CN108919250A - A kind of low small slow moving target processing based on multiline precise interpolation - Google Patents

A kind of low small slow moving target processing based on multiline precise interpolation Download PDF

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CN108919250A
CN108919250A CN201810763418.6A CN201810763418A CN108919250A CN 108919250 A CN108919250 A CN 108919250A CN 201810763418 A CN201810763418 A CN 201810763418A CN 108919250 A CN108919250 A CN 108919250A
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nabs
distance unit
frequency
value
component
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CN108919250B (en
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周骏
王锰
丁友峰
张恒
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724th Research Institute of CSIC
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724th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • 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
    • G01S7/414—Discriminating targets with respect to background clutter
    • 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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • G01S7/418—Theoretical aspects

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

Abstract

The low small slow moving target processing based on multiline precise interpolation that the invention discloses a kind of, I/Q data is compressed in the pulse that wherein memory module (101) stores N number of radar coherent pulse, and N number of I/Q data of the same distance unit is exported according to distance unit.Weighting block (102) is weighted memory module (101), and FFT module (103) carries out FFT to the data after weighting, obtains N number of frequency spectrum spectral line data.Doppler's Interpolate estimation module (104) calculates the dominant frequency spectral component of current distance unit using N number of frequency spectrum spectral line data, and spectral leakage compensation is carried out to N number of frequency spectrum spectral line data using dominant frequency spectral component information, further calculate the secondary spectrum component of current distance unit.The dominant frequency spectral component that doppler information judging module (105) is exported using Doppler's Interpolate estimation module (104) thinks whether current distance unit has moving target with time spectrum component information, if there is then exporting the distance unit.

