CN110161479B - Multi-station radar signal level fusion target detection method based on signal-to-noise ratio information - Google Patents
Multi-station radar signal level fusion target detection method based on signal-to-noise ratio information Download PDFInfo
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Abstract
The invention provides a multi-station radar signal level fusion target detection method based on signal-to-noise ratio information, belonging to the field of signal detectionThe method for detecting the multi-station radar signal level fusion target in the prior art is improved, the detection probability of a multi-station radar system to the target is improved, and the method comprises the following implementation steps: establishing a multi-station radar system; calculating a detection statistic Z of the radar station set R; calculating the signal-to-noise ratio (SNR') of an echo signal vector expected to be received by a detection unit T of a radar station set R; calculating a weighted value w of the detection statistic Z of the radar station set R; calculating a signal fusion center C e The detection statistic Y of (a); and judging whether a target exists in the echo signal vector received by the detection unit T of the radar station set R. According to the invention, the weighted summation mode of the signal fusion center detection statistics and the signal-to-noise ratio in the echo signal vector received by the detection unit of each radar station are used for calculating the weight, so that the detection probability of the multi-station radar system on the target is improved.
Description
Technical Field
The invention belongs to the technical field of signal processing, and relates to a multi-station radar signal level fusion target detection method based on signal-to-noise ratio information, which can be used for improving the detection probability of a multi-station radar system on a target.
Background
The multi-station radar signal fusion target detection method is divided into a distributed fusion detection method and a centralized fusion detection method. The difference between the distributed fusion detection method and the centralized fusion detection method is that whether the original data observed by each radar station is transmitted to the signal fusion center or not, and the detection method of transmitting the original data observed by each radar station to the signal fusion center is called as a centralized fusion detection method. Therefore, in order to efficiently detect a target signal, most of the present researches are directed to a distributed fusion detection method, and the distributed fusion detection method is classified into signal level fusion, quantization fusion, decision level fusion, and the like according to whether the detection statistics of each radar station is subjected to quantization processing, and the distributed fusion detection method in which the detection statistics of each radar station are transmitted to a signal fusion center without being subjected to quantization processing is referred to as a signal level fusion detection method. The multi-station radar signal level fusion detection method is a target detection method for judging whether targets exist in echo signals received by detection units of a plurality of radar stations by sending data obtained by processing the echo signals received by the plurality of radar stations into a fusion center. Each radar station calculates the detection statistic of each radar station through the received echo signals, sends the detection statistic of each radar station into the signal fusion center, calculates the detection statistic of the signal fusion center according to the fusion criterion of the signal fusion center, and compares the detection statistic of the signal fusion center with a judgment threshold to judge whether the echo signals received by each radar station have targets. When the radar system parameters, the detection statistic construction mode and the like of each radar station are the same, the existing multi-station radar signal level fusion target detection method has high detection probability when a multi-radar system detects a target. The detection probability is an index for measuring the target detection performance of the radar system, the higher the detection probability is, the better the detection performance of the radar system is, and factors influencing the detection probability of the radar system mainly include the number of radar stations, a fusion method of a signal fusion center and a signal processing algorithm of each radar station. In practice, the situation that the signal processing algorithms of each radar station are different due to radar system parameters, detection statistic construction modes and the like of each radar station occurs frequently, and the existing multi-station radar target detection fusion method is difficult to achieve high detection probability in target detection, so that the improvement of the multi-station radar system has important practical significance on the target detection precision under the situation.
