CN110187315B - Online sidelobe suppression method and system for ultra-wideband step frequency MIMO radar - Google Patents
Online sidelobe suppression method and system for ultra-wideband step frequency MIMO radar Download PDFInfo
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- G—PHYSICS
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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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- G01S7/28—Details of pulse systems
- G01S7/2813—Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays
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Abstract
The invention discloses an on-line side lobe suppression method and system of an ultra-wideband step frequency MIMO radar, which comprises the following steps: s1, sequentially transmitting and receiving ultra-wideband step frequency signals to a target in an imaging area, obtaining echo signals of partial channels and partial frequency bands through division operation, and performing direct frequency domain imaging to obtain a plurality of low-resolution radar images with different characteristics of the target; s2, sequentially storing the plurality of low-resolution radar images obtained in the step S1, and synthesizing the plurality of low-resolution radar images to obtain a high-resolution radar image of the target; s3, calculating coherence factors of the multiple low-resolution radar images; and S4, weighting the high-resolution radar image by using the coherence factor to obtain the target radar image with the sidelobe suppressed. The method strengthens the target point of the ultra-wideband radar image, weakens the side lobe and the noise point, effectively reserves and sharpens the main lobe, inhibits the side lobe, completes the inhibition of the side lobe while radar imaging, and effectively improves the image quality of the radar imaging.
Description
Technical Field
The invention belongs to the technical field of radar imaging, and particularly relates to an on-line side lobe suppression method and system of an ultra-wideband step frequency MIMO radar.
Background
A Multiple Input Multiple Output (MIMO) radar is a radar which is a new system and is generated by introducing Multiple input and Multiple output technologies in a wireless communication system into the field of radars and combining the Multiple input and Multiple output technologies with a digital array technology. Due to the adoption of the waveform diversity technology, the MIMO radar has incomparable advantages in the aspects of resolution, target detection performance, target parameter estimation performance and the like compared with the traditional phased array radar. The antenna array generally comprises a plurality of transmitting antennas and a plurality of receiving antennas (the antennas can also be used for transmitting and receiving), the antennas are arranged according to a certain rule to form an antenna array, independent units of the antenna array are called array elements or antenna units, each transmitting antenna transmits different signal waveforms, and each transmitting signal is received by the plurality of receiving antennas after being reflected by a target.
The radar imaging of the MIMO system irradiates an imaging target by transmitting an ultra-wideband signal and receives a scattered echo signal irradiating the imaging target so as to reconstruct a radar image of the target, so that the radar imaging of the MIMO system is widely applied to the fields of medical imaging, penetration imaging, nondestructive testing and the like. The mechanism has the advantages of high data acquisition rate (good real-time performance), potential for imaging a fast moving target, large instantaneous aperture, accurate array element position, good target response coherence among signals, capability of realizing the same performance by using a smaller number of antenna array elements and contribution to system integration.
The ultra-wideband signal has a large bandwidth in a frequency domain, forms a pulse waveform after being compressed correspondingly in a space-time domain pulse, has a high-resolution property, and is commonly used in engineering, such as a narrow pulse, a frequency modulation continuous wave (FM) signal, a Step Frequency (SFCW) signal and the like. The high-resolution property is beneficial to identifying target contour characteristics and target characteristics in a radar image, and accurate target positioning, tracking, detection and identification can be realized, however, side lobes of the radar image have large influence on weak targets around strong targets, undesirable distance side lobes exist in output signals after pulse compression, and excessively high side lobes easily enable strong scattering points to cover weak scattering points, so that more artifacts are generated, the resolution is poor, the contrast is reduced, and the image quality is seriously reduced, so that the distance side lobes need to be suppressed, and the image quality of radar imaging is improved.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present invention provides an online sidelobe suppression method and system for an ultra wide band stepped frequency MIMO radar.
The purpose of the invention is realized by the following technical scheme:
on one hand, the invention provides an on-line side lobe suppression method of an ultra-wideband step frequency MIMO radar, which comprises the following steps:
s1, sequentially transmitting and receiving ultra-wideband step frequency signals to a target in an imaging area, obtaining echo signals of partial channels and partial frequency bands through division operation, and performing direct frequency domain imaging to obtain a plurality of low-resolution radar images with different characteristics of the target;
s2, sequentially storing the plurality of low-resolution radar images obtained in the step S1, and synthesizing the plurality of low-resolution radar images to obtain a high-resolution radar image of the target;
s3, calculating coherence factors of the multiple low-resolution radar images;
and S4, weighting the high-resolution radar image by using the coherence factor obtained in the step S3 to obtain a target radar image with side lobes suppressed.
