CN115685122A - Radar point trace condensation method based on echo envelope detection - Google Patents
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Abstract
The invention discloses a radar point trace condensation method based on echo envelope detection, which comprises the following steps: receiving radar original detection point data; merging the detection points to form a plurality of trace fuzzy areas; judging whether each trace fuzzy area meets the waveform resolution; carrying out azimuth resolution processing on the point trace fuzzy area meeting waveform resolution to form one or more resolved small cluster areas; carrying out distance resolution processing on each small cluster area formed by azimuth resolution to form final each dot trace area; and calculating the trace point areas according to an amplitude weighting method to obtain the trace point positions condensed by each area, and outputting and storing trace point information. The method solves the problems that in the prior art, a trace aggregation algorithm cannot distinguish echo overlapping conditions, the deviation between the real position of the target and the aggregation position is too large, and only one trace point is formed on a plurality of adjacent targets, and improves the efficiency and the accuracy of track tracking in a complex environment.
Description
Technical Field
The invention relates to a point trace aggregation technology in radar signal processing, in particular to a radar point trace aggregation method based on echo envelope detection.
Background
The radar target tracking technology is an important link in a data processing system, an input signal of radar target tracking is a point track formed after front-end radar signal processing and detection, the radar receives a front-end echo signal and sends the signal to the signal processing to form discrete points, namely EP points, which pass through a threshold, in the two-coordinate pulse system radar, under the condition of no pitch, all the EP points of one target are aggregated into one point through a point track aggregation method in each radar scanning period, the point track aggregation method is used for outputting the point track as actual position information of the target, an information source is provided for subsequent track starting and target tracking, the generation of the point track needs to pass through a point track aggregation algorithm, the point track aggregation algorithm in the prior art has a geometric center method, a mass center method, a power method and a maximum amplitude method, the point track aggregation algorithms do not consider the complex environments of residual track, parallel and clutter, the situations of large number of complex environments, the real position aggregation and the like, the situation of adjacent target aggregation cannot be accurately distinguished, and the target aggregation efficiency is increased.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a radar point trace condensing method based on echo envelope detection, which can distinguish echo overlapping conditions in complex environments with multiple target intersection, parallelism, more clutter residues and the like and has high processing efficiency and high track accuracy.
The technical scheme is as follows: in order to achieve the above purpose, the radar trace condensing method based on echo envelope detection according to the present invention includes the following steps:
step S1: receiving and processing radar original detection point data;
step S2: merging the detection points to form a plurality of detection point clique information to obtain a final merged trace point fuzzy area;
and step S3: judging whether the information in the trace point fuzzy region meets waveform resolution, if so, executing a step S4, and if not, executing a step S6;
and step S4: carrying out azimuth resolution processing on the point trace fuzzy area meeting waveform resolution to form one or more resolved small cluster areas;
step S5: carrying out distance resolution processing on the 'small cluster' region formed by azimuth resolution to form final each dot trace region;
step S6: and calculating the trace point areas according to an amplitude weighting method to obtain the trace point positions condensed by each area, and outputting and storing trace point information.
