CN110231604A - One kind is based on four-dimensional relevant multipath target suppressing method - Google Patents
One kind is based on four-dimensional relevant multipath target suppressing method Download PDFInfo
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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
- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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Abstract
The application belongs to airborne fire control radar field, in particular to a kind of based on four-dimensional relevant multipath target suppressing method, includes the following steps: to handle to obtain and road, gun parallax road, trim road and the spectrogram for protecting road according to receiving radar return；Carry out target detection, obtain target with range gate on the frequency spectrum of road and frequency door；Performance number in the spectrogram on protection road is extracted, and carries out secondary lobe and hides hidden processing；Obtain the four-dimensional information of main lobe target；Judge whether any two main lobe target is related；Retain the main lobe target that speed absolute value is big, distance value is small in relevant main lobe target and pitching angle value is big, deletes another；Retain suitable main lobe target as output, carries out normal flight path processing.The application based on four-dimensional relevant multipath target suppressing method, can not only prevent reflection signal from being entered by secondary lobe and form decoy, but also can prevent reflection signal from entering from main lobe and generate mirror image decoy, and improve the stability of the tracking to real goal.
Description
Technical field
The application belongs to airborne fire control radar field, in particular to a kind of based on four-dimensional relevant multipath target inhibition side
Method.
Background technique
Airborne fire control radar is when tracking low target, by the directly reflected echo-signal of target and through ground or sea
The reflected signal in face is received by the antenna together after vector addition, causes change of the echo-signal in amplitude and phase
Change, cause the measurement error of the multidimensional information such as distance, speed, pitch angle, is lost so as to cause tracking accuracy decline even tracking
It loses.
The method for solving multipath effect at present includes antenna narrow beam, diversity reception, the fusion of multistation information and target component
Estimation etc..Antenna narrow beam method has higher requirements to radar antenna size and working frequency, phased-array radar in antenna aperture and
There is some superiority compared with traditional pulse radar in terms of bandwidth of operation, but still is difficult to completely eliminate the influence of multipath effect.Diversity reception
It is mainly used in the fixed ground photo in position, is difficult to realize for the airborne radar in high-speed motion.Due to multipath
The mirror target and low latitude real goal of generation are in the similitude in Velocity Azimuth pitching, and different platform itself is existing
Measurement error, this also constitutes great challenge to the fusion of multistation information.
For this reason, it may be necessary to invent a kind of multipath target suppressing method being easily achieved based on airborne fire control radar.
Summary of the invention
At least one in order to solve the above-mentioned technical problem, this application provides one kind based on four-dimensional relevant multipath target
Suppressing method.
This application discloses one kind based on four-dimensional relevant multipath target suppressing method, includes the following steps:
Step 1: regarding in target following event under low latitude, handle to obtain and road spectrogram according to radar return is received
PSum, gun parallax road spectrogram PAz, trim road spectrogram PElAnd the spectrogram P on protection roadGuard；
Step 2: to and road spectrogram PSumCarry out target detection, obtain target with range gate Nr and frequency on the frequency spectrum of road
Door Nf；
Step 3: extracting the spectrogram P on protection roadGuardPerformance number in (i.e. protection channel) at coordinate points (Nr, Nf)
PGuard mesh, and carry out secondary lobe and hide hidden processing, to reject secondary lobe target, retain main lobe target；
Step 4: carrying out distance, speed, azimuth, pitch angle calculating respectively to main lobe target, the four of main lobe target are obtained
It ties up information (R, V, Az, El)；
Step 5: judge the four-dimensional information difference of any two main lobe target absolute value whether and meanwhile meet thresholding and want
It asks, meets, then two main lobe targets are related；
Step 6: judge any of two relevant main lobe targets main lobe target whether meet speed absolute value it is big, away from
From being worth, small and pitching angle value is big, if it is satisfied, then retaining, and deletes another measurement main lobe target；
Step 7: using main lobe target is retained in main lobe target incoherent in the step 5 and step 6 as defeated
Out, normal flight path processing is carried out.
