CN112684425A - Target secondary discrimination method after constant false alarm detection - Google Patents
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Abstract
The invention discloses a secondary target discrimination method after constant false alarm detection, which comprises the following steps: acquiring a distance Doppler unit passing through a primary CFAR detection threshold to obtain a secondary detection unit; calculating clutter guide vectors of the clutter points needing to be suppressed in the secondary detection unit, and estimating the amplitude of each clutter point; carrying out targeted suppression on clutter in the echo data of each range-Doppler unit according to the amplitude of each clutter point to obtain suppressed unit data; and performing conventional clutter suppression on the suppressed unit data again, and performing secondary CFAR detection to obtain a target detection result. The target secondary discrimination method after constant false alarm detection provided by the invention reduces the number of false alarms and lightens the burden of a subsequent radar data processor; and the method has small calculated amount and is easy to realize in engineering.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a target secondary discrimination method after constant false alarm detection.
Background
Airborne radars detect and track moving objects of interest, such as airplanes, ships, missiles, and the like, by emitting electromagnetic waves and receiving echoes. However, the radar echo includes not only a target signal that may exist, but also a reflected signal of other objects in the scene irradiated by the radar, such as ground clutter reflected by the ground, and weather clutter reflected by cloud and rain. Due to the motion of the platform, the clutter occupies a certain width at the doppler frequency, and the clutter power density is modulated by the illumination pattern, which also varies with angle or doppler frequency. The radar beam has a strong main lobe, the ground echo energy in the irradiation area is also strong, and the area occupied on the range-Doppler plane is called a main lobe clutter area. The area occupied by the ground echo generated by the irradiation of the radar beam side lobe is called a side lobe clutter area, and the power of the side lobe clutter area is relatively weak. The other regions are called noise regions or clear regions. Because the energy of the mainlobe clutter region is strong, it is difficult to distinguish the target when it falls on the region, so we usually detect only targets that fall outside the mainlobe clutter region.
Since the speed of the moving target has a certain doppler frequency, when the speed of the target is large enough, the target will shift out of the main lobe clutter area and fall on the side lobe clutter area or the noise area. Clutter usually masks the target signal that exists really, so the actual processing often needs to be performed with clutter suppression processing before detecting the target. The target detector judges the output after clutter suppression by setting a proper detection threshold, judges that a target signal exists in the unit to be detected when the output power is greater than the detection threshold, and judges that no target exists if the output power is greater than the detection threshold.
Constant false alarm detection (CFAR) is a commonly used method for detecting moving objects, and adaptively adjusts a detection threshold by estimating background power, so that the false alarm probability of a detector remains unchanged.
However, since the adaptive detection threshold is estimated by using data units around the unit to be detected, the performance of target detection is inevitably affected by the clutter suppression algorithm. Discrete clutter in the unit to be detected may cross the detection threshold, causing false alarms. In practice, discrete strong clutter can be generated by isolated buildings such as power towers, wind driven generators and water towers and isolated strong scatterers widely existing in the natural world, the suppression capability of a clutter suppression algorithm on the discrete strong clutter is poor, and a false alarm caused by the discrete strong clutter is difficult to avoid by reasonably selecting a reference unit to improve a detection threshold during target detection. Therefore, for false alarms caused by the discrete strong clutter, it is necessary to research a target discrimination method to perform secondary discrimination on targets detected by the CFAR, so as to reduce the number of false alarms and reduce the burden of a subsequent radar data processor.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a secondary target discrimination method after constant false alarm detection. The technical problem to be solved by the invention is realized by the following technical scheme:
a secondary target discrimination method after constant false alarm detection comprises the following steps:
acquiring a distance Doppler unit passing through a primary CFAR detection threshold to obtain a secondary detection unit;
calculating clutter guide vectors of the clutter points needing to be suppressed in the secondary detection unit, and estimating the amplitude of each clutter point;
performing targeted suppression on clutter in the echo data of each range-Doppler unit according to the amplitude of each clutter point to obtain suppressed unit data;
and performing conventional clutter suppression on the suppressed unit data again, and performing secondary CFAR detection to obtain a target detection result.