The step S1 of receiving and processing the radar original detection point data refers to: the azimuth and distance quantization is carried out on radar echo data according to a radar pulse repetition period and a radar sampling rate to obtain L triggers of a circle of radar scanning, each trigger is provided with N distance units, namely the radar scans the circle and has L multiplied by N sampling points, and the position of each threshold-passing detection point formed after signal processing on each trigger, namely an EP point is
p i,j ＝(r i,j ,θ i,j ) I is more than or equal to 1 and less than or equal to + ∞, j is more than or equal to 1 and less than or equal to mi, wherein i represents a trigger serial number, j represents an EP point serial number, mi is the total number of EP points on the ith trigger received, mi is less than or equal to N, r i,j For the ith trigger received, the distance unit, theta, where the jth EP point is located i,j For the received ith trigger, the azimuth of the jth EP point;
the step S2 of merging the detection points to form a plurality of detection point clique information and obtaining a final merged trace point fuzzy region comprises the following substeps:
step S201: forming a line segment queue by detecting points which have the same distance and different directions and have the following direction intervals:
ΔA j ＝|A 0 -AE j |＜ΔDA min
wherein, A 0 For the current trigger position, AE j For the end of line j, Δ DA min Is a detection point azimuth fracture threshold;
step S202: fusing all line segments of which the orientation intervals and the distance intervals simultaneously meet the following conditions into cluster information:
wherein, Δ CA max Is the azimuthal fracture threshold, Δ CR, of the cliques and line segments max The starting orientation of blob k is CAS for the distance fracture threshold of blob-line segment k K is more than or equal to 1 and less than or equal to the total number of clusters, and the ending orientation of the cluster k is CAE k The starting distance unit of the cluster k is CRS k The end distance unit of the blob k is CRE k ，AS j Is the starting position of line j, R j Is the distance cell in which line j is located, Δ CA k For azimuthal fracture of the blob k and line segment j, Δ CR k Breaking the distance between the ball k and the line segment j;
ΔCA k and Δ CR k The calculation formula of (a) is as follows:
ΔCA k ＝|CAS k -AE j |orΔCA k ＝|CAE k -AS j |
ΔCR k ＝|CRS k -R j |orΔCR k ＝|CRE k -R j |；
step S203: fusing all clusters with the azimuth interval and the distance interval meeting the following conditions into large cluster information to obtain a final merged trace point fuzzy area:
wherein, Δ CCA k For azimuthal cleavage of group k from group t, Δ CCR k Fracture of the distance between the group k and the group t, CAW k Is the azimuthal width of blob k, CAW t Is the azimuthal width of the clique t, CRW k Distance width of blob k, CRW t The distance width of the clique t is shown, and k and t are the number of cliques;
let the starting orientation of blob k be CAS k K is more than or equal to 1 and less than or equal to the total number of clusters, and the ending azimuth is CAE k The starting distance unit is CRS k End distance unit CRE k The starting orientation of the compared cliques t is CAS t T is more than or equal to 1 and less than or equal to the total number of clusters, t is not equal to k, and the ending position is CAE t The starting distance unit is CRS t End distance unit CRE t Then the following calculation is true:
ΔCCA k ＝|CAS k -CAE t |orΔCCA k ＝|CAE k -CAS t |
ΔCCR k ＝|CRS k -CRE t |orΔCCR k ＝|CRE k -CRS t |
CAW k ＝|CAE k -CAS k |
CAW t ＝|CAE t -CAS t |
CRW k ＝|CRE k -CRS k |
CRW t ＝|CRE t -CRS t |。
the step S3 of determining whether the information in the trace point blurred region satisfies the waveform resolution means: according to the radar characteristics of the pulse system, influenced by the radar beam width and the pulse width, the target occupies a certain size in azimuth and distance, if the azimuth width and the distance width of the trace point fuzzy area simultaneously meet the following conditions, the area carries out the trace point azimuth resolution processing of the step S4, and if the azimuth width and the distance width do not meet the following conditions, the step S6 is executed.
Wherein AW Dotted trace fuzzy area For the azimuth width of the blurred spot-trace region, RW Dotted trace fuzzy region For the width of the distance of the blurred region of the dot trace, θ 3dB For antenna horizontal beam width, τ is radar pulse width, and C is speed of light.