As a further improvement, in step S1, the calculation formula of the plurality of low-resolution radar images is:
wherein: f. of k Is the frequency point of the ultra-wideband step-up frequency signal, k is the frequency point count of the ultra-wideband step-up frequency signal, P (f) k ) Echo frequency spectrum, x, being ultra-wideband step-frequency signal q Is an imaging pixel point of a radar image, w tm And w rn Respectively, the weighted values of the mth transmitting array element and the nth receiving array element,
is the focusing time delay, which is equal to the sum of the propagation time from the transmitting array element to the radar image imaging pixel point and from the radar image imaging pixel point to the receiving array element, i is the count of a plurality of low-resolution radar images, K i 、N Ti 、N Ri Respectively representing the number of frequency points, the number of transmitting array elements and the number of receiving array elements selected by the ith low-resolution radar image, wherein e is an Euler constant, j is an imaginary number unit, and O i (x q ) Is the ith low-resolution radar image obtained by calculation.
As a further improvement, in step S2, the high-resolution radar image synthesis calculation formula is:
wherein: i is the total number of low-resolution radar images, O (x) q ) Is a high-resolution radar image of the synthesized target.
As a further improvement, in step S3, the coherence factor performs online calculation and update iteration, where the update iteration formula is:
U new (x q )＝U old (x q )+|O i (x q )|
C new (x q )＝C old (x q )+O i (x q )
wherein: u shape old (x q ) And U new (x q ) Respectively representing the incoherent part sum, C, before and after the update old (x q ) And C new (x q ) Respectively representing the coherent part sum, CF (x), before and after the update q ) Is the coherence factor.
As a further improvement, in step S4, the calculation formula of the weighting process is: output (x) q )＝CF(x q )·O(x q ) Wherein: output (x) q ) And the target radar image after the sidelobe suppression is obtained after the processing.
As a further improvement, different K's are selected i 、N Ti 、N Ri And dividing the echo signals into non-overlapped or partially-overlapped areas in a time-frequency domain and a space-frequency domain, and processing the target in the imaging area to obtain a low-resolution radar image of the target.
As a further improvement, all frequency points of echo signals are divided into 4 sections with equal number, transmitting array elements are divided into one third of a full transmitting array aperture, receiving array elements are divided into one third of a full receiving array aperture, and a plurality of low-resolution radar images are obtained through calculation according to the sequence of acquired data.
As a further improvement, in step S2, during radar image synthesis, the low-resolution radar image is accumulated pixel by pixel, and a high-resolution image is obtained during accumulation.
The invention provides an on-line side lobe suppression method of an ultra-wideband step frequency MIMO radar, which comprises the following steps: the method comprises the following steps that S1, ultra-wideband step frequency signals are sequentially transmitted to and received by targets in an imaging area, echo data of partial channels and partial frequency bands are obtained through division operation, direct frequency domain imaging is carried out, and a plurality of low-resolution radar images with different characteristics of the targets are obtained; s2, sequentially storing the plurality of low-resolution radar images obtained in the step S1, and synthesizing the plurality of low-resolution radar images to obtain a high-resolution radar image of the target; s3, calculating coherence factors of the multiple low-resolution radar images; and S4, weighting the high-resolution radar image by using the coherence factor obtained in the step S3 to obtain a target radar image with sidelobes suppressed. The invention processes low-resolution radar images one by one in a serial mode, and weights a high-resolution radar image obtained by synthesizing a plurality of low-resolution radar images by using a coherence factor, so that the target point of an ultra-wideband radar image is enhanced, side lobes are weakened, the effect of weakening noise points is brought, a main lobe can be effectively reserved and sharpened, the side lobes are inhibited, the inhibition of the side lobes is completed while radar imaging is carried out, and the image quality of radar imaging is effectively improved.
On the other hand, the invention also provides an online sidelobe suppression system of the ultra-wideband stepped frequency MIMO radar, which comprises any one of the improvements of the online sidelobe suppression method of the ultra-wideband stepped frequency MIMO radar, and the online sidelobe suppression system of the ultra-wideband stepped frequency MIMO radar comprises an imaging module, an accumulation module, a storage module and a calculation module, wherein:
the imaging module is used for generating a plurality of low-resolution radar images and sending the generated low-resolution radar images to the storage module;
the storage module is used for storing a plurality of low-resolution radar images sent by the imaging module and respectively sending the read low-resolution radar images to the accumulation module and the calculation module;
the accumulation module is used for accumulating coherent parts and incoherent parts of the plurality of low-resolution radar images sent by the storage module, synthesizing to obtain high-resolution radar images and sending the high-resolution radar images to the calculation module;
the calculation module is used for calculating a coherence factor for the plurality of low-resolution radar images sent by the storage module, and performing weighting processing on the high-resolution radar images sent by the accumulation module by using the coherence factor to obtain target radar images after sidelobe suppression.
