CN110045346B - Laden Fourier transform blind speed side lobe suppression method - Google Patents

Laden Fourier transform blind speed side lobe suppression method Download PDF

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CN110045346B
CN110045346B CN201910311053.8A CN201910311053A CN110045346B CN 110045346 B CN110045346 B CN 110045346B CN 201910311053 A CN201910311053 A CN 201910311053A CN 110045346 B CN110045346 B CN 110045346B
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金添
宋永坤
宋勇平
李浩然
何大全
武晨
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National University of Defense Technology
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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
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Abstract

The invention discloses a Laden Fourier transform blind speed side lobe suppression method.A radar system alternately transmits three linear frequency modulation signals of different PRIs, receives radar echo signals, and performs demodulation and pulse compression; according to the RFT transformation principle, RFT processing is respectively carried out on radar echo signals corresponding to three PRIs to obtain three groups of speed-distance two-dimensional results of long-time coherent accumulation; carrying out minimum value taking processing on the three sets of RFT processing results in pairs to obtain three sets of minimum value taking results; and carrying out maximum value processing on the three groups of minimum value results to obtain a final processing result, thereby realizing the suppression of the blind speed side lobe. The invention realizes the inhibition of blind speed side lobe, reduces false alarm probability and further improves system detection probability.

Description

Laden Fourier transform blind speed side lobe suppression method
Technical Field
The invention relates to the field of radar signal processing, in particular to a Laden Fourier transform blind speed side lobe suppression method.
Background
In radar signal processing, the signal-to-noise ratio of a system can be effectively improved by long-time accumulation of signals, and the detection capability of a low observable target is improved. The long-time accumulation algorithm comprises coherent accumulation and incoherent accumulation, wherein the performance of the coherent accumulation is superior to that of the incoherent accumulation, and the long-time accumulation algorithm is an optimal energy accumulation mode and is widely and deeply researched by a plurality of scholars.
Moving Target Detection (MTD) is the most commonly used coherent accumulation algorithm, which is simple and efficient, but it is no longer applicable when the target moves about its distance during the coherent accumulation period. In order to solve the problem, a method based on the Keystone transformation is provided, the Keystone transformation is adopted to carry out distance walking compensation, then coherent accumulation is realized through MTD, but the method is influenced by Doppler fuzzy, and the method is difficult to solve the distance walking problem of a plurality of speed fuzzy targets. Xugan et al propose a Laden Fourier transform (RFT) algorithm, which extracts a target observation value located in a distance-slow time two-dimensional plane according to a motion parameter of a target, and then integrates the observation value through discrete Fourier transform, thereby realizing long-time coherent accumulation of target energy. The RFT algorithm can obviously improve the detection capability of the system on weak targets and realize Doppler ambiguity resolution at a signal level. Due to the superior performance of the RFT algorithm, it has been studied and applied in many ways. However, in practical application, due to the influence of factors such as discrete pulse sampling, limited range resolution, limited accumulated pulse number and the like, the RFT processing output is always accompanied by blind velocity side lobes (BSSL), which bring about a large false target and seriously affect the final detection performance. In order to suppress the blind speed side lobe, researchers have proposed some methods one after another, and for the windowing method, still there is a great side lobe residue, and the signal-to-noise ratio loss is caused; for a processing method adopting the combination of two Pulse Repetition Intervals (PRIs), a target with a velocity on a Doppler blind velocity band of a certain PRI cannot be detected; the method based on random repetition interval has complicated signal model and processing algorithm, which is inconvenient for system design and realization.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects of the prior art, the invention provides the Laden Fourier transform blind speed side lobe suppression method, which can suppress the blind speed side lobe in RFT output no matter whether the speed of a target is on a blind speed band or not, reduces the false alarm rate of a system and improves the detection probability of the target.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a Laden Fourier transform blind speed sidelobe suppression method comprises the following steps:
1) the radar system alternately transmits three linear frequency modulation signals of different PRIs, receives radar echo signals, and demodulates and pulse compresses the radar echo signals;
2) according to the RFT transformation principle, the demodulated and pulse-compressed radar echo signals corresponding to the three PRIs are subjected to RFT processing respectively to obtain three groups of speed-distance two-dimensional results of long-time coherent accumulation;