At present, most people do not fully consider that signal processing algorithms of all radar stations are different in actual situations when researching a multi-radar-station signal-level fusion target detection method, so that the detection performance of a multi-station radar system in the actual situations is not good. For example, zhou S H and Liu H W published in IET Radar, sonar & Navigation international journal, volume 5, phase 3, in 2011 in "Signal fusion-based target detection for spatial diversity Radar", disclose a method for detecting a multi-Radar-station Signal-level fusion target, which comprises the following steps: the detection statistics of each radar station are calculated by the echo signal vectors received by the detection unit and the reference unit of each radar station, the detection statistics of each radar station are sent to a signal fusion center, the detection statistics of all radar stations are directly summed at the signal fusion center, and whether a target exists or not is judged by the echo signals received by each radar station. A multi-radar station signal level fusion target detection method in the prior art is mainly used for establishing a multi-station radar system and providing a method for fusion of detection statistics of each radar station in a signal fusion center, and the effect that the detection probability of the multi-station radar system on a target is higher than that of a single-station radar system on the target can be obtained, so that the prior art mainly considers increasing the number of radar stations to improve the detection probability of the radar system and does not consider different factors of signal processing algorithms of all radar stations. Most of the situations appearing in the actual situation are the situations that the signal processing algorithms of all radar stations are different, when the signal processing algorithms of all radar stations are different, the detection performance of all radar stations is different, a mode of directly summing the detection statistics of all radar stations is adopted when the detection statistics of a signal fusion center is calculated, then a multi-station radar system detects a target, the radar stations with better detection performance and the radar stations with poor detection performance play the same role when the multi-station radar system judges the target, the advantages of the radar stations with good detection performance cannot be played, and the detection probability of the multi-station radar system to the target is lower.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-station radar signal level fusion detection method which is used for solving the technical problem of low detection probability in the prior art.
The technical idea of the invention is as follows: firstly, a multi-station radar system is established, then, the detection statistics of each radar station are calculated and transmitted to a signal fusion center, the weighted value of the detection statistics of each radar station is calculated according to the signal-to-noise ratio in the echo signal vector received by the detection unit of each radar station and the calculated signal-to-noise ratio in the echo signal vector expected to be received by the detection unit of each radar station, then, the detection statistics of the signal fusion center is calculated, and whether the echo signal vector received by the detection unit of each radar station has a target or not is judged in the signal fusion center, and the specific implementation steps are as follows:
(1) Establishing a multi-station radar system:
establishing a fusion center C comprising signals e And a multi-station radar system of a set of radar stations R, R = { R = { i I =1,2, ·, N }, and the detection unit of the radar station set R is T, T = { T } i I =1,2, ·, N }, the ith radar station R in the radar station set R i Is D i ，D i ＝{d i,j |j＝1,2,···,K i N represents the number of radar stations, N is not less than 2,t i Is represented by r i Detection unit of d i,j Is represented by r i J reference cell of (1), K i Is represented by r i Number of reference cells, K i ≥2；
(2) Calculating a detection statistic Z of the radar station set R:
through the ith radar station r i Detection unit t of i Received echo signal vector x i (0) And the ith radar station r i Reference cell j of i,j Received echo signal vector x i (j) Calculating r i Z is a detection statistic i Obtaining a detection statistic Z, Z = { Z) of the radar station set R i |i＝1,2}；
(3) Calculating the signal-to-noise ratio SNR' of an echo signal vector expected to be received by a detection unit T of the radar station set R:
through the ith radar station r i Detection unit t of i Received echo signal vector x i (0) SNR in i Calculating the ith radar station r i Detection probability of
Obtaining a detection probability set P d ，
And through P d Maximum value of (1) max Calculating the signal-to-noise ratio in the echo signal vector expected to be received by the detection unit of each radar station to obtain a signal-to-noise ratio set SNR ', SNR' = { SNR = SNR i ' | i =1,2}, wherein,
p 1 (z i |SNR i ') represents r i Detection unit t of i Received echo signal vector x i (0) The signal-to-noise ratio of (1) is SNR' i Z is a detection statistic i The probability density of (c). g is a radical of formula i Denotes the ith radar station r i Threshold of, SNR' i For the ith radar station r i Detection unit t of i Expected received echo signal vector x i (0) D (-) represents the differential of the random variable in parentheses;
(4) Calculating a weighted value w of the detection statistic Z of the radar station set R:
calculating the ith radar station r i Z is a detection statistic i Obtaining a weighted value w of the detection statistic Z of the radar station set R, w = { w (i) | i =1,2},
SNR k 'represents the minimum value in SNR';
(5) Calculating a signal fusion center C e The detection statistic Y of (a):
calculating a signal fusion center C through the detection statistics Z of the radar station set R and the weighted value w of the Z e The detection statistic Y of (a):
(6) Judging whether a target exists in an echo signal vector received by a detection unit T of a radar station set R:
calculating a signal fusion center C e And judging whether Y is greater than g, if so, determining that a target exists in the echo signal vector received by the detection unit T of the radar station set R, and otherwise, determining that the target does not exist in the echo signal vector received by the detection unit T of the radar station set R.