According at least one embodiment of the application, regarded in target following event under low latitude, radar beam inertial system
1 ° of pitch angle <.
According at least one embodiment of the application, in the step 3, if PSum mesh> K*PGuard mesh, then target be
Main lobe target, otherwise target is secondary lobe target, wherein PSum meshFor with road spectrogram PSumPerformance number at middle coordinate points (Nr, Nf),
K is hidden coefficient of hideing.
It is to judge any two main lobe target in the step 5 according at least one embodiment of the application
Absolute value delta R, Δ V, Δ Az and the Δ El of four-dimensional information difference whether simultaneously meet Δ R < T1, Δ V < T2, Δ Az < T3,
Δ E1 < T4, wherein T1, T2, T3, T4 are thresholding.
According at least one embodiment of the application, RCarry meshWhen >=120km, thresholding T1=200m, T2=1.5m/s, T3
=1 °, T4=1 °, wherein RCarry meshIt is away from carrier aircraft target machine distance.
According at least one embodiment of the application, 60km≤RCarry meshWhen < 120km, thresholding T1=300m, T2=
2.5m/s, T3=1 °, T4=2 °, wherein RCarry meshIt is away from carrier aircraft target machine distance.
According at least one embodiment of the application, RCarry meshWhen < 60km, thresholding T1=400m, T2=3.5m/s, T3=
1 °, T4=3 °, wherein RCarry meshIt is away from carrier aircraft target machine distance.
At least there are following advantageous effects in the application:
The application based on four-dimensional relevant multipath target suppressing method, not by hardware such as antenna size, bandwidth of operation
The constraint of condition, implementation method are more feasible；In addition, calculation method is relatively easy, before not influencing normal trace logic
It puts, CFAR is measured and carries out related screening, more real-time；Further, it can both prevent reflection signal from entering shape by secondary lobe
At decoy, and it can prevent reflection signal from entering from main lobe and generate mirror image decoy, and improve to the tracking of real goal
Stability.
Detailed description of the invention
Fig. 1 is flow chart of the application based on four-dimensional relevant multipath target suppressing method；
Fig. 2 is the application and channel and protection channel antenna radiation pattern relativeness；
Fig. 3 is the application multipath effect schematic diagram；
Fig. 4 is mirror image and real goal theoretical range difference with carrying eye-distance from situation of change schematic diagram；
Fig. 5 is mirror image and real goal theoretical velocity difference with carrying eye-distance from situation of change schematic diagram；
Fig. 6 is mirror image and real goal theory pitch angle difference with carrying eye-distance from situation of change schematic diagram；
Fig. 7 is to track situation schematic diagram before four-dimensional correlation logic enables；
Fig. 8 is to track situation schematic diagram after four-dimensional correlation logic enables.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application implementation clearer, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the application
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
In explanation the application, and it should not be understood as the limitation to the application.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.Under
Face is described in detail embodiments herein in conjunction with attached drawing.
1- Fig. 8 is to the further detailed based on four-dimensional relevant multipath target suppressing method of the application with reference to the accompanying drawing
Explanation.
This application discloses one kind based on four-dimensional relevant multipath target suppressing method, includes the following steps:
Step 1: regarding in target following event under low latitude, handle to obtain and road spectrogram according to radar return is received
PSum, gun parallax road spectrogram PAz, trim road spectrogram PElAnd the spectrogram P on protection roadGuard。
Wherein, it is regarded in target following event under low latitude, radar beam inertial system pitch angle < 1 °.In order to receive radar and return
It is to be handled by channel calibration, correlative accumulation etc., then obtained and road spectrogram P through FFT transform after waveSum, gun parallax road
Spectrogram PAz, trim road spectrogram PElAnd the spectrogram P on protection roadGuard。
Step 2: to and road spectrogram PSumCarry out target detection (being called CFAR target detection), obtain target and Lu Pin
Range gate Nr and frequency door Nf in spectrum.