3) carrying out minimum value taking processing on the three groups of RFT results in pairs to obtain three groups of minimum value taking results;
4) and carrying out maximum value processing on the three groups of minimum value results to obtain a final processing result, thereby realizing the suppression of the blind speed side lobe.
In step 1), the linear frequency modulation signal transmitted by the radar system is st(t) receiving a radar echo signal as sr(t, τ), where τ is 2r (t)m) C is the target signal delay, r (t)m)＝r0+v0tm，r0And v0Respectively, the initial distance and speed of the target, t is the fast time, tmIs a slow time; demodulating and pulse compressing radar echo signals to obtain spc(t,tm)，
Figure BDA0002031462940000021
Wherein m is 0,1,2m-1 is the number of slow time accumulation cycles, ArAmplitude of radar echo signal, c is speed of light, B is transmission signal bandwidth, fcIs the carrier frequency.
In step 1), for three different PRIs, i.e. T, in the transmitted signal1、T2And T3The corresponding blind speed is vb1、vb2And vb3Is provided with T1＞T2＞T3And T is3Known as root ofObtaining T according to the distribution characteristic of the blind speed side lobe1And T2The ranges of (A) are:
Figure BDA0002031462940000022
wherein k is 0, ± 1, ± 2maxFor blind speed ambiguity, according to the maximum measured speed v of the systemmaxAnd the maximum blind velocity vb3To obtain kmax＝ceil(vmax/vb3) Ceil (·) is rounding up; Δ vBSSL(k,Tr)＝λ2|k|/2ΔrTrVelocity resolution, T, for blind velocity side lobesrFor the PRI of the transmitted signal, λ is the radar echo signal wavelength, and Δ r ═ c/2B is the range resolution of the radar system.
In the step 2), the specific process of performing RFT processing on the radar echo signals corresponding to the three PRIs to obtain three groups of speed-distance two-dimensional results of long-time coherent accumulation is as follows: respectively substituting the demodulated and pulse-compressed echo signals corresponding to the three PRIs obtained in the step 1) into an expression of RFT
Figure BDA0002031462940000023
Wherein f isdFor the Doppler frequency of the radar echo signal, three sets of RFT processing results are finally obtained, which are G1(r,v)、G2(r, v) and G3(r,v)。
In step 3), performing pairwise minimum value taking processing on the three groups of RFT results to obtain three groups of minimum value taking results as follows:
Figure BDA0002031462940000031
the blind velocity sidelobes in the result have been filtered out.
In the step 4), the maximum value processing is performed on the obtained three groups of minimum value taking results, and the following results are obtained:
G123(r,v)＝max(|G12(r,v)|,|G13(r,v)|,|G23(r, v)), which retains the main lobe information of the target.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a method for suppressing blind speed side lobes of Laden Fourier transform, aiming at the problems that blind speed side lobes exist in RFT output and the existing suppression method is poor in effect, the method adopts a signal system formed by combining three linear frequency modulation signals with different PRI, and performs corresponding minimum value and maximum value processing on RFT processing results according to the different relations of the same target in the positions of the blind speed side lobes of different PRI, so that the suppression of the blind speed side lobes is realized, the false alarm probability is reduced, and the detection probability of a system is further improved. Compared with the traditional blind speed side lobe suppression method, the method has wider application range, can suppress the blind speed side lobe no matter whether the target speed is equal to the blind speed or not, and has simple algorithm, small calculation amount and convenient engineering realization.
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FIG. 1 is an overall flow diagram of an embodiment of the present invention.
Fig. 2 is a graph of RFT output for three PRIs in accordance with an embodiment of the present invention. (a) G1(r,v)；(b)G2(r,v)；(c)G3(r,v)；
FIG. 3 is a graph of the results of taking the minimum of every two of the three RFT outputs of an embodiment of the present invention. (a) G12(r,v)；(b)G13(r,v)；(c)G23(r,v)；
FIG. 4 is a graph of the results of taking the maximum of the three minimum results for an embodiment of the present invention.
Detailed Description
Referring to the attached figure 1, the method for suppressing the blind speed side lobe of the Laden Fourier transform provided by the invention is specifically realized by the following steps:
step 1, a radar system alternately transmits three linear frequency modulation signals of different PRI, receives radar echo signals, and demodulates and pulse compresses the radar echo signals.
In this embodiment, the chirp signal transmitted by the radar is st(t) the received radar echo signal is sr(t, τ), where τ is 2r (t)m) C is the target signal delay, r (t)m)＝r0+v0tm，r0And v0Respectively the initial distance and velocity of the target. It is composed ofIn, tm＝mTrIs referred to as "slow time", m ═ 0,1,2m-1 is the number of slow time accumulation cycles, TrIs the pulse repetition time. t is ntsMeaning "fast time", N ═ 0,1,2n-1 is the number of fast-time sampling points, tsA fast time sampling interval.
The echo signal is demodulated and pulse compressed to obtain
Figure BDA0002031462940000041
Wherein A isrAmplitude of radar echo signal, c is speed of light, B is transmission signal bandwidth, fcIs the carrier frequency, Arsinc (-) contains envelope information of the signal and the exponential term contains range and doppler phase information of the target.