According to the online sidelobe suppression system of the ultra-wideband step frequency MIMO radar, due to the adoption of the online sidelobe suppression method of the ultra-wideband step frequency MIMO radar, the same or corresponding technical effects are achieved, and therefore the description is omitted.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a schematic step diagram of an online sidelobe suppression method of an ultra-wideband step frequency MIMO radar according to the present invention.
Fig. 2 is a structural block diagram of an online sidelobe suppression system of an ultra-wideband step frequency MIMO radar of the present invention.
Fig. 3a is a MIMO radar image without the processing of the present invention.
Fig. 3b is a MIMO radar image processed by the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and specific embodiments, and it is to be noted that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.
As shown in fig. 1, an embodiment of the present invention provides an on-line sidelobe suppression method for an ultra-wideband step frequency MIMO radar, including the following steps:
the method comprises the steps of S1, emitting an ultra wide band step frequency signal to an imaging area where a target to be imaged is located through a radar antenna to irradiate the target, receiving an ultra wide band step frequency echo signal scattered by the irradiated target, obtaining echo signals of partial channels and partial frequency bands of the ultra wide band step frequency through division operation, carrying out direct frequency domain imaging on the echo signals, and obtaining a plurality of low-resolution radar images with different characteristics of the target.
Specifically, different K is selected for the target to be imaged in the imaging area i 、N Ti 、N Ri The value divides the ultra-wideband step frequency echo signal into non-overlapped or partially-overlapped areas in a time frequency domain and a space frequency domain, wherein i is the counting number of a plurality of low-resolution radar images, and K i 、N Ti 、N Ri The number of frequency points of ultra wide band step frequency echo signals selected by the ith low-resolution radar image, the number of radar antenna transmitting array elements and the number of radar antenna receiving array elements are represented respectively. This example takes K i ＝K/4，N Ti ＝N T /3，N Ri ＝N R And/3, dividing all frequency points of the ultra-wideband step frequency echo signals into 4 sections with equal number, dividing the transmitting array elements of the radar antenna into one third of the aperture of a full transmitting array, dividing the receiving array elements of the radar antenna into one third of the aperture of a full receiving array, and calculating to obtain 36 low-resolution radar images according to the sequence of the acquired data.
S2, sequentially storing the plurality of low-resolution radar images obtained in the step S1, and synthesizing the plurality of low-resolution radar images to obtain a high-resolution radar image of the target;
s3, calculating coherence factors of the multiple low-resolution radar images;
and S4, weighting the high-resolution radar image obtained in the step S2 by using the coherence factors of the plurality of low-resolution radar images obtained in the step S3 to obtain a target radar image with sidelobes suppressed.
The embodiment of the invention processes the low-resolution radar images one by one in a serial mode, and performs weighting processing on the high-resolution radar image synthesized by the low-resolution radar images by using the coherence factors of the low-resolution radar images obtained by calculation, so that the target points of the low-resolution radar images are enhanced, side lobes are weakened, the effect of weakening noise points is brought, the main lobe can be effectively reserved and sharpened, the side lobes are inhibited, the inhibition of the side lobes is completed while radar imaging is performed, and the image quality of the radar imaging is effectively improved.
As a further preferred embodiment, in step S1, the imaging calculation formula of the plurality of low-resolution radar images is:
wherein: f. of k Is the frequency point of the stepped frequency signal, k is the frequency point count of the stepped frequency signal, P (f) k ) Is the echo spectrum of the stepped frequency signal, x q Is an imaging pixel point of a radar image, w tm And w rn The weighting values of the mth transmitting array element and the nth receiving array element are respectively,
is focusing time delay which is equal to the sum of the propagation time from the radar antenna transmitting array element to the radar image imaging pixel point and from the radar image imaging pixel point to the radar antenna receiving array element, e is an Euler constant, j is an imaginary number unit, O i (x q ) Is the ith low-resolution radar image obtained by calculation.
In a further preferred embodiment, in step S2, the high-resolution radar image synthesis formula is:
where I is the total number of low resolution radar images, O (x) q ) The radar image is a high-resolution radar image synthesized by a plurality of low-resolution radar images.