In an embodiment of the present invention, calculating a clutter guiding vector for suppressing the clutter points in the secondary detection unit, and estimating the amplitude of each clutter point includes:
calculating the distance of the secondary detection unit and the normalized Doppler frequency of the clutter suppression points required in the secondary detection unit;
calculating the normalized space frequency of the clutter point according to the distance of the secondary detection unit and the normalized Doppler frequency of the clutter point to be suppressed;
calculating clutter guiding vectors according to the normalized Doppler frequency and the normalized space frequency of the clutter points;
and constructing a clutter guide vector matrix according to the clutter guide vector, and estimating the amplitude of each clutter point by using a least square method.
In an embodiment of the present invention, a calculation formula of the normalized doppler frequency of the secondary detection unit that needs to suppress the clutter point is:
fd,kp＝fd,k+pΔfd；
wherein,fd,knormalized Doppler frequency, Δ f, indicating the point of clutter suppression required in the kth secondary detection unitdRepresenting the spacing of the normalized Doppler frequencies, fd,kpP is-D, - (D-1), …,0, …, (D-1) represents fd,kNormalized doppler frequencies of D surrounding clutter points, D being a positive integer.
In an embodiment of the present invention, the calculation formula of the normalized spatial frequency is:
wherein f iss,kpDenotes the normalized spatial frequency, λ, of the p-th clutter point of the kth secondary detection unit0Indicating the radar operating wavelength, l the array element spacing, thetakpRepresenting a normalized Doppler frequency of fd,kpIs located at an azimuth angle phikRepresenting the pitch angle between the ground scatterer and the radar.
In one embodiment of the present invention, the calculation formula of the amplitude of the clutter point is:
wherein S iskRepresenting a steering vector matrix, x, formed by D clutter points in the kth secondary detection unitkIndicating that the kth secondary detection unit corresponds to the original echo data received by the radar.
In an embodiment of the present invention, the expression of the suppressed unit data is:
x′k＝xk-Skak；
wherein x iskRepresenting the original echo data received by the radar corresponding to the kth unit to be detected, SkRepresenting a matrix of clutter steering vectors in the kth cell to be detected, akRepresenting the amplitude of the clutter point.
In an embodiment of the present invention, performing conventional clutter suppression on the suppressed unit data again, and performing secondary CFAR detection to obtain a target detection result, including:
carrying out conventional clutter suppression on the suppressed unit data again to obtain output data subjected to conventional clutter suppression;
and performing CFAR detection on the output data after the conventional clutter suppression again, eliminating the data which do not pass through the CFAR detection, and selecting all the data which pass through the CFAR detection as a real target detection result.
In an embodiment of the present invention, the expression of the output data after the conventional clutter suppression is:
wherein, wkWeight vector, x 'representing conventional clutter suppression processing'kIndicating the suppressed cell data. The invention has the beneficial effects that:
1. the target secondary discrimination method after constant false alarm detection provided by the invention determines the spatial frequency of the clutter according to the radar system parameters, the distance and the Doppler information aiming at the false alarm point caused by the discrete strong clutter point, estimates the clutter amplitude by using the least square method, and pertinently inhibits the discrete strong clutter possibly existing, thereby eliminating the influence of the discrete clutter; meanwhile, the conventional clutter suppression processing is carried out on the suppressed data, and the secondary CFAR detection is carried out, so that the number of false alarms is reduced, and the burden of a subsequent radar data processor is reduced;
2. the secondary target discrimination method after constant false alarm detection provided by the invention has small calculated amount and is easy to realize in engineering.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a flowchart of a target secondary discrimination method after constant false alarm detection according to an embodiment of the present invention;
fig. 2 is a flowchart of another constant false alarm detected target secondary screening method according to an embodiment of the present invention;
FIG. 3 is a diagram of CFAR detection results provided by a conventional method;
FIG. 4 is a diagram of the results of CFAR detection using the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Example one
Referring to fig. 1, fig. 1 is a flowchart of a target secondary screening method after constant false alarm detection according to an embodiment of the present invention, including the following steps:
s1: and acquiring the range-Doppler unit passing through the primary CFAR detection threshold to obtain a secondary detection unit.