For three different PRIs in the transmitted signal, T is1、T2And T3The corresponding blind speed is vb1、vb2And vb3Let T be1＞T2＞T3And T is3It is known that T can be obtained from the distribution characteristics of blind velocity side lobes1And T2In the range of
Figure BDA0002031462940000042
Wherein k is 0, ± 1, ± 2maxFor blind speed ambiguity, according to the maximum measured speed v of the systemmaxAnd the maximum blind velocity vb3To obtain kmax＝ceil(vmax/vb3) Ceil (·) is rounded up. Δ vBSSL(k,Tr)＝λ2|k|/2ΔrTrVelocity resolution, T, for blind velocity side lobesrFor the PRI of the transmitted signal, λ is the radar signal wavelength, and Δ r ═ c/2B is the range resolution of the radar system.
In this embodiment, the parameters used are: the center frequency of the radar system is in an X wave band, the signal bandwidth is 10MHz, and the distance is dividedThe resolution is 15m, each coherent processing interval contains 90 pulses, and the processing time interval for the same RPI is 2.16 s. A third PRI is known as T3Blind velocity v of 0.873msb316.5m/s, maximum measurement speed v of the systemmax30m/s, the maximum ambiguity k can be obtainedmax2. From the above analyzed relationships between the three PRIs, T can be set1＝1.127ms、T21ms, the corresponding blind speed is then vb1＝12.5m/s、vb214.5 m/s. The target distance was set to 3000m and the target moved towards the radar system at a speed of 14.5 m/s.
And 2, respectively carrying out RFT processing on the radar echo signals corresponding to the three PRIs according to the RFT conversion principle to obtain three groups of speed-distance two-dimensional results of long-time coherent accumulation.
In this embodiment, the demodulated and pulse-compressed echo signals corresponding to the three PRIs obtained in step 1 are respectively substituted into the expression of RFT
Figure BDA0002031462940000051
Wherein f isdFor the Doppler frequency of the radar echo signal, three sets of RFT processing results are finally obtained, which are G1(r,v)、G2(r, v) and G3(r, v) as shown in FIG. 2 (a), FIG. 2 (b) and FIG. 2 (c). Since the moving speed of the target is the same as the blind speed corresponding to the second PRI, and both the target main lobe and the blind speed side lobe are filtered by the doppler filter, there are no target main lobe and blind speed side lobe in fig. 2 (b), and there are target main lobe and blind speed side lobe in the RFT output results corresponding to the first PRI and the third PRI, which are specifically shown in fig. 2 (a) and fig. 2 (c).
And 3, according to the principle that the blind speed side lobes of the same target are different in position in the RFT output of different PRIs, carrying out pairwise minimum value taking processing on the three groups of RFT results to obtain three groups of minimum value taking results.
In this embodiment, two-by-two minimum value operation is performed on the three sets of RFT output results obtained in step 2 to obtain three sets of minimum value results, which are:
G12(r,v)＝min(|G1(r,v)|,|G2(r,v)|)
G13(r,v)＝min(|G1(r,v)|,|G3(r,v)|)
G23(r,v)＝min(|G2(r,v)|,|G3(r,v)|)
the RFT outputs corresponding to the three types of PRI are in an adjacent relation, and the residence time of each group is short, so that the distance walk between different PFTs can be ignored, and the main lobe positions of the three groups of PRI are considered to be the same. The positions of the blind speed side lobes are related to the magnitude of the blind speed, the blind speeds of the three groups of PRI are different, so the positions of the blind speed side lobes are also different, the blind speed side lobes can be inhibited and the target main lobe can be reserved by performing minimum value operation on the RFT output result in pairs. Three sets of minimum results G were obtained12(r,v)、G13(r, v) and G23(r, v) are shown in (a), (b), (c) of FIG. 3. Due to the corresponding RFT output G of the second PRI2(r, v) has no target main lobe and no blind velocity side lobe, so it is G1(r,v)、G3(r, v) result G obtained after taking the minimum value12(r, v) and G23There are no target main lobe and no blind velocity side lobes in (r, v). And G1(r, v) and G3Minimum value calculation result G obtained in (r, v)13(r, v) the target main lobe is preserved while suppressing the blind velocity side lobes.
And 4, carrying out maximum value processing on the three groups of minimum value results to obtain a final processing result, and realizing the suppression of the blind speed side lobe.
In this embodiment, the three sets of minimum results obtained in step 3 are processed to obtain maximum values
G123(r,v)＝max(|G12(r,v)|,|G13(r,v)|,|G23(r,v|))
For the case that the moving speed of the target is not on the blind speed band corresponding to three PRIs, i.e. v (k) ≠ kvbIn the process, the three groups of minimum values in the step 3 have main lobe information of the target, and the blind speed side lobe is restrained, so that the target can be well detected. However, when the moving speed of the object is at one of the blind speeds of the three PRIsOn a belt, i.e. v (k) ═ kvbThe target is filtered out as a stationary target by the corresponding PRI Doppler filter. Because there are three sets of minimum-taking results, there will still be target main lobe information in one set of results after minimum-taking operation, at this moment, the minimum-taking results G for three sets12(r,v)、G13(r, v) and G23(r, v) performing maximum processing, thereby retaining the main lobe of the target and further obtaining the real distance and speed information of the target.
The result is shown in FIG. 4, which shows that G is the maximum value of the three minimum value results13And (r, v) the target main lobe is reserved, the influence of blind speed side lobes is avoided, and the target detection is facilitated.

