CN110531333B - Adaptive compensation method for aperture transit effect of broadband radar - Google Patents
Adaptive compensation method for aperture transit effect of broadband radar Download PDFInfo
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Abstract
The invention discloses a self-adaptive compensation method for a broadband radar aperture transit effect, which can self-adaptively compensate aperture transit time difference. The method takes a Chirp signal as a transmitting signal, and specifically comprises the following steps: and receiving a target echo signal by the phased array radar. And generating a deskew processed reference signal according to the transmission signal. And mixing the target echo signal with the reference signal, and performing low-pass filtering processing, wherein the processed echo signal adopts a broadband scattering point model, namely the processed echo signal is formed by superposing echoes of all scattering points of the target. And selecting a reference subarray in the phased array radar, performing cross-correlation operation on data subjected to deskew processing of other subarray channels except the reference subarray and the data subjected to deskew processing of the reference subarray, and estimating the aperture transit effect compensation value of each other subarray channel according to the cross-correlation operation result. And (4) compensating the aperture transit time by calculating the aperture transit effect compensation value of each other subarray channel.
Description
Technical Field
The invention relates to the technical field of radar array transmitting and receiving, in particular to a broadband radar aperture transit effect self-adaptive compensation method.
Background
In order to obtain high range resolution, the radar needs to use a transmission signal with large bandwidth, and a broadband linear frequency modulation signal (LFM, Chirp) is a good choice; to achieve high angular resolution, the radar aperture is typically increased, however there is an inherent conflict between the signal bandwidth of large aperture phased array radars and the electrical scanning capability of the beam, which manifests itself as an aperture transit effect. The large-aperture broadband radar can cause the directional deviation of a wave beam during wide-angle scanning, so that the energy loss of a synthesized echo signal is caused, a main lobe is widened after pulse pressure, the distance resolution is reduced, and the detection power of the radar is reduced.
In order to avoid energy loss caused by aperture transit effect, the classical method is to divide the antenna array into several sub-arrays, use phase shifters to control the wave beams in the sub-arrays, and connect Time Delay Units (TDU) between the sub-arrays, and select proper analog delay lines to compensate the aperture transit time according to the wave beam pointing to each delay unit. In the actual working process, the analog real-time delay line can only provide fixed delay amount, and has low quantization precision and large loss. In addition, the analog delay line has the disadvantages of high manufacturing cost, large volume, sensitivity to temperature and the like.
The digital delay line technology is a technology for realizing signal delay in a digital manner after converting an analog signal into a digital signal through A/D sampling. A subarray deskew (Dechirp or Stretch) method based on instantaneous broadband linear frequency modulation (LFM, Chirp) signals and completing beam divergence compensation by two time delays is provided in lincoln laboratories of the american society of labor and technology. The method utilizes the time-frequency characteristic of the linear frequency modulation signal to deskew echo signals received by each antenna unit in an analog domain, thereby achieving the purpose of compressing bandwidth and greatly reducing the requirement on subsequent sampling rate; and performing A/D conversion on the de-skewed signal at a lower sampling rate, and then realizing time delay compensation by adopting a digital delay filter.
The compensation methods mentioned above are more and more refined and simpler from analog to digital, but these methods all have a common disadvantage, and the compensation delay amount is calculated by a geometric method according to the beam direction assuming that the phase center of the subarray is known, and obviously cannot meet the requirements of practical application. The three reasons are that firstly, the relation of the phase centers of the subarrays is unknown, the subarray structure develops from an area array to a conformal array along with the development of the technology, in addition, the subarray division technology proposed aiming at various optimization indexes is increasingly abundant, the non-uniform division, overlapping division and the like are included, and the relation of the phase centers of the subarrays is difficult to determine, so that the geometric calculation method is difficult; secondly, the calculation of the aperture transit time has errors, the existing method calculates the aperture transit time according to the beam pointing angle, however, the target position is within the range of the main lobe but not necessarily at the normal position of the beam, so that the calculation of the compensation delay difference has deviation; thirdly, the length of the cable between the channels is sensitive to the temperature, the time delay difference between the channels can change along with the ambient temperature, the response of devices and the like in the working process, and the time delay difference is compensated according to the calibration value of the factory leaving the factory of the management system, so that the compensation of the time delay difference has deviation.
