2M-1 and the integral number power of the positions L 2
Smallest positive integral, and enable θ0=0, A0=W0=1,Then have
(2) L point sequence g (n) and h (n) are generated, and carries out FFT transform and obtains G (k) and H (k), i.e.,：
(3)And take the preceding M points of v (n) as weights, it can obtain
(4) signal spectrum after range migration compensation is Z (f, t'm)=IFFT [X (zn)]。
Due to fd=fcaτ=f'd+F·PRF
Then bringing above formula into has：
It enablesFor the slow time compensation item that Doppler frequency obscures, it is after compensation：
Again fourier inverse transformation is done to the formula on fast time dimension, obtains：
Sc(tf,t'm)=sI_im(tf-τ0)exp(-j2πfcτ0)
×exp(-j2πfcaτt'm)
Wherein,Above formula shows to have eliminated range migration.
(6) Fast Fourier Transform (FFT) is done along slow time dimension again, that is, calculated：
T(τ,fd)=F { Sc(tf,t'm)}|。
(7) to T (τ, fd) CFAR detections are carried out, if T (τ, fd)>μ(1≤i≤Mseg,1≤j≤Lseg) then it is judged to the position
There are target, the corresponding Doppler frequency in the position is estimatedAnd time delayAccording to fd=f'dIt is true that+FPRF calculates estimation
Real Doppler frequency；Otherwise it is judged to the position and target is not present, μ is the corresponding CFAR thresholdings in the position.
Fig. 5 is the simulation result for not carrying out doppler ambiguity compensation to embodiment, can find out objective accumulation gain at this time
45.6073dB, Fig. 6 can be asked based on signal RD spectrums after only being compensated slow time dimension doppler ambiguity in the case of doppler ambiguity
Go out the 49.7082dB of objective accumulation gain at this time.Fig. 7 be based in the case of doppler ambiguity simultaneously in arteries and veins, the full time do it is how general
Signal RD is composed after strangling fuzzy compensation, can find out the 61.9178dB of objective accumulation gain at this time.The present invention is realized based on arteries and veins Nei Duopu
The moving-target for strangling fuzzy compensation accumulates and improves accumulation gain.
Claims (1)
1. the external sort algorithm moving-target detection method based on Doppler frequency fuzzy compensation in arteries and veins, which is characterized in that including following
Step：
S1, it sets airbound target and is located at the O of spatial position, fly at a constant speed according to speed v according to horizontal direction, in t moment, airbound target
Position is O'；If launch party is R away from airbound target distanceT(t), airbound target is R away from recipient's distanceR(t)；Then target echo
Signal propagation path is R (t)=RT(t)+RR(t), time delay is represented by with Doppler frequency：
Wherein, λ indicates the wavelength of transmitting signal, and c is the light velocity；
To time delay item τrTaylor series expansion is carried out at t=0, and ignores second order term and higher order term obtains：
τr(t)≈τr0+aτt
Wherein, τr0For initial delay, aτFor Delay Variation rate；
S2, by airbound target it is approximately Point Target, then emits signal after Point Target reflects, reaches reception antenna, then return
Wave signal is expressed as：
se(t)=sref(t-τr(t))
=sr(t-τr0-aτt)exp(j2πfc(t-τr0-aτt))
Wherein, sref(t) it is reference signal, fcFor signal(-) carrier frequency；
S3, it mixing is done to the echo-signal and the direct-path signal that receive detaches, respectively obtain base band echo-signal and direct wave
Signal, wherein base band echo-signal is expressed as：
S4, for long-time phase-coherent accumulation, the calculating of ambiguity function is realized using the method for frequency-domain impulse compression, specially：
S41, segment processing is done to the direct-path signal after mixing, echo-signal, is divided into MsegSection is L per segment lengthseg, and will
Length extends Tdmax, i.e., it is L per segment lengthseg+Td；The time is known as fast time t in sectionf, the intersegmental time is known as slow time tm；Its
In, direct-path signal expands Tdmax0 long vector；Echo-signal expands TdmaxLong data vector；
S42, the condition set according to step S41, echo-signal are expressed as：
Wherein,For the echo-signal after segmentation, fuzzy coefficient F, apparent frequence fd'；
S43, f is enabledd=-fcaτIt is echo-signal to the Doppler frequency shift of target, if Doppler frequency and fuzzy coefficient F, apparent frequency
Rate fd', the relationship of three is：
fd=f 'd+F·PRF
Then echo-signal is rewritten as：
Ignore apparent frequence f 'dPhase effect within the fast time, then above formula abbreviation be：
S44, the Fourier transform for time of seeking quickness respectively to two signals, obtain：
Fourier transform is asked to the fast time dimension of echo-signal：
Fourier transform is asked to the fast time dimension of direct wave：
S45, due to echo-signalThere are FPRF frequency displacements for fast time frequency domain, therefore do frequency displacement to direct wave and obtain
Sref(f-F·PRF,tm), Doppler frequency shift fuzzy compensation in arteries and veins is realized, with echo-signalConjugate multiplication is realized
Pulse frequency domain compresses：
S5, it is converted using Keystone：
Wherein, f is intrapulse frequency, t'mFor the variable of introducing, virtual slow time dimension；After then introducing Keystone transformation, data
Matrix Si(f,tm) be expressed as：
Wherein, above-mentioned calculating can be converted by Chirp-Z and be fast implemented, and be as follows：
S51, it indicates that radar receives the umber of pulse of echo with M, chooses the minimum for meeting the integral number power that condition L >=2M-1 and L are 2
Integer, and enable θ0=0, A0=W0=1,Then have
S52, L point sequence g (n) and h (n) are generated, and carries out FFT transform and obtains G (k) and H (k), i.e.,：
S53、And take the preceding M points of v (n) as weights, it can obtain0≤n≤M-1；
Signal spectrum after S54, range migration compensation is Z (f, t'm)=IFFT [X (zn)]；
S6, by step S5, obtain data matrix Si(f,tm) data matrix after Keystone is converted：
Due to fd=fcaτ=f 'd+F·PRF
Then bringing above formula into has：
It enablesFor the slow time compensation item that Doppler frequency obscures, it is after compensation：
Again fourier inverse transformation is done to the formula on fast time dimension, obtains：
Sc(tf,t'm)=sI_im(tf-τ0)exp(-j2πfcτ0)
×exp(-j2πfcaτt'm)
Wherein, uI_im(tf)=IFFT | Sr(f-FPRF)|2, above formula shows to have eliminated range migration；
S7, along slow time dimension Fast Fourier Transform (FFT) is done again, that is, calculated：
T(τ,fd)=F { Sc(tf,t'm)}|
S8, to T (τ, fd) CFAR detections are carried out, if T (τ, fd)>μ(1≤i≤Nseg,1≤j≤Lseg) then it is judged to position presence
Target estimates the corresponding Doppler frequency in the positionAnd time delayAccording to fd=fd' that+FPRF calculates estimation is true more
General Le frequency；Otherwise it is judged to the position and target is not present, μ is the corresponding CFAR thresholdings in the position.
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| CN111796267A (en) * | 2020-07-14 | 2020-10-20 | 哈尔滨工业大学 | Maneuvering turning target tracking-before-detection method based on pseudo-spectrum matched filtering |
| CN111796267B (en) * | 2020-07-14 | 2022-05-06 | 哈尔滨工业大学 | Maneuvering turning target tracking-before-detection method based on pseudo-spectrum matched filtering |
| CN112180342A (en) * | 2020-09-29 | 2021-01-05 | 中国船舶重工集团公司第七二四研究所 | Long-term accumulation observation parameter compensation method for offshore maneuvering target |
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