Compared with the prior art, the invention has the following advantages:
according to the invention, a weighted summation fusion method is adopted in the signal fusion center, and the weighted value is calculated based on the signal-to-noise ratio information in the echo signal vector received by each radar station detection unit, so that the radar station with better detection performance can exert the advantages when the multi-station radar system detects the target, the technical problem that the radar station with better detection performance cannot exert the advantages when the multi-station radar system detects the target in the prior art, so that the detection probability is lower is solved, and the detection probability of the multi-station radar system on the target is improved.
Drawings
FIG. 1 is a flow chart of an implementation of the present invention;
FIG. 2 is a simulation comparison graph of the detection probability of the signal fusion center when the reference units of each radar station are different in the present invention and the prior art;
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples.
Referring to fig. 1, the present invention includes the steps of:
step 1) establishing a multi-station radar system:
establishing a fusion center C comprising signals e And a set of radar stations R, R = { R = { (R) } i I =1,2, ·, N }, and the detection unit of the radar station set R is T, T = { T } i I =1,2, ·, N }, the ith radar station R in the radar station set R i With reference cell D i ，D i ＝{d i,j |j＝1,2,···,K i N represents the number of radar stations, N is not less than 2,t i Is represented by r i Detection unit of d i,j Is represented by r i J reference cell of (1), K i Is represented by r i Number of reference cells, K i ≥2；
Each radar station transmits electromagnetic waves in the form of a plurality of pulse signals to the target, so that the detection unit and the reference unit of each radar station receive a plurality of pulse-echo signals, i.e. echo-signal vectors. The detection unit of each radar station may receive the target echo signal vector and the background noise echo signal vector at the same time, or may receive only the background noise echo signal vector, the reference unit of each radar station receives only the background noise echo signal vector, the detection unit and the reference unit between the radar stations receive echo signal vectors that are independent of each other, and the number of the reference units of each radar station may be the same or may be different. The signal fusion center is a hardware device that performs fusion processing on detection statistics of each radar station and determines whether a target exists in an echo signal vector received by each radar station, and N =2 in this embodiment.
Step 2) calculating a detection statistic Z of the radar station set R:
through the ith radar station r i Detecting unit t of i Received echo signal vector x i (0) And the ith radar station r i The jth reference cell d of i,j Received echo signal vector x i (j) Calculating r i Z is a detection statistic i Obtaining detection statistic Z, Z = { Z) of the radar station set R i |i＝1,2}，r i Z is a detection statistic i The calculation formula is as follows:
wherein the content of the first and second substances,
indicated at i radar stations r i Steering vector of observed real target, l i Denotes the ith radar station r i Snap number of (S) i The calculation formula of (a) is as follows:
wherein, (.) H Indicating the conjugate transpose of the vector in brackets.