The step S4 of performing azimuth resolution processing on the trace point blurred region satisfying waveform resolution to form one or more resolved "small cluster" regions, which means performing azimuth resolution on the lapped echo based on echo envelope detection, and includes the following sub-steps:
step S401: according to a pulse system radar and a radar antenna directional diagram function F (theta), wherein theta is an azimuth, the amplitude distribution of radar target echoes in the azimuth meets the weak-strong-weak or valley-peak-valley standard waveform relation, the azimuth echo envelope is formed by utilizing the amplitude maximum values of different distance points in the same azimuth in a fuzzy area block, the positions of wave peaks and wave troughs in the echo envelope are searched by adopting a method of indexing large-difference local extreme values in the azimuth during point trace azimuth resolution, for the pulse compression system radar, the target occupies a plurality of distance units in the same azimuth under the influence of the size of the target and the resolution of the radar, and the maximum EP point in the same azimuth is selected to form the echo envelope;
step S402: searching all peak points and valley points in the azimuth echo envelope by an extreme value azimuth interval threshold I max Determining the positions of the wave crest and the wave trough in the envelope, and the amplitude ratio threshold K of the wave crest and the wave trough max Judging the correctness of the peaks and troughs, I max ≥θ 3dB /2，θ 3dB Is the 3dB beam width, K, of the radar antenna max The method for specifically searching and judging the wave crest and the wave trough comprises the following steps:
assuming that n triggers are in the echo envelope, each trigger has m1, m2, m3, and mn EP detection points, and the amplitude of each trigger is formed by a matrix array as follows:
the corresponding matrix array formed by the distance r and the direction theta of the EP point on each trigger is as follows:
selecting the EP point with the maximum amplitude value on different range units in the same azimuth to form an echo envelope max (A) = A '= [ A' 1 A' 2 A' 3 ...A' n ]The corresponding azimuth is θ '= [ θ' 1 θ' 2 θ' 3 ...θ' n ]；
Taking ith amplitude value A 'in envelope' i ，I≤i≤n-I max Sequentially judging whether the following conditions are simultaneously satisfied, and if so, judging that the following conditions are simultaneously satisfied, and judging that the following conditions are simultaneously satisfied' i Is the peak amplitude, corresponding EP point orientation theta' i At the peak position θ Peak(s) ；
Taking jth amplitude value A 'in envelope' j J is more than or equal to 1 and less than or equal to n, and whether the following conditions are simultaneously met is sequentially judged, and if the following conditions are met, A' j Is a trough amplitude, corresponding EP point orientation θ' j Is the trough position theta Grain ；
If A' i /A' j ≥K max Then wave crest A' i And trough A' j If the peak is an effective extreme point, otherwise, an invalid abnormal extreme point is eliminated, and the number of the wave crests obtained after traversal is X ang The number of the wave troughs is Y ang ；
Step S403: splitting the echo region according to a valley-peak-valley standard waveform to obtain one or more small region blocks with resolved azimuth, i.e. all extreme points in azimuth are determined according to azimuthThe sizes are sorted to form an orientation extreme value matrix E ang ＝[θ Valley x θ Peak y ]Wherein X is more than or equal to 0 and less than or equal to X ang ，0≤y≤Y ang Sequentially searching the orientation extreme value matrix to satisfy theta Grain -θ Peak(s) -θ Grain All extreme points of the sequence, corresponding to the azimuth area theta Grain -θ Grain And forming the split azimuth area.