Specifically selection adjacent unit is averaged, constant false alarm detector calculates detection threshold, guarantees the premise of false-alarm probability
Under, on the echo spectrum of channel, target is detected, target range gate Nr and frequency door Nf on frequency spectrum is obtained；
Step 3: extracting the target signature in protection channel, carries out secondary lobe and hide hidden processing, rejecting may enter through sidelobe direction
Multipath target.
Specifically, the spectrogram P on protection road is extractedGuardPerformance number in (i.e. protection channel) at coordinate points (Nr, Nf)
PGuard mesh, and carry out secondary lobe and hide hidden processing, to reject secondary lobe target, retain main lobe target.
Further, if PSum mesh> K*PGuard mesh, then target is main lobe target, and otherwise target is secondary lobe target, wherein PSum mesh
For with road spectrogram PSumPerformance number at middle coordinate points (Nr, Nf), K are hidden coefficient of hideing.
Step 4: carrying out distance, speed, azimuth, pitch angle calculating respectively to main lobe target, the four of main lobe target are obtained
It ties up information (R, V, Az, El).
Step 5: judge the four-dimensional information difference of any two main lobe target absolute value whether and meanwhile meet thresholding and want
It asks, meets, then two main lobe targets are related.
Specifically, traversal correlation two-by-two is carried out to measurement, is the four-dimensional information difference for judging any two main lobe target
Absolute value delta R, Δ V, Δ Az and Δ El whether simultaneously meet Δ R < T1, Δ V < T2, Δ Az < T3, Δ El < T4, wherein T1,
T2, T3, T4 are thresholding.
Step 6: judge any of two relevant main lobe targets main lobe target whether meet speed absolute value it is big, away from
From being worth, small and pitching angle value is big, if it is satisfied, then retaining, and deletes another measurement main lobe target；
Step 7: will in main lobe target incoherent in step 5 and step 6 retain main lobe target as export, into
The normal flight path processing of row, tracks correlation logic.
In conclusion the application based on four-dimensional relevant multipath target suppressing method, not by antenna size, work belt
The constraint of the hardware conditions such as width, implementation method are more feasible；In addition, calculation method is relatively easy, do not influencing normally to track
Under the premise of logic, CFAR is measured and carries out related screening, more real-time；Further, it can both prevent reflection signal by side
Valve enters to form decoy, and can prevent reflection signal from entering from main lobe and generate mirror image decoy, and improve to real goal
Tracking stability.
It should be noted that the existing multipath target suppressing method based on pitching corner characteristics, usually considers round trip transmission
It is carried out with 4 possible ray paths:
1) it is directly added by target to target directly to receiver path by transmitter；
2) RX path of the transmission path of direct projection plus reflection；
3) transmission path reflected adds the RX path of direct projection；
4) RX path of the transmission path reflected plus reflection.
But this complicates the issue, and the present processes be according to two possible paths and one way transmission conditions come
Study multipath effect.Composite wave generates re-radiation wave to target illumination, this radiated wave is returned by above-mentioned two same paths
Return to receiver.
Wherein, the relationship between multipath mirror target and real goal four-dimensional information is as follows:
Distance dimension:
As seen from Figure 3, the multipath effect schematic diagram based on specular reflectance model, the high H1 in carrier aircraft field, target airport are high
H2, under optionally under, H1 > H2, carry eye-distance from R, then reflection path R1 and R2 is respectively as follows:
Obviously,Mirror target institute's ranging is from real goal to be compared
Far.The theoretical range error of mirror target and real goal Δ R is as shown in Figure 4 with the situation of change for carrying mesh actual distance.