The method for calculating the detection statistic of each radar station is obtained according to the generalized likelihood ratio detector in the prior art, the generalized likelihood ratio detector is a multi-pulse signal detector and is applied to a scene with unknown target signal amplitude and background noise power, and the method is also provided for the scene. The generalized likelihood ratio detector estimates the target signal amplitude and the background noise power by obtaining the joint probability density of the observed quantity and a maximum likelihood estimation method, and an expression of the detection statistic of each radar station can be calculated by adopting a Niemann-Pearson criterion. In this embodiment, the different numbers of reference units of two radar stations are set as different factors of signal processing algorithms of the radar stations, and the snapshot numbers of the two radar stations are both 16,l 1 ＝l 2 ＝16；
Step 3) calculating the signal-to-noise ratio SNR' of the echo signal vector expected to be received by the detection unit T of the radar station set R:
through the ith radar station r i Detection unit t of i Received echo signal vector x i (0) SNR in i Calculating the ith radar station r i Detection probability of
Obtaining a detection probability set P d ，
And through P d Maximum value of (1) max Calculating the signal-to-noise ratio in the echo signal vector expected to be received by the detection unit of each radar station to obtain a signal-to-noise ratio set SNR ', SNR' = { SNR = SNR i ' | i =1,2}, wherein,
p 1 (z i |SNR i ') represents r i Detection unit t of i Received echo signal vector x i (0) The signal-to-noise ratio of (1) is SNR' i Z is a detection statistic i Probability density of g i Denotes the ith radar station r i Threshold of, SNR' i For the ith radar station r i Detecting unit t of i Expected received echo signal vector x i (0) D (-) represents the differential of the random variable in parentheses;
the calculation of the ith radar station r i Detection probability of
The implementation steps are as follows:
step 3 a) setting the ith radar station r i False alarm probability P fa And through P fa 、r i Z of the detection statistic i And r i Detection unit t of i Detection statistic z for the absence of target signal in received echo signal vector i Probability density p of 0 (z i ) Calculating r i Threshold g of i ：
d (-) denotes the differential of the random variable in parentheses, p 0 (z i ) The calculation formula of (2) is as follows:
step 3 b) by r i Detection unit t of i Received echo signal vector x i (0) Signal to noise ratio of (1) is SNR i Z is a detection statistic i Probability density p of 1 (z i |SNR i )、r i Z is a detection statistic i And r i Threshold g of i Calculating r i Is detected with probability
p 1 (z i |SNR i ) The calculation formula of (2) is as follows:
wherein, the first and the second end of the pipe are connected with each other,
representing a confluent hypergeometric function, gamma (·) a gamma function, γ i Denotes a compliance parameter of (K) i +2-l i ,l i -1) a random variable of the beta distribution;
ith radar station r i Detection unit t of i Received echo signal vector x i (0) SNR in i The actual need is obtained by estimation methods or a priori information, assuming the signal-to-noise ratio SNR i Estimation accuracy, i.e. signal-to-noise ratio, SNR i With the i-th radar station r i Detection unit t of i Received echo signal vector x i (0) The true signal-to-noise ratios in (1) are equal, and all the signal-to-noise ratio units in step 3) are 1;
step 4) calculating a weighted value w of the detection statistic Z of the radar station set R:
the weighted value w of the detection statistic Z of the radar station set R can be calculated by each of the following four methods:
method one, calculate the ith radar station r i Z is a detection statistic i Obtaining a weighted value w of the detection statistic Z of the radar station set R, w = { w (i) | i =1,2},
detection unit t of ith radar station i SNR in received echo signal vector i With detection unit t of the ith radar station i Signal-to-noise ratio (SNR) 'in a received echo signal vector is expected' i Is (SNR' i -SNR i ) Indicating by the ith radar station r i Detecting unit t of i I-th radar station r caused by signal-to-noise ratio in received echo signal vector i Is the unit of all signal-to-noise ratios in step 4) is dB, so will (SNR' i -SNR i ) Converting the signal into unit 1 and taking the reciprocal to calculate the ith radar station r i The method comprises the steps that a weighted value of a radar station detection statistic is obtained, the smaller the loss of the signal-to-noise ratio of each radar station is, the better the detection performance of the radar station is, and the larger the calculated weight of the detection statistic of the radar station is, the larger the detection performance of the radar station in the multi-station radar system is, on the contrary, the larger the loss of the signal-to-noise ratio of the radar station is, the worse the detection performance of the radar station is, and the smaller the calculated weight of the detection statistic of the radar station is, the smaller the detection performance of the radar station in the multi-station radar system is;
the second method is adopted to calculate the ith radar station r i Z is a detection statistic i The weighted value w (i) of (b), the weighted value w of the detection statistic Z of the radar station set R is obtained, w = { w (i) | i =1,2},