The step S5: the step of performing distance resolution processing on the small cluster region formed by the orientation resolution to form final point trace regions includes the following substeps of performing distance resolution on the overlapped echoes based on echo envelope detection:
step S501: for a pulse compression system radar, when a transmitting signal is a linear frequency modulation signal, after a receiving signal is subjected to pulse compression through a matched filter, the formed envelope of an echo signal is approximate to a sine function, the amplitude distribution of a radar target echo in distance meets the standard waveform relation of weak-strong-weak or valley-peak-valley, distance resolution processing is respectively carried out on each small area block subjected to position resolution, the maximum amplitude values at distance points in different directions at the same distance in the small area form a distance echo envelope, namely, the EP point with the maximum amplitude value in different directions of the same distance unit is selected to form a distance echo envelope;
step S502: finding all peak points and valley points in the distance echo envelope, and spacing a threshold J by an extremum distance max Determining the positions of wave peaks and wave troughs in the envelope, and the amplitude ratio threshold L of the wave peaks and the wave troughs max Judging the correctness of the wave crests and the wave troughs, J max Is related to factors such as pulse duration, radar resolution, and target size, L max The method for specifically searching and judging the wave crest and the wave trough comprises the following steps:
assuming that there are q triggers in a certain area after the azimuth resolution, each trigger has p1, p2, p3, as, pq EP detection points, and the matrix array formed by the amplitudes of each trigger is:
the matrix array formed by the distance r and the direction theta of the EP point on each corresponding trigger is as follows:
selecting an EP point with the maximum amplitude value at different positions from the same distance to form an echo envelope max (B) = B '= [ B' 1 B' 2 B' 3 ...B' pmax ]Wherein p is max Is the maximum value of the distance points, and the corresponding distance points are r '= [ r' 1 r' 2 r' 3 ...r' pmax ]；
Taking ith amplitude value B 'in envelope' i ，J max ≤i≤p max -J max Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that B' i Is the wave crest amplitude, the corresponding EP point distance r' i Is the peak position r Peak(s) ，
Taking the jth amplitude value B 'in the envelope' j ，1≤j≤p max Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that the following conditions are met' j Is trough amplitude, corresponding EP point distance r' j Is the trough position r Grain ；
If B' i /B' j ≥L max Then wave crest B' i And trough B' j If the abnormal extreme point is a valid extreme point, otherwise, if the abnormal extreme point is an invalid extreme point, the invalid abnormal extreme point is eliminated. The number of the wave crests obtained after traversal is X rng The number of the wave troughs is Y rng ；
Step S503: splitting the echo region according to the standard wave form of valley-peak-valley to obtain one or moreThe small region blocks after distance resolution are that all extreme points on the distance envelope are sorted according to the distance to form a distance extreme value matrix E rng ＝[r Valley x r Peak y ]Wherein X is more than or equal to 0 and less than or equal to X rng ，0≤y≤Y rng Sequentially searching the distance extremum matrix to satisfy r Grain -r Peak(s) -r Grain All extreme points of the sequence, corresponding to the distance zones r Grain -r Grain And forming the split distance area.
In step S6, the trace point regions are calculated according to an amplitude weighting method to obtain the trace point positions condensed from each region, and trace point information is output and stored, where the calculation method specifically is as follows:
assuming that a certain area has M EP points in total, the distance and orientation coordinates of each EP point are respectively p 1 ＝(r 1 ,θ 1 )、p 2 ＝(r 2 ,θ 2 )、p 3 ＝(r 3 ,θ 3 )、……、p M ＝(r M ,θ M ) The amplitude value of each EP point is A 1 、A 2 、A 3 、……、A M Then the distance r of the condensation point is calculated by using the amplitude weighting method center And azimuth angle theta center The calculation formula is as follows:
has the advantages that: the radar trace point condensation method based on the echo envelope detection obtains each refined trace point region through trace point azimuth and distance discrimination on the basis of obtaining the fuzzy trace point region through the trace point merging mode, and finally completes the calculation of the trace point center position of each region by using an amplitude weighting method, thereby completely completing the trace point condensation process and having the following advantages: 1. aiming at the condition that the target and the target, and the target and clutter echoes overlap to cause that the point can not be correctly output or the point trace position is inaccurate, a complete and effective splitting solution is provided, and the tracking accuracy in the following radar tracking system in complex scenes such as target meeting, crossing, parallel and clutter penetrating is improved; 2. the method only carries out special processing aiming at the condition of overlapping the echoes, has small increased calculated amount of the whole scheme, simple calculating process, real-time processing and low requirement on hardware performance, and does not increase the cost of hardware equipment when realizing the function of the method.
Drawings
FIG. 1 is a flow chart of a radar point trace condensation method based on echo envelope detection according to the present invention;
FIG. 2 is a simulation result of target-to-target aliasing trace resolution;
FIG. 3 is a simulation result of trace resolution for target and clutter aliasing points;
FIG. 4 is a schematic diagram of the continuity of target tracking in a clutter region improved by the point-trace resolution in a radar tracking system according to the present invention.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.