Claims (6)

1. A Laden Fourier transform blind speed sidelobe suppression method is characterized by comprising the following steps:
1) the radar system alternately transmits three linear frequency modulation signals of different PRIs, receives radar echo signals, and demodulates and pulse compresses the radar echo signals;
2) according to the RFT transformation principle, the demodulated and pulse-compressed radar echo signals corresponding to the three PRIs are subjected to RFT processing respectively to obtain three groups of speed-distance two-dimensional results of long-time coherent accumulation;
3) carrying out minimum value taking processing on the three groups of RFT results in pairs to obtain three groups of minimum value taking results;
4) and carrying out maximum value processing on the three groups of minimum value results to obtain a final processing result, thereby realizing the suppression of the blind speed side lobe.
2. The method for suppressing the blind velocity sidelobes of Laden Fourier transform according to claim 1, wherein in step 1), the chirp signal transmitted by the radar system is st(t) receiving a radar echo signal as sr(t, τ), where τ is 2r (t)m) C is the target signal delay, r (t)m)＝r0+v0tm，r0And v0Respectively, the initial distance and speed of the target, t is the fast time, tmIs a slow time; demodulating and pulse compressing radar echo signals to obtain spc(t,tm)，
Figure FDA0002828026440000011
Wherein m is 0,1,2m-1 is the number of slow time accumulation cycles, ArAmplitude of radar echo signal, c is speed of light, B is transmission signal bandwidth, fcIs the carrier frequency.
3. The method for suppressing Laden Fourier transform blind speed sidelobe according to claim 2, wherein in step 1), for three different PRIs (T) in the transmitted signal1、T2And T3The corresponding blind speed is vb1、vb2And vb3Is provided with T1>T2>T3And T is3It is known that T is obtained from the distribution characteristics of the blind velocity side lobe1And T2The ranges of (A) are:
Figure FDA0002828026440000021
wherein k is 0, ± 1, ± 2, · k, ± kmaxFor blind speed ambiguity, according to the maximum measured speed v of the systemmaxAnd the maximum blind velocity vb3To obtain kmax＝ceil(vmax/vb3) Ceil (·) is rounding up;
Figure FDA0002828026440000024
for the speed resolution of the blind speed side lobe,
Figure FDA0002828026440000025
to transmit PRI, r of a signal*1,2, 3; λ is the radar echo signal wavelength, and Δ r ═ c/2B is the range resolution of the radar system.
4. Laden Fourier according to claim 3The method for suppressing the transformation blind speed sidelobe is characterized in that in the step 2), RFT processing is carried out on radar echo signals corresponding to three PRI, and the specific process of obtaining three groups of speed-distance two-dimensional results of long-time coherent accumulation is as follows: respectively substituting the demodulated and pulse-compressed radar echo signals corresponding to the three PRIs obtained in the step 1) into an expression of RFT
Figure FDA0002828026440000022
Wherein f isdFor the Doppler frequency of the radar echo signal, three sets of RFT processing results are finally obtained, which are G1(r0,v0)、G2(r0,v0) And G3(r0,v0)。
5. The method for suppressing the blind-speed side lobes of Laden Fourier transform according to claim 4, wherein in step 3), the minimum value of every two of the three sets of RFT results is processed, and the three sets of minimum value results are obtained as follows:
Figure FDA0002828026440000023
the blind velocity sidelobes in the result have been filtered out.
6. The method for suppressing the blind speed sidelobe of Laden Fourier transform according to claim 5, wherein in step 4), the maximum value processing is performed on the three sets of minimum value results to obtain the following results: g123(r,v)＝max(|G12(r,v)|,|G13(r,v)|,|G23(r, v) |), which retains the main lobe information of the target.
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