As a further preferred embodiment, in step S3, a coherence factor is calculated from the plurality of low-resolution radar images obtained in step S1, and an online update iterative formula of the coherence factor is as follows:
U new (x q )＝U old (x q )+|O i (x q )|
C new (x q )＝C old (x q )+O i (x q )
wherein: u shape old (x q ) And U new (x q ) Respectively representing incoherent part sum, C, of multiple low-resolution radar images before and after updating old (x q ) And C new (x q ) Respectively representing the coherent portions of the low-resolution radar images before and after updating, CF (x) q ) Is a coherent factor, U, of a plurality of low-resolution radar images obtained by calculation old (x q ) Initial value of 0,C old (x q ) The initial value is 0.
In a more preferred embodiment, in step S4, the calculation formula of the weighting process is:
Output(x q )＝CF(x q )·O(x q )
wherein: output (x) q ) And the target radar image after the sidelobe suppression is obtained after the processing.
As a further preferred embodiment, in step S2, during radar image synthesis, the low-resolution radar image is accumulated pixel by pixel, and a high-resolution image is obtained during accumulation, which is beneficial to subsequent identification processing.
As shown in fig. 2, the present invention further provides an ultra-wideband step-frequency MIMO radar online sidelobe suppression system, including any one of the preferred embodiments of the above ultra-wideband step-frequency MIMO radar online sidelobe suppression method, and the ultra-wideband step-frequency MIMO radar online sidelobe suppression system includes an imaging module, an accumulation module, a storage module, and a calculation module, where:
the imaging module is used for generating a plurality of low-resolution radar images, transmitting an ultra-wideband step frequency signal to an imaging area where a target to be imaged is located through a radar antenna to irradiate the target, receiving an ultra-wideband step frequency echo signal scattered by the irradiated target, obtaining echo signals of partial channels and partial frequency bands of the ultra-wideband step frequency through division operation, performing direct frequency domain imaging on the echo signals, and sending the generated plurality of low-resolution radar images to the storage module;
specifically, different K is selected for the target to be imaged in the imaging area i 、N Ti 、N Ri The value divides the ultra-wideband step frequency echo signal into non-overlapped or partially-overlapped areas in a time frequency domain and a space frequency domain, wherein i is the count of a plurality of low-resolution radar images, and K i 、N Ti 、N Ri The number of frequency points of ultra wide band step frequency echo signals selected by the ith low-resolution radar image, the number of radar antenna transmitting array elements and the number of radar antenna receiving array elements are represented respectively. This example takes K i ＝K/4，N Ti ＝N T /3，N Ri ＝N R And/3, dividing all frequency points of the ultra-wideband step frequency echo signals into 4 sections with equal number, dividing the transmitting array elements of the radar antenna into one third of the aperture of a full transmitting array, dividing the receiving array elements of the radar antenna into one third of the aperture of a full receiving array, and calculating to obtain 36 low-resolution radar images according to the sequence of the acquired data.
The storage module is used for sequentially storing the received multiple low-resolution radar images sent by the imaging module and respectively sending the read multiple low-resolution radar images to the accumulation module and the calculation module;
the accumulation module is used for accumulating coherent parts and incoherent parts of the received multiple low-resolution radar images sent by the storage module, synthesizing to obtain high-resolution radar images and sending the high-resolution radar images to the calculation module;
the calculation module is used for calculating the coherence factor of the received low-resolution radar images sent by the storage module, and performing weighting processing on the received high-resolution radar images sent by the accumulation module by using the coherence factor to generate target radar images after sidelobe suppression.
The system has the advantages of online implementation of the processing process, simple calculation, strong flexibility and wide applicability, can be used for two-dimensional and three-dimensional radar imaging, and effectively improves the image quality of radar imaging.
Fig. 3a is a radar image which is not processed by the method, and fig. 3b is the effect of the method after the side lobe suppression processing of the MIMO radar ultra-wideband step frequency signal imaging image, so that the side lobe suppression effect of the radar image is obvious, and the image quality of radar imaging is effectively improved.
In the description above, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein and, therefore, should not be construed as limiting the scope of the present invention.
In conclusion, although the present invention has been described with reference to the preferred embodiments, it should be noted that various changes and modifications can be made by those skilled in the art, and they should be included in the scope of the present invention unless they depart from the scope of the present invention.