As shown in fig. 1, the radar spot agglomeration method based on echo envelope detection according to the present invention includes the following steps:
step S1: in the point trace merging process, the relation and the azimuth difference between an EP point subjected to signal processing and the existing line segment are searched by taking the EP point as a center, a line segment queue with the same distance units and different azimuths is established or updated, wherein the EP point is fused with the existing line segment under the condition that the existing distance units are equal, the azimuth where the EP point is located has an intersection or difference smaller than a fracture threshold, the azimuth fracture threshold is related to a circle of trigger number of the radar, namely radar period and radar pulse repetition frequency, the more the trigger is, the smaller the azimuth fracture threshold is, the larger the trigger fracture threshold is; the less the triggering, the larger the azimuth fracture threshold and the smaller the triggering fracture threshold; the azimuth fracture threshold is set to be between 0.44 and 0.88 degrees, and the judgment formula for establishing or updating the line segment is as follows:
ΔA j ＝|A 0 -AE j |＜ΔDA min
wherein, A 0 For the current trigger position, AE j For the ending orientation of line j, Δ DA min Is the detection point azimuth fracture threshold.
Step S2: fusing all line segments of which the azimuth intervals and the distance intervals simultaneously meet the following conditions into information of a group:
wherein, the first and the second end of the pipe are connected with each other,
ΔCA k ＝|CAS k -AE j |orΔCA k ＝|CAE k -AS j |
ΔCR k ＝|CRS k -R j |orΔCR k ＝|CRE k -R j |
ΔCA max is the azimuthal fracture threshold, Δ CR, of the cliques and line segments max The distance fracture threshold of the cluster and the line segment is defined, and the starting orientation of the cluster k (k is more than or equal to 1 and less than or equal to the total number of clusters) is CAS k With an ending orientation of CAE k The starting distance unit is CRS k The ending distance unit is CRE k ，ΔCA k For azimuthal fracture of the blob k and line segment j, Δ CR k For distance fracture of the blob k from the line segment j, AS j Is the starting position of line j, R j Is the distance unit where the line segment j is located.
Then, all the clusters with the azimuth interval and the distance interval simultaneously meeting the following conditions are fused into large cluster information to obtain a final merged target fuzzy area:
wherein, Δ CCA k For azimuthal cleavage of group k and group t, Δ CCR k For the distance between the masses k and t to break, CAW k Is the azimuthal width of the blob k, CAW t Is the azimuthal width of the clique t, CRW k Distance Width of blob k, CRW t Distance width for the blob t:
setting ballThe initial orientation of k (1. Ltoreq. K. Ltoreq. Total number of clusters) is CAS k With an ending orientation of CAE k The starting distance unit is CRS k The ending distance unit is CRE k The start orientation of the compared cliques t (t is more than or equal to 1 and less than or equal to the total cliques, and t is not equal to k) is CAS t The ending azimuth is CAE t The starting distance unit is CRS t End distance unit CRE t Then, there is the following calculation:
ΔCCA k ＝|CAS k -CAE t |orΔCCA k ＝|CAE k -CAS t |
ΔCCR k ＝|CRS k -CRE t |orΔCCR k ＝|CRE k -CRS t |
CAW k ＝|CAE k -CAS k |
CAW t ＝|CAE t -CAS t |
CRW k ＝|CRE k -CRS k |
CRW t ＝|CRE t -CRS t |。
and step S3: according to a pulse system radar and a radar antenna directional diagram function F (theta), the theta is an azimuth, the amplitude distribution of radar target echoes in the azimuth is known to meet the standard waveform relation of weak-strong-weak or valley-peak-valley, all EP point information in the large cluster information formed after merging is stored, matching operation is carried out by adopting the standard waveform, the peak point and the valley point which meet the valley-peak-valley waveform are defined as extreme points, if more than two groups of extreme points which meet the valley-peak-valley distribution are found, the large cluster echo is regarded as not only consisting of one target, the trace point azimuth distinguishing processing is carried out, if the more than two groups of extreme points which meet the valley-peak-valley distribution are not found, the amplitude weighting processing is carried out on a fuzzy trace area to obtain trace point information gathered in each area, and the trace point information is output and stored.