Specifically, firstly, a CFAR detector is adopted to carry out primary point-by-point detection on each unit in a range-Doppler plane, and the position information { (I) passing through a CFAR detection threshold unit is recordedk,Jk) And K is 1,2, … and K, so that K secondary detection units are obtained. And K is the number of the distance Doppler units passing through the CFAR detection threshold.
S2: calculating clutter guide vectors needing to suppress clutter points in the secondary detection unit, and estimating the amplitude of each clutter point, wherein the method specifically comprises the following steps:
s21: and calculating the distance in the secondary detection unit and the normalized Doppler frequency of the noise point needing to be suppressed in the secondary detection unit.
Firstly, the distance of the kth unit to be detected, that is, the kth distance doppler unit passing through the CFAR detection threshold, is calculated by the following formula:
Rk＝IkΔR；
where Δ R represents the range resolution of the radar.
The calculation formula of the normalized Doppler frequency of the kth secondary detection unit is as follows:
fd,k＝-0.5+(Jk-1)/M；
where M represents the number of pulses.
Then, the normalized Doppler frequency of D clutter points around the second detection unit is calculated according to the normalized Doppler frequency of the kth second detection unit.
Specifically, the calculation formula of the normalized doppler frequency of D clutter points around the kth secondary detection unit is:
fd,kp＝fd,k+pΔfd；
wherein f isd,kNormalized Doppler frequency, Δ f, indicating the point of clutter suppression required in the kth secondary detection unitdRepresenting the spacing of the normalized Doppler frequencies, fd,kpP is-D, - (D-1), …,0, …, (D-1) represents fd,kNormalized doppler frequencies of D surrounding clutter points, D being a positive integer.
S22: and calculating the normalized spatial frequency of the clutter point according to the distance of the secondary detection unit and the normalized Doppler frequency of the clutter point needing to be suppressed.
First, a pitch angle between the ground scatterer and the radar is calculated from the distance of the kth secondary detection unit. In the present embodiment, the distance RkPitch angle phi between ground scatterer and radarkCan be expressed as:
wherein h isaIs the flying height of the aircraft, aeIs the earth equivalent radius.
Then, the distance R is calculatedkNormalized Doppler frequency of fd,kpAzimuth angle theta of ground scattererkp。
In particular, θkpAnd fd,kpThe relationship of (c) can be expressed as:
where k denotes a unit vector of the radar directed to the ground scatterer, and k ═ sin θkp cosφk cosθkp cosφk sinφk]V denotes a carrierVelocity vector, and v ═ vx vy vz]T，λ0Indicating the operating wavelength of the radar, fcIndicating the operating frequency.
In the present embodiment, f is obtained fromd,kpAnd phikFrom the above formula, θ can be calculatedkp。
And finally, calculating the normalized spatial frequency of the clutter points needing to be suppressed in the kth secondary detection unit, wherein the calculation formula is as follows:
wherein f iss,kpDenotes the normalized spatial frequency, λ, of the p-th clutter point of the kth secondary detection unit0Indicating the radar operating wavelength, l the array element spacing, thetakpRepresenting a normalized Doppler frequency of fd,kpIs located at an azimuth angle phikRepresenting the pitch angle between the ground scatterer and the radar.
S23: calculating clutter guiding vector according to the normalized Doppler frequency and the normalized space frequency of the clutter point, wherein the calculation formula is as follows:
wherein, N represents the number of array elements.
S24: and constructing a clutter guide vector matrix according to the clutter guide vector, and estimating the amplitude of each clutter point by using a least square method.
Specifically, the clutter guide vector matrix constructed from the clutter guide vectors may be represented as:
Sk＝[sk1,sk2,…,skP]。
then, the amplitude is estimated by using a least square method, and the calculation formula is as follows:
wherein x iskDenotes the kth cell (I) to be examinedk,Jk) Corresponding to the original echo data received by radar, which is NM x 1 dimensional complex data, akRepresenting the amplitude of the clutter point.