In summary, an aperture transit effect compensation method applicable to a broadband phased array radar with any antenna configuration and any subarray division is absent at present.
Disclosure of Invention
In view of this, the present invention provides an adaptive compensation method for the aperture transit effect of a wideband radar. The method is suitable for any antenna configuration and any subarray division, can adaptively compensate aperture transit time difference, effectively reduces dispersion loss and improves radar detection performance.
In order to achieve the purpose, the technical scheme of the invention is as follows: a Chirp signal aperture transition effect self-adaptive compensation method based on cross correlation uses a Chirp signal as a transmitting signal, and specifically comprises the following steps:
firstly, receiving a target echo signal by a phased array radar.
And step two, generating a reference signal for deskew processing according to the transmitting signal.
And step three, mixing the target echo signal with the reference signal, and performing low-pass filtering processing, wherein the processed echo signal adopts a broadband scattering point model, namely the processed echo signal is formed by superposing echoes of all scattering points of the target.
And step four, selecting a reference subarray in the phased array radar, performing cross-correlation operation on the data subjected to the deskew processing of other subarray channels except the reference subarray and the data subjected to the deskew processing of the reference subarray, and estimating the aperture transit effect compensation value of each other subarray channel according to the cross-correlation operation result.
And step five, the aperture transit effect compensation values of other subarray channels are obtained by adopting the calculation of the step four, and the aperture transit time is compensated.
Further, the transmission signal is st(t)：
Wherein, TpFor the pulse width, f, of the Chirp signal0For the Chirp signal starting frequency, k is B/TpThe Chirp slope of the Chirp signal, B the signal bandwidth, and t the time axis.
The deskew processed reference signal sref(t) is
Wherein, taurIs a reference distance of a reference signal, TrefIs the reference signal pulse width.
Further, in the third step, the processed echo signal adopts a broadband scattering point model, that is, the processed echo signal is formed by superposing echoes of all scattering points of the target, and the method specifically comprises the following steps:
wherein p represents the number of scattering points, ApDenotes the p-th powderSignal intensity of the spot, τip＝βi+ΔτpRepresents the time delay after the p < th > target scattering point of the ith sub-array is processed by deskew, and omega (t) represents that the mean value is 0 and the variance is sigma2White gaussian noise.
And further, performing cross-correlation operation on the data subjected to the deskew processing of other subarray channels except the reference subarray and the data subjected to the deskew processing of the reference subarray respectively, and estimating the aperture transit effect compensation value of each other subarray channel according to the cross-correlation operation result.
The method specifically comprises the following steps:
the operation result of cross-correlation operation between the data subjected to deskew processing by other subarray channels except the reference subarray and the data subjected to deskew processing by the reference subarray is as follows:
wherein A isqSignal intensity representing the q-th scattering point, represents the conjugate, ωc(t) represents the noise term after cross-correlation processing, τ1qRepresenting the time delay after the deskew processing of the qth target scattering point of the 1 st subarray; rewriting the operation result as the sum of a plurality of dot frequency signals:
wherein: frequency value of S (t) is fpq＝k(τ1p-τ2q)；
The phase value of S (t) is
When p is q, τ1p-τ2q＝β1-β2That is, the aperture transit time difference of the current subarray path compared to the reference subarray path, the frequency value of s (t) is rewritten as: f. ofp＝k(β1-β2)；
Calculating the aperture transit time difference of the current subarray channel compared with the reference subarray channel by estimating the frequency of the amplitude maximum value signal of S (t);
and compensating each subarray access phase item according to the phase compensation value estimated by the strongest frequency value in the cross-correlation processing result.
Has the advantages that:
according to the adaptive calibration method for the aperture transit effect of the broadband radar, a Chirp signal of a broadband is used as a transmitting signal, aperture transit effect compensation factors are obtained through cross-correlation processing among channels, the characteristic of flexibility and changeability of digitization is fully exerted, and the aperture transit effect is compensated in real time through changing a reference signal of deskew processing of each subarray channel. The method breaks through the constraint of the traditional method on the radar array configuration and the subarray division mode, can be suitable for any antenna configuration and any subarray division, simultaneously improves the aperture transit effect compensation precision, and obviously enhances the radar detection performance.