wherein w 1 (i) The weight is calculated by the first method, the weight is a signal-to-noise ratio value in a physical sense, and a second weighting mode is provided based on the optimal form in the Bayesian sense on the basis of the first method. Like the first weighting mode, the smaller the loss of the signal-to-noise ratio of each radar station is, the better the detection performance of the radar station is, and the larger the calculated weight of the detection statistic of the radar station is, the larger the radar station plays a role in the target detection of the multi-station radar system, otherwise, the larger the loss of the signal-to-noise ratio of the radar station is, the worse the detection performance of the radar station is, and the smaller the calculated weight of the detection statistic of the radar station is, the smaller the radar station plays a role in the target detection of the multi-station radar system;
method three, adopting a third method to calculate the ith radar station r i Z is a detection statistic i The weighted value w (i) of (b), the weighted value w of the detection statistic Z of the radar station set R is obtained, w = { w (i) | i =1,2},
SNR k 'represents the minimum value of SNR', the ith radar station r i Detection unit t of i Signal-to-noise ratio (SNR) 'in a received echo signal vector is expected' i With the i-th radar station r i Detecting unit t of i Minimum SNR of SNR' in expected received echo signal vector k 'Difference value (SNR' i -SNR k ') denotes the i-th radar station r due to different signal processing algorithms of each radar station i In combination with the first method, the calculated weight value of the ith radar station r i Detection unit t of i I-th radar station r caused by signal-to-noise ratio in received echo signal vector i Loss of signal-to-noise ratio (SNR' i -SNR i ) And the ith radar station r can be calculated i Total loss of signal-to-noise ratio (2 SNR' i -SNR i -SNR k ') will be (2 SNR' i -SNR i -SNR k ') converting the signal into unit 1 and taking the reciprocal to calculate the ith radar station r i The method comprises the steps that a weighted value of a radar station detection statistic is obtained, the smaller the loss of the total signal-to-noise ratio of each radar station is, the better the detection performance of the radar station is, and the larger the calculated weight of the detection statistic of the radar station is, the larger the radar station plays a role in target detection of a multi-station radar system, otherwise, the larger the loss of the total signal-to-noise ratio of the radar station is, the worse the detection performance of the radar station is, and the smaller the calculated weight of the detection statistic of the radar station is, the smaller the radar station plays a role in target detection of the multi-station radar system;
the fourth method is adopted to calculate the ith radar station r i Z is a detection statistic i The weighted value w (i) of (b), the weighted value w of the detection statistic Z of the radar station set R is obtained, w = { w (i) | i =1,2},
wherein w 2 (i) Is a weight value calculated by the third method and is physicallyAnd a signal-to-noise ratio value provides a fourth weighting mode based on the Bayes idea on the basis of the third method. The same as the third weighting mode, the smaller the loss of the total signal-to-noise ratio of each radar station is, the better the detection performance of the radar station is, and the larger the calculated weight of the detection statistic of the radar station is, the larger the radar station plays a role in the target detection of the multi-station radar system, otherwise, the larger the loss of the total signal-to-noise ratio of the radar station is, the worse the detection performance of the radar station is, and the smaller the calculated weight of the detection statistic of the radar station is, the smaller the radar station plays a role in the target detection of the multi-station radar system;
in calculating the weighted value w of the detection statistic Z of the set R of radar stations by means of the first method and the second method, only the ith radar station R is taken into account i Detection unit t of i I-th radar station r caused by signal-to-noise ratio in received echo signal vector i The third method and the fourth method not only consider the signal-to-noise ratio loss of each radar station caused by the signal-to-noise ratio in the echo signal vector received by the detection unit of each radar station, but also consider the signal-to-noise ratio loss of each radar station caused by different signal processing algorithms of each radar station, so that the third method and the fourth method can obtain higher detection probability when the detection statistic of the weight calculation signal fusion center obtained by the first method and the second method is compared with the detection statistic of the weight calculation signal fusion center obtained by the first method and the second method in signal judgment. The fourth method is an optimal form of calculating the weight in the bayesian sense, so that the weight calculated by the fourth method can obtain a higher detection probability than the weight calculated by the third method when calculating the signal decision of the detection statistic of the signal fusion center, and therefore the fourth method is selected as the method for calculating the weighted value of the detection statistic of the radar station in the embodiment.