S3: and (3) carrying out targeted suppression on clutter in the echo data of each range-Doppler unit according to the amplitude of each clutter point to obtain suppressed unit data, wherein the suppressed unit data is expressed as:
x′k＝xk-Skak。
s4: and performing conventional clutter suppression on the suppressed unit data again, and performing CFAR detection to obtain a target detection result.
Firstly, performing conventional clutter suppression on the suppressed unit data again to obtain output data after the conventional clutter suppression, which is expressed as:
wherein, wkRepresenting the weight vector of a conventional clutter suppression process.
And then, performing CFAR detection on the output data subjected to the conventional clutter suppression again, eliminating data which do not pass through the CFAR detection, and selecting all data which pass through the CFAR detection as a real target detection result.
Specifically, if | y 'is judged'j|2If the detection threshold is not exceeded, the unit is considered to have no target signal, and corresponding data are removed; otherwise, the target signal is considered to exist, and all results detected through CFAR detection are selected as real target detection results.
And performing the operation on all the secondary detection units to obtain all results passing through the CFAR detection threshold, taking the results as final target detection results, and outputting target discrimination results. Referring to fig. 2, fig. 2 is a flowchart of another secondary target discrimination method after constant false alarm detection according to an embodiment of the present invention.
The target secondary discrimination method after constant false alarm detection provided by the invention determines the spatial frequency of the clutter according to the radar system parameters, the distance and the Doppler information aiming at the false alarm point caused by the discrete strong clutter point, estimates the clutter amplitude by using the least square method, and pertinently inhibits the discrete strong clutter possibly existing, thereby eliminating the influence of the discrete clutter; meanwhile, the conventional clutter suppression processing is carried out on the suppressed data, and the secondary CFAR detection is carried out, so that the number of false alarms is reduced, and the burden of a subsequent radar data processor is reduced; and the method has small calculated amount and is easy to realize in engineering.
Example two
The beneficial effects of the target secondary discrimination method after constant false alarm detection provided in the first embodiment are further verified and explained through simulation experiments.
The experimental conditions are as follows:
setting the flying height h of the carriera3000m, the array antenna adopts a 16 × 1 uniform linear array, the array element interval l is 0.1m, the array surfaces in the speed direction of the carrier are axially parallel, namely a front side view array, the main beam direction and the array surface axial included angle are 90 degrees, and the main beam pitch angle is 0 degree. Carrier frequency fcAt 1.5GHz and a wavelength λ00.2m, a radar using a distance sampling frequency of 2MHz, a pulse repetition frequency of 3000Hz, and a number of pulses of 64.
The experimental contents are as follows:
in the simulation experiment, a target signal is added at the 137 th range gate, the normalized doppler frequency is-0.3281 and the 71 th range gate, respectively, the normalized doppler frequency is 0.0469, discrete strong clutter is added at the 87 th range gate, the azimuth angle is-18 degrees, the 164 th range station and the azimuth angle is 10 degrees, respectively, a target signal with the normalized doppler frequency of 0.3438 and a discrete clutter signal with the azimuth angle of 33 degrees are added at the 180 th range gate, and similarly, a target signal with the normalized doppler frequency of 0.2344 and a discrete clutter signal with the azimuth angle of 21 degrees are added at the 270 th range gate, and then the simulation experiment is performed.
And (3) analyzing an experimental result:
referring to fig. 3, fig. 3 is a diagram of CFAR detection results provided by a conventional method, wherein "●" represents a target point detected by a CFAR, and as can be seen from fig. 3, two range-doppler cells containing the target point, two discrete clutter points, and two range-doppler cells containing both the target point and the discrete clutter points are determined as targets by a CFAR detector.
Referring to fig. 4, fig. 4 is a CFAR test result chart using the method of the present invention, wherein "●" represents a target point and "a" represents a point determined as a false alarm using the method of the present invention. As can be seen from fig. 4, the false alarm points containing only discrete clutter are removed, and the units containing only targets and containing both targets and discrete clutter are still determined to have targets.