Drawings
FIG. 1 is a flow chart of a method for adaptive compensation of the aperture transit effect of a broadband radar according to the present invention;
FIG. 2 is a schematic view of an array face of a phased array radar;
FIG. 3 is a diagram showing the effect of cross-correlation processing after the inter-subarray deskew processing;
FIG. 4 is a one-dimensional distance image comparison before and after compensation;
fig. 5 is a schematic block diagram of adaptive compensation of aperture transit effect.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a Chirp signal aperture transition effect self-adaptive compensation method based on cross correlation, the flow is shown in figure 1, the method takes a Chirp signal of a linear frequency modulation signal as a transmitting signal, and the method specifically comprises the following steps:
firstly, receiving a target echo signal by a phased array radar.
In the embodiment of the invention, the standard echo signal is sr(t)；
Wherein, TpFor the pulse width, f, of the Chirp signal0For the Chirp signal starting frequency, k is B/TpThe Chirp slope of the Chirp signal, B the signal bandwidth, and t the time axis.
The schematic diagram of the array surface of the phased array radar is shown in fig. 1, and the array surface structure can be an area array or a conformal array. Analysis is carried out using array reception as an example, using aiRepresenting the two-way time of each subarray access reaching the target; i is 1,2, …, I represents the number of the sub-array, I is the total number of the sub-array; beta is aiThe time delay, i.e., aperture transit time difference, for each subarray path compared to the reference subarray path. In addition, τrDenotes the imaging window start value set based on the prior information, Δ τ denotes the time delay value of the target from the imaging window start point, and it is apparent that αi＝βi+τr+Δτ。
The echo of the target received by the ith subarray channel is denoted as sr-i(t-αi) And a denotes a target amplitude.
And step two, generating a reference signal for deskew processing according to the transmitting signal.
In the embodiment of the invention, according to the transmitted Chirp signal se(t) generating a deskew processed reference signal sref(t) is
Wherein, taurIs a reference distance of a reference signal, TrefIs the reference signal pulse width.
And step three, mixing the target echo signal with the reference signal, and performing low-pass filtering processing, wherein the processed echo signal adopts a broadband scattering point model, namely the processed echo signal is formed by superposing echoes of all scattering points of the target.
The target echo signal sr-i(t) and a reference signal sref(t) mixing and low-pass filtering to obtain:
will be alphai＝τr+βiBy substituting + Δ τ, the above equation can be rewritten as:
the above equation represents a fixed frequency phase dot frequency signal:
fde＝-k(βi+Δτ)
θde＝-(2πf0(βi+Δτ)+πk(βi+Δτ)(2τr+βi+Δτ))
wherein the delay τ of the reference signalrIs a precisely known parameter and Δ τ is the amount of delay independent of the path of the subarray.
Assuming that the target contains P scattering points, after deskewing and filtering, the echo signal is converted into:
wherein p represents the number of scattering points, ApRepresents the signal intensity, τ, of the p-th scattering pointip＝βi+ΔτpRepresents the time delay after the p < th > target scattering point of the ith sub-array is processed by deskew, and omega (t) represents that the mean value is 0 and the variance is sigma2White gaussian noise.
Selecting a reference subarray in the phased array radar, performing cross-correlation operation on data subjected to deskew processing of other subarray channels except the reference subarray and the data subjected to deskew processing of the reference subarray, and estimating aperture transit effect compensation values of other subarray channels according to cross-correlation operation results;
selecting the data of the subarray 1 as reference, and performing cross-correlation operation on the data of the other subarrays and the data of the subarray 1 respectively, taking the subarray 2 as an example, wherein the operation result is as follows:
wherein, represents taking the conjugation, ωc(t) represents the noise item after the cross-correlation processing, the noise among the subarrays is independently and identically distributed, the cross-correlation processing does not influence the noise item, and the above formula can be rewritten as the sum of a plurality of dot frequency signals:
wherein:
fpq＝k(τ1p-τ2q)
when p is q, τ1p-τ2q＝β1-β2The frequency and phase values may be rewritten as:
fp＝k(β1-β2)
obviously, the frequency value is only related to the aperture transit time difference between the subarray channels, the aperture transit time difference between the subarray channels can be calculated by estimating the frequency value, and the frequency values after the cross-correlation processing of the same scattering point are the same, so that the signal energy of the frequency value is effectively gathered, and the more concentrated the signal energy, the more beneficial to the estimation of the frequency value is.