Speed dimension:
As seen from Figure 3, the multipath effect schematic diagram based on specular reflectance model, carrier aircraft level speed V1, target are flat
Rapidly degree V2, meet head on flight when, the radial velocity of carrier aircraft and real goal are as follows:
V3=V1 cos θ+V2 cos θ=(V1+V2) cos θ (3)；
The radial velocity of carrier aircraft and mirror target are as follows:
V4=V1 cos (θ+β)+V2 cos (θ+β)=(V1+V2) cos (θ+β) (4)；
When regarding detection under obvious low latitude,Then meet head under situation | V3 | > | V4 |.Δ V=
V3-V4=(V1+V2) (cos θ-cos (θ+β))；
When flight in hot pursuit, the radial velocity of carrier aircraft and real goal are as follows:
V3=V1 cos θ-V2 cos θ=(mono- V2 of V1) cos θ (5)；
The radial velocity of carrier aircraft and mirror target are as follows:
V4=V1 cos (θ+β)+V2 cos (θ+β)=(V1-V2) cos (θ+β) (6)；
Equally,Then | V3 | > | V4 |.The radial speed difference Δ V of mirror target and real goal
=| V3-V4 |=| V1-V2 | (cos θ-cos (θ+β)) > 0, therefore after no matter meeting head or tail, the speed absolute value of real goal
The both greater than speed of mirror target.
As shown in Figure 3β=3 °, V1=350m/s, V2=300m/s, H1=6000m, H2=
1000m, Δ V are with as shown in Figure 5 apart from carrier aircraft target machine distance R situation of change.
Azimuth dimension:
Mirror target and real goal difference in orientation are little it can be seen from the principle of multipath effect, survey in judgement
When amount is related, orientation thresholding should suitably be put small.
Pitching dimension:
As seen from Figure 3, then apparent time under low latitude, mirror target are based on specular reflectance model in the lower section of real goal
Multipath effect schematic diagram, the high H1 in carrier aircraft field, the high H2 in target airport, carry eye-distance from R, the then pitching of real goal and mirror target
Angular difference value are as follows:
Wherein,In H1, H2 certain situation
Under, β is as shown in Figure 6 with the schematic diagram that R changes.
Further, a specific example will be introduced below to the application based on four-dimensional relevant multipath target inhibition side
Method is described further:
In the present embodiment, preset condition is the high H1=6000m in carrier aircraft field, and the high H2=1700m in target airport, carrier aircraft is put down at full speed
V1=400m/s, target level speed V2=160m/s are spent, two-shipper meets head on to enter.It tracks in object procedure, certain is to target
In tracking event, -3.8581 ° of pitching, wavelength 0.0301m.
The echo that radar receives is handled, is obtained and channel frequency spectrum information.After carrying out CFAR processing to frequency spectrum, inspection
It measures and carries out protection channel after target and hide hidden judgement.After first step judgement passes through, remaining 4 measurements, according to target information and survey
The spectral distance door frequency door information of amount, measures through angle error, and the four-dimensional information for obtaining four measurements is as follows:
The four-dimensional information of 1 four, table measurements
Measured two-by-two carry out four-dimensional information it is related after, measurement 1 and measurement 2, measurement 2 and measurement 3, measurement 3 are same with measurement 1
When meet dependent threshold T1=300m, T2=3.5m/s, T3=1 °, T4=3 °, but only measurement 1 is related with 2 this group are measured
In, measurement 1 meets distance closely simultaneously, and speed is big, and pitch angle is big.Therefore, measurement 2 is deleted, 1 measurement of residue measurement, 3 measurement 4 becomes
Normal measurement tracks interrelated logic into normal track initiation.
Wherein, dependent threshold is arranged are as follows:
RCarry meshWhen >=120km, T1=200m, T2=1.5m/s, T3=1 °, T4=1 °；
60km≤RCarry meshWhen < 120km, T1=300m, T2=2.5m/s, T3=1 °, T4=2 °；
RCarry meshWhen < 60km, T1=400m, T2=3.5m/s, T3=1 °, T4=3 °, RCarry meshIt is away from carrier aircraft target machine distance.