Step 5) calculating a signal fusion center C e The detection statistic Y of (a):
calculating a signal fusion center C through the detection statistics Z of the radar station set R and the weighted value w of the Z e Y:
wherein w (i) denotes the ith radar station r i Z is a detection statistic i When the signal fusion center judges whether targets exist in echo signal vectors received by detection units of all radar stations, a multi-radar-station signal level fusion detection method in the prior art calculates a form of directly summing detection statistics of the signal fusion center to detection statistics of all radar stations, does not consider the detection performance difference of all radar stations, and cannot enable a detector with good detection performance to play a large role in the detection statistics of the signal fusion center, so that the detection probability of a multi-station radar system to the targets is not high. The detection statistics of the signal fusion center calculated in the invention adopts a form of weighted summation of the detection statistics of each radar station, and the detection statistics of a single radar station with good detection performance can play a greater role in the fusion judgment process according to the signal-to-noise ratio information in the echo signal vector received by the detection unit of each radar station and the weight of the detection statistics of each radar station calculated by the signal processing algorithm of each radar station, so that the detection probability of the multi-station radar system on the target is improved;
step 6) judging whether a target exists in the echo signal vector received by the detection unit T of the radar station set R:
calculating a signal fusion center C e And judging whether Y is greater than or equal to g, if so, determining that a target exists in the echo signal vector received by the detection unit T of the radar station set R, and otherwise, determining that the target does not exist in the echo signal vector received by the detection unit T of the radar station set R. Signal fusion center C e The threshold g of (c) is calculated as:
wherein, P fa Representing a signal fusion center C e False alarm probability of p 0 (Y) denotes a radarSignal fusion center C when no target exists in echo signals received by detection unit T of station set R e D (-) denotes the differentiation of the random variable in brackets, and obeys a weighted exponential distribution with the parameter w.
The technical effects of the invention are further explained by combining simulation experiments as follows:
1. simulation conditions are as follows:
setting simulation parameters: the multi-station radar system comprises two radar stations and a signal fusion center, wherein the number of snapshots of each radar station is 16, and the false alarm probabilities of the signal fusion center and each radar station are 10 -4 The range of the signal-to-noise ratio in the received echo signal vectors of the two radar stations is 0dB to 25dB, and the interval of the signal-to-noise ratio is 1dB. Software and hardware environment in the simulation process, hardware environment: the CPU is Intercore i7-4790, the main frequency is 3.60Ghz, and the main memory is 8GB. Software environment: windows 10 professional edition, MATLAB simulation software.
2. Simulation content and result analysis:
the simulation of the detection probability of the signal fusion center is performed when the number of reference units of two radar stations is different from that of the signal level fusion target detection method of the multi-station radar system in the prior art, and the simulation results of the detection probability of the signal fusion center are shown in fig. 2 when the reference units of the two radar stations are respectively 32 and 23.
Referring to fig. 2, it can be seen that, when the number of reference units of two radar stations is different, the detection probability difference of the signal fusion center obtained by the method for detecting the signal level fusion target of the multi-station radar system in the prior art is larger in most regions of the signal-to-noise ratio combination in the echo signal vectors received by the detection units of the two radar stations, which indicates that the method can improve the detection probability in most cases and can improve the detection probability by about 40% at most, and the detection probability difference is smaller in a small region, which indicates that the method can reduce the detection probability in a small case and reduce the detection probability by about 3% at most.
In conclusion, the invention can obtain better detection performance when the multi-station radar system detects the target when the signal processing algorithms of all the radar stations are different.