The phase value is not only related to the aperture transit time difference between the subarray channels, but also to the amount of time delay from the scattering point to the starting point of the imaging window, and the estimated value of this term will be used for phase compensation in aperture transit time compensation. The results of the cross-correlation process after the inter-subarray deskew process are shown in FIG. 3.
And step five, the aperture transit effect compensation values of other subarray channels are obtained by adopting the calculation of the step four, and the aperture transit time is compensated.
On the basis, the characteristics of digitalization flexibility and changeability are fully exerted, the local reference signals of all the channels are updated in real time according to the estimated time difference, and the channel transit time is compensated. The constructed reference signal can be expressed as:
the echo signal of the target is deskewed, and only one scattering point is considered by the target to simplify the expression.
Wherein:
fde＝k(τr+β′i-αi)
＝k(β′i-βi-Δτ)
≈k(-Δτ)
the above formula shows that under the condition that the aperture transit time difference estimation is accurate, the frequency value after the deskew processing is irrelevant to the channel number of the subarray, and the frequency offset is effectively compensated.
Only the second term 2 pi k beta in the phase valueiAnd the delta tau is related to the channel number of the subarray, and the phase item of each subarray channel can be compensated by using the phase of the strongest frequency value after cross-correlation processing.
Formula (II)
Can be rewritten as:
φp＝φ′p+2πk(β1-β2)Δτp
φ′pfor a fixed term which can be calculated accurately, the distances of the scattering points with respect to the starting point of the imaging window differ, i.e. Δ τpDifferent, find out the phase term phipAnd are also different. Considering that the distance difference between scattering points is generally several meters to several tens of meters, the fluctuation of phase values caused by the distance difference is small, signals with the same frequency and different phases are accumulated, and the final phase value is equivalent to the weighted average of each phase value, so that the phase error can be compensated by estimating the phase value of the point frequency signal with the strongest amplitude after cross-correlation processing. Recording as follows:
2πk(β1-β2)Δτ≈φ(max(S(t)))-φ′p
furthermore, in practical systems (referenced at a subarray pitch of 10m and a maximum scan angle of 30 °), 2 π k βiThe value of Δ τ is small and the loss of signal-to-noise ratio due to incomplete phase coherence is negligible. The delay compensation work of this item may also be disregarded for the sake of reducing the complexity of the system.
Fig. 4 is a one-dimensional distance image comparison diagram before and after compensation, wherein fig. 4(a) is before compensation and fig. 4(b) is after compensation.
In particular, the application block diagram of the radar system of the method is shown in figure 5,
FIG. 5(a) shows a transmit path adaptive compensation block diagram; a transmitting path: in order to compensate the transit time difference of the aperture of the transmitting path, a compensation table needs to be stored in a transmitting subsystem in advance, firstly, the compensation table is inquired according to the scanning angle of the radar, and then the transmitting signals of each subarray unit are generated in a self-adaptive mode in a digital compensation mode by taking the compensation value under the scanning angle as guidance.