Description

A kind of low small slow moving target processing based on multiline precise interpolation
Technical field
The present invention relates to Radar Signal Processing Technology fields, especially the design method of " low small slow " moving-target processing.
Background technique
With the opening in 3000 meters of China or less low latitude and the explosive growth of private various middle-size and small-size low flyers, Higher technical requirements are proposed to the periphery low-latitude flying control of army's boat, civil aviaton and airport of opening the navigation or air flight.It is multiple both at home and abroad in recent years The case where Civil Aviation Airport has occurred black fly of small drone and flight is caused to ground, Most current airport relies primarily on large-scale blank pipe Radar, ADS-B and radio station etc. are monitored and manage to airflight target, small-sized low flyer can not be detected, Monitoring and control, this brings great threat to the safety guarantee on airport.
What traditional moving-target Processing Algorithm used have two pulses to offset, three pulses offset, uses the IIR filtering after optimization Device, clutter map etc..Two pulses offset, three pulses are offseted is had using FIR filter, linear phase, transient response time it is short and Realize that simple feature is widely used.However two pulses offset, three pulses offset method and microinching target is suffered from Greatly inhibit.It is too big using traditional linear phase FIR filter intermediate zone since radar coherent pulse number is limited, cause Serious is inhibited to slower-velocity target, using Nonlinear Phase FIR Filter, the recess of filter is too narrow to realize effectively atural object Inhibit, causes Anti-jamming Ability for Radar weak using the iir filter after optimization.Traditional clutter drawing method can not handle small and weak Target at a slow speed.
Summary of the invention
It is an object of the invention to design a kind of dynamic mesh based on Doppler's estimation applied in Radar Signal Processing Processing method is marked, has greater loss for solving to handle low small slow target in existing radar moving targets algorithm, or even entirely without The problem of method processing.
The technical solution for realizing the aim of the invention is as follows：
1) x=[x is set1x2...xn] be the same distance unit of radar coherent pulse time series vector, wherein N >=8, And the power that N is 2.To x adding window, and the FFT for doing N point to the data after adding window obtains N point FFT result X'(K), to X'(K) take absolutely X (K) is obtained to value；
2) the maximum value X (l) of X (K) is found, and takes two spectral line X (l-1) adjacent thereto, X (l+1)；Pass through X (l- 1), X (l), X (l+1) calculate the frequency value F k of the main component of the frequency spectrum of the distance unit0, intensity value Ak0And phase Pk0；
3) according to frequency value F k0, intensity value Ak0And phase Pk0Value combination frequency spectrum compensation table, obtain distance unit master Want component in the leakage value Fi (k) of other components, wherein k=1,2 ..n, to the result X'(K of FFT) compensate；After compensation Data be set as X_new (k), ask and thoroughly deserve X_nabs (k), wherein k=1,2 ..n；
4) l-1 obtained in step 2 is first excluded in X_nabs (k), l, l+13 root spectral line obtains X_nabs ' (k), into one Step finds the maximum value X_nabs ' (m-1) of X_nabs ' (k), and takes two spectral line X_nabs ' (m-1) adjacent thereto, X_ Nabs ' (m+1),.Pass through X_nabs ' (m-1), X_nabs ' (m), X_nabs ' (m+1) calculate the distance unit frequency spectrum time Want the frequency value F k of component1, intensity value Ak1。
5) pass through Fk0, Ak0, Fk1, Ak1Joint judges whether the distance unit includes moving-target information, if there is moving-target Information, output, otherwise inhibits.
Moving target processing is estimated by implementing a kind of accurate Doppler of multiline interpolation of aforementioned present invention, is had following Technical effect：This method can accurately estimate the frequency spectrum of the main energetic of each distance unit by interpolation algorithm, and pass through Backoff algorithm calculates the frequency spectrum of secondary energy.Process of refinement further is done with the presence or absence of moving-target to each distance unit, This is that conventional method cannot achieve, to realize the detection to " low small slow " target.
Detailed description of the invention
Fig. 1 calculation flow chart；
Fig. 2 Computing Principle schematic diagram；
Schematic diagram before Fig. 3 frequency spectrum compensation；
Schematic diagram after Fig. 4 frequency spectrum compensation；
Analogous diagram before the processing of Fig. 5 moving-target；
Fig. 6 moving-target handles post-simulation figure；
Fig. 7 actual tests place clutter diagram；
Fig. 8 actual tests place clutter diagram.
Specific embodiment
The invention will be further described with attached drawing combined with specific embodiments below.
1) x=[x is set1x2...xn] be the same distance unit of radar coherent pulse time series vector, wherein N >=8, And the power that N is 2.To x adding window, and the FFT for doing N point to the data of adding window obtains N point FFT result X'(K), to X'(K) take absolutely Value obtains X (K).The Local map of X (K) is as shown in Fig. 2, and FT indicates that single distance element includes the output of signal DTFT, wherein ω0 For signal real frequency spectrum.X (l-1), X (l), the output that X (l+1) is FFT.X (l) is the maximum value of X (K), X (l-1), X (l+1) For the output of X (l) adjacent FFT.δ can be found out by X (l-1), X (l), X (l+1)：
Wherein ε=sign (X (l+1)-X (l-1)).
2) frequency value F k is calculated0, intensity value Ak0And phase Pk0, wherein Δ f is frequency resolution, and Fs/N, Fs are radar Repetition rate：
Fk0=(l+ ε) × Δ f
Pk0=arg (X (l))-π δ
3) pass through Fk0, Ak0Value utilize Fk in conjunction with frequency spectrum compensation table0The penalty coefficient for obtaining frequency spectrum compensation table, according to Coefficient and Ak0, the distance unit main component is obtained in the leakage value Fi (k) of other components, and wherein frequency spectrum compensation table is selected With the complex envelope of window function frequency, frequency spectrum compensation is completed：
X_new (k)=X (k)-Fi (k)
Compensated component is indicated with X_new (k), takes absolute value to obtain X_nabs (k) to X_new (k), such as attached drawing 3, figure Shown in 4, the spectrum component result of front and back is compensated.
4) first by l-1 in X_nabs (k), l, l+1 component is set to 0 and obtains X_nabs'(k), seek X_nabs'(k) Maximum value X_nabs'(m-1), X_nabs'(m+1) be X_nabs'(m) output of adjacent FFT.Pass through X_nabs'(m- 1), X_nabs'(m), X_nabs'(m+1) δ ' can be found out.
Wherein ε '=sign (X_nabs'(m+1)-X_nabs'(m-1)).
5) frequency value F k is calculated1, intensity value Ak1
Fk1=(m+ ε ') × Δ f
6) in the Fk for obtaining each distance unit0, Ak0, Fk1, Ak1Afterwards, that is, the primary spectrum point of the distance unit is obtained The frequency of amount, the frequency amplitude of amplitude and secondary spectrum component.Speed door may further be set to each distance unit Limit exports if the frequency of primary spectrum component is greater than the corresponding doppler velocity of speed threshold, otherwise judges secondary frequency spectrum Component then exports, otherwise this output noise level if it is greater than speed threshold.Attached drawing 5 is effect before emulation moving-target is handled Figure, attached drawing 6 are effect picture after emulation moving-target processing, and simulation result, which is shown, can inhibit strong atural object, extract weak signal target.Attached drawing 7 For low small slow target experimental site clutter diagram.Attached drawing 8 is the reflectogram after doppler processing.