Claims (4)
1. The multi-station radar signal level fusion target detection method based on signal-to-noise ratio information is characterized by comprising the following steps of:
(1) Establishing a multi-station radar system:
establishing a fusion center C comprising signals e And a set of radar stations R, R = { R = { (R) } i I =1,2, …, N }, and the detection unit of the radar station set R is denoted as T, T = { T = i I =1,2, …, N }, and the i-th radar station R in the radar station set R i With reference cell D i ，D i ＝{d i,j |j＝1,2,…,K i N represents the number of radar stations, N is not less than 2,t i Is represented by r i Detection unit of d i,j Is represented by r i J reference cell of (1), K i Is represented by r i Number of reference cells, K i ≥2；
(2) Calculating a detection statistic Z of the radar station set R:
through the ith radar station r i Detecting unit t of i Received echo signal vector x i (0) And the ith radar station r i Reference cell j of i,j Received echo signal vector x i (j) Calculating r i Z is a detection statistic i Obtaining a detection statistic Z, Z = { Z) of the radar station set R i |i＝1,2,…,N}；
(3) Calculating the signal-to-noise ratio SNR' of an echo signal vector expected to be received by a detection unit T of the radar station set R:
through the ith radar station r i Detection unit t of i Received echo signal vector x i (0) SNR in (signal to noise ratio) i Calculating the ith radar station r i Detection probability of
Obtaining a detection probability set P d ，
And through P d Maximum value of (1) max Calculating the signal-to-noise ratio in the echo signal vector expected to be received by the detection unit of each radar station to obtain a signal-to-noise ratio set S N 'R, SNR' = { SNR = { (SNR) } i ' | i =1,2, …, N }, wherein,
p 1 (z i |SNR i ') represents r i Detection unit t of i Received echo signal vector x i (0) The signal-to-noise ratio of (1) is SNR' i Z is a detection statistic i Probability density of g i Denotes the ith radar station r i Threshold of (3), SNR' i For the ith radar station r i Detection unit t of i Expected received echo signal vector x i (0) D (-) represents the differential of the random variable in parentheses;
(4) Calculating a weighted value w of the detection statistic Z of the radar station set R:
calculating the ith radar station r i Z is a detection statistic i The weighted value w (i) of (a), the weighted value w of the detection statistic Z of the radar station set R is obtained, w = { w (i) | i =1,2, …, N },
SNR k 'represents the minimum value in SNR';
(5) Calculating a signal fusion center C e The detection statistic Y of (a):
calculating a signal fusion center C through the detection statistics Z of the radar station set R and the weighted value w of the Z e The detection statistic Y of (a):
(6) Judging whether a target exists in an echo signal vector received by a detection unit T of a radar station set R:
calculating a signal fusion center C e And judging whether Y is greater than or equal to g, if so, determining that a target exists in the echo signal vector received by the detection unit T of the radar station set R, and otherwise, determining that the target does not exist in the echo signal vector received by the detection unit T of the radar station set R.
2. The method for detecting the multi-station radar signal level fusion target based on the SNR information of claim 1, wherein the r is calculated in the step (2) i Z is a detection statistic i The calculation formula is as follows:
wherein the content of the first and second substances,
indicated at i radar stations r i Steering vector of observed real target, l i Denotes the ith radar station r i Snap number of (K) i Is represented by r i Number of reference cells, K i ≥2，x i (0) Denotes the ith radar station r i Detecting unit t of i Received echo signal vector, S i The calculation formula of (a) is as follows:
wherein x is i (j) Denotes the ith radar station r i Reference cell j of i,j Received echo signal vector, (.) H Indicating the conjugate transpose of the vector in brackets.
3. The method for detecting the multi-station radar signal level fusion target based on the SNR information of claim 1, wherein the step (3) is implemented by calculating the ith radar station r i Detection probability of
The method comprises the following implementation steps:
(3a) Setting the ith radar station r i False alarm probability P fa And through P fa 、r i Z of the detection statistic i And r i Detection unit t of i Detection statistic z for the absence of target signal in received echo signal vector i Probability density p of 0 (z i ) Calculating r i Threshold g of i ：
d (-) represents the differential of the random variable in parentheses;
(3b) Through r i Detection unit t of i Received echo signal vector x i (0) Signal to noise ratio of (1) is SNR i Z is a detection statistic i Probability density p of 1 (z i |SNR i )、r i Z is a detection statistic i And r i Threshold g of i Calculating r i Detection probability of
SNR i Denotes the ith radar station r i Detecting unit t of i Received echo signal vector x i (0) Signal to noise ratio of (2).
4. The method for detecting the multi-station radar signal level fusion target based on the SNR information as claimed in claim 1, wherein the signal fusion center C is calculated in the step (6) e The calculation formula of the threshold g is as follows:
wherein, P fa Representing a signal fusion center C e The false alarm probability of (A), Y represents the signal fusion center C e Is detected, p 0 (Y) a signal fusion center C in the case where no target exists in the echo signals received by the detection unit T of the radar station set R e D (-) represents the differential of the random variable in parentheses.
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