FIG. 5(b) shows a receive path adaptive compensation block diagram; a receiving path: first, a radar array receives a target echo signal, according to the arrayDividing the signal into subarrays to obtain multiple echo signals (S)echo-1，Secho-2… …); converting each path of signals through a high-speed analog-to-digital conversion device, and converting analog signals into digital signals; the method comprises the steps that the deskew processing of echo signals is completed in a digital domain, and the deskew processing comprises the steps of reference signal generation, low-pass filtering, quadrature down-conversion, sampling rate reduction and the like, wherein a DDCS device can generate a reference signal with specific time delay and a local oscillation signal required by the quadrature down-conversion with specific frequency and specific phase in a self-adaptive mode according to parameter information fed back in real time; then, selecting the subarray 1 as a reference, performing cross-correlation processing on the data of the other subarrays and the data of the reference subarrays respectively, and estimating the aperture transit time difference of the subarray channel compared with the reference subarray by estimating the frequency value of the strongest signal after the cross-correlation processing; and finally, feeding back the aperture transit time difference data of each channel to a front-end reference local oscillator generation module in time, changing the signal time delay, frequency and phase in real time, and completing the adaptive compensation of the aperture transit time in a circulating feedback mode.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A Chirp signal aperture transition effect self-adaptive compensation method based on cross correlation is characterized in that a Chirp signal of a broadband linear frequency modulation signal is used as a transmitting signal, and the method specifically comprises the following steps:
firstly, receiving a target echo signal by a phased array radar, dividing the signal according to a sub array of a array surface, and obtaining a plurality of paths of echo signals;
converting each path of signals through a high-speed analog-to-digital conversion device, and converting analog signals into digital signals; completing the deskew processing of the echo signals in a digital domain to generate deskew processed reference signals;
the transmission signal is st(t)：
Wherein, TpFor the pulse width, f, of the Chirp signal0For the Chirp signal starting frequency, k is B/TpThe frequency modulation slope of a Chirp signal is shown, B is the signal bandwidth, and t is a time axis;
said deskewed reference signal sref(t) is
Wherein, taurIs a reference distance of a reference signal, TrefIs the reference signal pulse width;
mixing the target echo signal with the reference signal, and performing low-pass filtering processing, wherein the processed echo signal adopts a broadband scattering point model, namely the processed echo signal is formed by superposing echoes of all scattering points of the target; the method specifically comprises the following steps:
wherein p represents the number of scattering points, ApRepresents the signal intensity, τ, of the p-th scattering pointip＝βi+ΔτpRepresents the time delay after the p < th > target scattering point of the ith sub-array is processed by deskew, and omega (t) represents that the mean value is 0 and the variance is sigma2White gaussian noise of (1);
selecting a reference subarray in the phased array radar, performing cross-correlation operation on the data subjected to the deskew processing of other subarray channels except the reference subarray and the data subjected to the deskew processing of the reference subarray, and estimating the aperture transit effect compensation value of each other subarray channel according to the cross-correlation operation result;
the method specifically comprises the following steps:
the operation result of the cross-correlation operation between the data subjected to the deskew processing of the other subarray channels except the reference subarray and the data subjected to the deskew processing of the reference subarray is as follows:
wherein A isqSignal intensity representing the q-th scattering point, represents the conjugate, ωc(t) represents the noise term after cross-correlation processing, τ1qRepresenting the time delay after the deskew processing of the qth target scattering point of the 1 st subarray; rewriting the computation result as a sum of a plurality of dot frequency signals:
wherein: frequency value of S (t) is fpq＝k(τ1p-τ2q)；
The phase value of S (t) is
When p is q, τ1p-τ2q＝β1-β2That is, the aperture transit time difference of the current subarray path compared to the reference subarray path, the frequency value of s (t) is rewritten as: f. ofp＝k(β1-β2)；
Calculating the aperture transit time difference of the current subarray channel compared with the reference subarray channel by estimating the frequency of the amplitude maximum value signal of S (t);
compensating each subarray access phase item according to a phase compensation value obtained by estimating the strongest frequency value in the cross-correlation processing result;
step five, the aperture transit effect compensation value of each other subarray access is obtained by adopting the calculation of the step four, and the aperture transit time is compensated; feeding back the aperture transit time difference data of each channel to a front-end reference local oscillator generation module in time, changing signal time delay, frequency and phase in real time, and completing adaptive compensation of aperture transit time in a circulating feedback mode;
the compensation table is stored in the transmitting subsystem in advance, firstly, the compensation table is inquired according to the scanning angle of the radar, and then the transmission signals of each subarray unit are generated in a self-adaptive mode in a digital compensation mode by taking the compensation value under the scanning angle as a guide.
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