In this secondary tracking event, before enabling four-dimensional interrelated logic, pitch angle tracking effect is as shown in Figure 7, it can be seen that
No. 151 tracks play false track by mirror target, and No. 602 tracks are real goal track.It is carried out due to not measuring multipath
Inhibit in time, lead to the generation of mirror target 151 and maintains for a long time.Using based on four-dimensional relevant multipath target suppressing method
Afterwards, pitch angle tracking effect is as shown in Figure 8, it can be seen that mirror target is suppressed, realize to the stabilization of real goal with
Track.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Within the technical scope of the present application, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
Cover within the scope of protection of this application.Therefore, the protection scope of the application should be based on the protection scope of the described claims.
Claims (7)
1. one kind is based on four-dimensional relevant multipath target suppressing method, which comprises the steps of:
Step 1: regarding in target following event under low latitude, handle to obtain and road spectrogram P according to radar return is receivedSum, side
Potential difference road spectrogram PAz, trim road spectrogram PElAnd the spectrogram P on protection roadGuard；
Step 2: to and road spectrogram PSumCarry out target detection, obtain target with range gate Nr on the frequency spectrum of road and frequency door
Nf；
Step 3: extracting the spectrogram P on protection roadGuardPerformance number P at middle coordinate points (Nr, Nf)Guard mesh, and carry out secondary lobe and hide
Hidden processing retains main lobe target to reject secondary lobe target；
Step 4: carrying out distance, speed, azimuth, pitch angle calculating respectively to main lobe target, the four-dimensional letter of main lobe target is obtained
Breath；
Step 5: judge the four-dimensional information difference of any two main lobe target absolute value whether and meanwhile meet threshold requirement, it is full
Foot, then two main lobe targets are related；
Step 6: judging whether any of two relevant main lobe targets main lobe target meets that speed absolute value is big, distance value
Small and pitching angle value is big, if it is satisfied, then retaining, and deletes another measurement main lobe target；
Step 7: will in main lobe target incoherent in the step 5 and step 6 retain main lobe target as export, into
The normal flight path processing of row.
2. according to claim 1 based on four-dimensional relevant multipath target suppressing method, which is characterized in that under low latitude
Depending in target following event, radar beam inertial system pitch angle < 1 °.
3. according to claim 1 based on four-dimensional relevant multipath target suppressing method, which is characterized in that in the step
In rapid three, if PSum mesh> K*PGuar mesh d, then target is main lobe target, and otherwise target is secondary lobe target, wherein PSum meshFor with road frequency spectrum
Scheme PSumPerformance number at middle coordinate points (Nr, Nf), K are hidden coefficient of hideing.
4. according to claim 1 based on four-dimensional relevant multipath target suppressing method, which is characterized in that in the step
It is whether the absolute value delta R of four-dimensional information difference for judging any two main lobe target, Δ V, Δ Az and Δ El are same in rapid five
When meet Δ R < T1, Δ V < T2, Δ Az < T3, Δ El < T4, wherein T1, T2, T3, T4 be thresholding.
5. according to claim 4 based on four-dimensional relevant multipath target suppressing method, which is characterized in that RCarry mesh≥
When 120km, T1=200m, T2=1.5m/s, T3=1 °, T4=1 ° of thresholding, wherein RCarry meshIt is away from carrier aircraft target machine distance.
6. according to claim 4 based on four-dimensional relevant multipath target suppressing method, which is characterized in that 60km≤
RCarry meshWhen < 120km, thresholding T1=300m, T2=2.5m/s, T3=1 °, T4=2 °, wherein RCarry meshBe away from carrier aircraft target machine away from
From.
7. according to claim 4 based on four-dimensional relevant multipath target suppressing method, which is characterized in that RCarry mesh<
When 60km, thresholding T1=400m, T2=3.5m/s, T3=1 °, T4=3 °, wherein RCarry meshIt is away from carrier aircraft target machine distance.
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