Claims (7)
1. An on-line sidelobe suppression method of an ultra-wideband step frequency MIMO radar is characterized by comprising the following steps:
the method comprises the following steps that S1, ultra-wideband step frequency signals are sequentially transmitted to and received by targets in an imaging area, echo signals of partial channels and partial frequency bands are obtained through division operation and direct frequency domain imaging is carried out, and a plurality of low-resolution radar images with different characteristics of the targets are obtained;
the imaging calculation formula of the multiple low-resolution radar images is as follows:
wherein: f. of k Is the frequency point of the ultra-wideband step-frequency signal, k is the frequency point count of the ultra-wideband step-frequency signal, P (f) k ) Echo frequency spectrum, x, being ultra-wideband step-frequency signal q Is imaging of radar imagesPixel point, w tm And w rn Respectively, the weighted values of the mth transmitting array element and the nth receiving array element,
is the focusing time delay, which is equal to the sum of the propagation time from the transmitting array element to the radar image imaging pixel point and from the radar image imaging pixel point to the receiving array element, i is the count of a plurality of low-resolution radar images, K i 、N Ti 、N Ri Respectively representing the number of frequency points, the number of transmitting array elements and the number of receiving array elements selected by the ith low-resolution radar image, wherein e is an Euler constant, j is an imaginary number unit, and O i (x q ) The ith low-resolution radar image is obtained through calculation;
s2, sequentially storing the plurality of low-resolution radar images obtained in the step S1, and synthesizing the plurality of low-resolution radar images to obtain a high-resolution radar image of the target;
s3, calculating coherence factors of the multiple low-resolution radar images;
the coherence factor is subjected to online calculation updating iteration, and the updating iteration formula is as follows:
U new (x q )＝U old (x q )+|O i (x q )|
C new (x q )＝C old (x q )+O i (x q )
wherein: u shape old (x q ) And U new (x q ) Respectively representing the incoherent part sum, C, before and after the update old (x q ) And C new (x q ) Respectively representing the coherent part sum, CF (x), before and after the update q ) Is a coherence factor;
and S4, weighting the high-resolution radar image obtained in the step S2 by using the coherence factor obtained in the step S3 to obtain a target radar image with suppressed side lobes.
2. The on-line sidelobe suppression method of the ultra-wideband step frequency MIMO radar according to claim 1, wherein in step S2, the high resolution radar image synthesis calculation formula is:
wherein: i is the total number of low resolution radar images, O (x) q ) Is a high-resolution radar image of the synthesized target.
3. The method for suppressing online sidelobe of an ultra-wideband step frequency MIMO radar as claimed in claim 2, wherein in step S4, the calculation formula of the weighting process is:
Output(x q )＝CF(x q )·O(x q )
wherein: output (x) q ) And the target radar image after the sidelobe suppression is obtained after the processing.
4. The on-line sidelobe suppression method of the ultra-wideband step frequency MIMO radar as claimed in claim 1, wherein different K's are selected i 、N Ti 、N Ri And dividing the echo signals into non-overlapped or partially-overlapped areas in a time-frequency domain and a space-frequency domain, and processing the target in the imaging area to obtain a low-resolution radar image of the target.
5. The method for on-line sidelobe suppression of ultra-wideband step frequency MIMO radar as claimed in claim 4, wherein all frequency points of the echo signal are divided into 4 sections with equal number, the transmitting array element is divided into one third of the aperture of the full transmitting array, the receiving array element is divided into one third of the aperture of the full receiving array, and a plurality of low resolution radar images are obtained by calculation according to the sequence of the acquired data.
6. The on-line sidelobe suppression method of the ultra-wideband step frequency MIMO radar as claimed in claim 2, wherein in step S2, the low resolution radar image is accumulated pixel by pixel during radar image synthesis, and the high resolution image is obtained during accumulation.
7. An ultra-wideband step frequency MIMO radar online sidelobe suppression system adopting the method of any one of claims 1 to 6, comprising an imaging module, an accumulation module, a storage module and a calculation module, wherein:
the imaging module is used for generating a plurality of low-resolution radar images and sending the generated low-resolution radar images to the storage module;
the storage module is used for storing a plurality of low-resolution radar images sent by the imaging module and respectively sending the read low-resolution radar images to the accumulation module and the calculation module;
the accumulation module is used for accumulating coherent parts and incoherent parts of the plurality of low-resolution radar images sent by the storage module, synthesizing to obtain high-resolution radar images and sending the high-resolution radar images to the calculation module;
the calculation module is used for calculating a coherence factor for the plurality of low-resolution radar images sent by the storage module, and performing weighting processing on the high-resolution radar images sent by the accumulation module by using the coherence factor to obtain target radar images after sidelobe suppression.
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