Through the analysis, the method can conclude that the false alarm caused by the discrete clutter in the side lobe area can be effectively eliminated.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. A secondary target discrimination method after constant false alarm detection is characterized by comprising the following steps:
acquiring a distance Doppler unit passing through a primary CFAR detection threshold to obtain a secondary detection unit;
calculating clutter guide vectors of the clutter points needing to be suppressed in the secondary detection unit, and estimating the amplitude of each clutter point;
performing targeted suppression on clutter in the echo data of each range-Doppler unit according to the amplitude of each clutter point to obtain suppressed unit data;
and performing conventional clutter suppression on the suppressed unit data again, and performing secondary CFAR detection to obtain a target detection result.
2. The method for secondary discrimination of targets after constant false alarm detection according to claim 1, wherein calculating clutter guide vectors of the secondary detection units for suppressing clutter points and estimating the amplitude of each clutter point comprises:
calculating the distance of the secondary detection unit and the normalized Doppler frequency of the clutter suppression points required in the secondary detection unit;
calculating the normalized space frequency of the clutter point according to the distance of the secondary detection unit and the normalized Doppler frequency of the clutter point to be suppressed;
calculating clutter guiding vectors according to the normalized Doppler frequency and the normalized space frequency of the clutter points;
and constructing a clutter guide vector matrix according to the clutter guide vector, and estimating the amplitude of each clutter point by using a least square method.
3. The method for secondary discrimination of targets after constant false alarm detection according to claim 2, wherein the calculation formula of the normalized doppler frequency of the secondary detection unit for suppressing the clutter point is:
fd,kp＝fd,k+pΔfd；
wherein f isd,kNormalized Doppler frequency, Δ f, indicating the point of clutter suppression required in the kth secondary detection unitdRepresenting the spacing of the normalized Doppler frequencies, fd,kpP is-D, - (D-1), …,0, …, (D-1) represents fd,kNormalized doppler frequencies of D surrounding clutter points, D being a positive integer.
4. The constant false alarm detected target secondary discrimination method according to claim 2, characterized in that the calculation formula of the normalized spatial frequency is:
wherein f iss,kpDenotes the normalized spatial frequency, λ, of the p-th clutter point of the kth secondary detection unit0Indicating the radar operating wavelength, l the array element spacing, thetakpRepresenting a normalized Doppler frequency of fd,kpIs located at an azimuth angle phikRepresenting the pitch angle between the ground scatterer and the radar.
5. The constant false alarm detected target secondary discrimination method according to claim 2, characterized in that the calculation formula of the amplitude of the clutter point is:
wherein S iskRepresenting a steering vector matrix, x, formed by D clutter points in the kth secondary detection unitkIndicating that the kth secondary detection unit corresponds to the original echo data received by the radar.
6. The constant false alarm detected target secondary discrimination method according to claim 1, wherein the expression of the suppressed unit data is as follows:
x′k＝xk-Skak；
wherein x iskRepresenting the original echo data received by the radar corresponding to the kth unit to be detected, SkRepresenting a matrix of clutter steering vectors in the kth cell to be detected, akRepresenting the amplitude of the clutter point.
7. The secondary constant false alarm rate-detected target discrimination method as claimed in claim 1, wherein the conventional clutter suppression is performed on the suppressed unit data again, and a secondary CFAR detection is performed to obtain a target detection result, and the method includes:
carrying out conventional clutter suppression on the suppressed unit data again to obtain output data subjected to conventional clutter suppression;
and performing CFAR detection on the output data after the conventional clutter suppression again, eliminating the data which do not pass through the CFAR detection, and selecting all the data which pass through the CFAR detection as a real target detection result.
8. The method for secondary target discrimination after constant false alarm detection according to claim 7, wherein the expression of the output data after conventional clutter suppression is:
wherein, wkWeight vector, x 'representing conventional clutter suppression processing'kIndicating the suppressed cell data.
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