Claims (3)

1. a kind of low small slow moving target processing based on multiline precise interpolation, it is characterised in that：
(1) x=[x is set1x2...xn] be the same distance unit of radar coherent pulse time series vector, wherein N >=8, and N For 2 power；To x adding window, and the FFT for doing N point to the data after adding window obtains N point FFT result X ' (K), takes absolute value to X ' (K) Obtain X (K)；
(2) the maximum value X (l) of X (K) is found, and takes two spectral line X (l-1) adjacent thereto, X (l+1)；Pass through X (l-1), X (l), X (l+1) calculates the frequency value F k of the main component of the frequency spectrum of the distance unit0, intensity value Ak0And phase Pk0；
(3) according to frequency value F k0, intensity value Ak0And phase Pk0Value combination frequency spectrum compensation table in obtain the distance unit main Component is in the leakage value Fi (k) of other components, wherein k=1, and 2 ..n, to the result X'(K of FFT) compensate；It is compensated Data are set as X_new (k), ask and thoroughly deserve X_nabs (k), wherein k=1, and 2 ..n；
(4) l-1 obtained in step (2), l are first excluded in X_nabs (k), l+13 root spectral line further finds X_nabs (k) Maximum value X_nabs ' (m-1), and take two spectral line X_nabs ' (m-1) adjacent thereto, X_nabs ' (m+1)；Pass through X_ Nabs ' (m-1), X_nabs ' (m), X_nabs ' (m+1) calculate the frequency value F k of the secondary component of the frequency spectrum of the distance unit1, Intensity value Ak1；
(5) in the Fk for obtaining each distance unit0, Ak0, Fk1, Ak1Afterwards, that is, the primary spectrum component of the distance unit is obtained Frequency, the frequency amplitude of amplitude and secondary spectrum component；Speed threshold may further be set to each distance unit, such as The frequency of fruit primary spectrum component is greater than the corresponding doppler velocity of speed threshold, then exports, otherwise judge secondary spectrum component, It is then exported if it is greater than speed threshold, otherwise this output noise level.
2. a kind of low small slow moving target processing based on multiline precise interpolation according to claim 1, feature It is：The frequency spectrum compensation table is the complex envelope of selected window function frequency.
3. a kind of low small slow moving target processing based on multiline precise interpolation according to claim 1 or 2, special Sign is：The secondary spectrum component can also exclude l-2, l-1, l to X_nabs (k), and l+1 is carried out after l+25 root spectral line It calculates.
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CN113009446B (en) * 2021-03-02 2022-05-03 中国科学院空天信息创新研究院 Hover low-slow small target detection method and device based on optimal demodulation operator

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