And step S4: traversing all detection point large cliques, and carrying out azimuth resolution processing on large clique information meeting the conditions of azimuth width, distance width and the like according to an echo envelope detection method to form split 'small clique' information, wherein the target and target aliasing point trace resolution simulation effect and the target and clutter aliasing point trace resolution simulation effect are shown in figure 2, and the specific process is as follows:
the criterion of the azimuth echo envelope extraction is as follows:
assuming that n triggers are in the echo envelope, each trigger has m1, m2, m3, and mn EP detection points, and the amplitude of each trigger is formed by a matrix array as follows:
the matrix array formed by the distance r and the direction theta of the EP point on each corresponding trigger is as follows:
selecting an EP point with the maximum amplitude value at different distances in the same azimuth to form an echo envelope max (A) = A '= [ A' 1 A' 2 A' 3 ...A' n ]The corresponding orientation is θ '= [ θ' 1 θ' 2 θ' 3 ...θ' n ]。
The method for searching the peak point and the valley point in the azimuth echo envelope comprises the following steps:
let I max Is an extremum azimuth interval threshold, K max Is the proportional threshold of the amplitude of the wave crest and the wave trough, I max ≥θ 3dB /2，K max The ratio of main lobe to side lobe is not less than the ratio of the ith (I) in the envelope max ≤i≤n-I max ) Amplitude value A' i Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that the following conditions are simultaneously met' i Is the peak amplitude, corresponding EP point orientation theta' i At the peak position θ Peak(s) 。
Then j (j is more than or equal to 1 and less than or equal to n) th amplitude value A 'in the envelope is taken' j Sequentially judging whether the following conditions are simultaneously met or not, and if so, determining that the following conditions are met' j Is a trough amplitude, corresponding EP point orientation θ' j Is the trough position theta Grain 。
If A' i /A' j ≥K max Then wave crest A' i And trough A' j The result is a valid extreme point, otherwise, the result is an invalid extreme point. The number of the wave crests obtained after traversal is X ang The number of the wave troughs is Y ang 。
The determination criterion of the trace point position resolution area is as follows:
all extreme points on the azimuth are sorted according to the azimuth size to form an azimuth extreme matrix E ang ＝[θ Valley x θ Peak y ]Wherein X is more than or equal to 0 and less than or equal to X ang ，0≤y≤Y ang Sequentially searching the orientation extreme value matrix to satisfy theta Grain -θ Peak(s) -θ Grain All extreme points of the sequence, corresponding to the azimuth area theta Grain -θ Grain And forming the split azimuth area.
Step S5: traversing each small area block after azimuth resolution, and respectively performing distance resolution processing on each small area block, wherein in the invention, the simulation effect of target-target aliasing trace resolution and the simulation effect of target-clutter aliasing trace resolution are shown in fig. 3, and the specific process is as follows:
the criterion for range echo envelope extraction is:
assuming that there are q triggers in a certain region after the azimuth resolution, each trigger has p1, p2, p3, and.
The corresponding matrix array formed by the distance r and the direction theta of the EP point on each trigger is as follows:
selecting the EP point with the maximum amplitude value at different positions from the same distance to form the distance echo envelope max (B) = B '= [ B' 1 B' 2 B' 3 ...B' pmax ]The corresponding distance point is r '= [ r' 1 r' 2 r' 3 ...r' pmax ]Wherein p is max Is the maximum value of the distance point.
The method for searching the peak point and the valley point in the range echo envelope comprises the following steps:
let J max Is an extremum distance interval threshold, L max Is the proportional threshold of the amplitude of the wave crest and the wave trough, J max The value of (A) is related to pulse time width, radar resolution, target size and the like, and is determined according to engineering practice, L max The distance main lobe and side lobe ratio is more than or equal to, the ith (J) in the envelope is taken max ≤i≤p max -J max ) Amplitude value B' i Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that the following conditions are met' i Is the peak amplitude, the corresponding EP point distance r' i Is the peak position r Peak(s) 。
Taking the jth (j is more than or equal to 1 and less than or equal to p) in the envelope max ) Amplitude value B' j Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that B' j Is trough amplitude, corresponding EP point distance r' j Is the trough position r Grain 。
If B' i /B' j ≥L max Then wave crest B' i And trough B' j The result is a valid extreme point, otherwise, the result is an invalid extreme point. The number of the wave crests obtained after traversal is X rng The number of the wave troughs is Y rng 。
The determination criterion of the trace point distance resolution area is as follows:
all extreme points on the distance are sorted according to the distance to form a distance extreme matrix E rng ＝[r Valley x r Peak y ]Wherein X is more than or equal to 0 and less than or equal to X rng ，0≤y≤Y rng Sequentially searching for the matrix of distance extremum satisfying r Grain -r Peak(s) -r Grain All extreme points of the sequence, corresponding to the distance zones r Grain -r Grain And forming the split distance area.
Step S6: and respectively calculating the positions of the traces in each area after the position and distance resolution according to an amplitude weighting method, wherein the specific process is as follows:
assuming that M EP points are in total in a certain detection point area after trace point resolution, and the distance and the azimuth coordinate of each EP point are respectively p 1 ＝(r 1 ,θ 1 )、p 2 ＝(r 2 ,θ 2 )、p 3 ＝(r 3 ,θ 3 )、……、p M ＝(r M ,θ M ) The amplitude value of each EP point is A 1 、A 2 、A 3 、……、A M Then the distance r of the condensation point is calculated by using the amplitude weighting method center And azimuth angle theta center The calculation formula is as follows:
as shown in fig. 4, in a radar display screen shot in a radar tracking process, the batch numbers of two tracking targets are TV0104 and TV0209 respectively, when meeting and clutter penetrating occur in the two targets in the tracking process, the targets overlap with the targets and the echoes of the targets overlap with the echoes of the clutter, and the overlapping period and the clutter penetrating time are long. By adopting the radar point trace condensation method based on the echo envelope detection, the point trace position of a real target can be correctly found out when echoes are overlapped, so that the two targets can be normally and stably tracked, the mixed batch or batch change condition does not occur, and the effectiveness and the practicability of the method are verified.
Claims (7)
1. A radar point trace condensation method based on echo envelope detection is characterized in that: the method comprises the following steps:
step S1: receiving and processing radar original detection point data;
step S2: merging the detection points to form a plurality of detection point clique information to obtain a final merged trace point fuzzy area;
and step S3: judging whether the information in the trace point fuzzy area meets waveform resolution, if so, executing a step S4, and if not, executing a step S6;
and step S4: carrying out azimuth resolution processing on the point trace fuzzy area meeting waveform resolution to form one or more resolved small cluster areas;
step S5: carrying out distance resolution processing on the small cluster region formed by the orientation resolution to form final each dot trace region;
step S6: and calculating the trace point regions according to an amplitude weighting method to obtain the condensed trace point positions of the regions, and outputting and storing trace point information.
2. The echo envelope detection-based radar trace-agglomeration method of claim 1, wherein: the step S1 of receiving and processing the radar original detection point data refers to: the azimuth and distance quantization is carried out on radar echo data according to a radar pulse repetition period and a radar sampling rate to obtain a total of L triggers of a circle of radar scanning, each trigger is provided with N distance units, namely the radar scans the total of L multiplied by N sampling points of the circle, and the position of each threshold-passing detection point formed after signal processing on each trigger, namely an EP point, is p i,j ＝(r i,j ,θ i,j ) I is more than or equal to 1 and less than or equal to + ∞, j is more than or equal to 1 and less than or equal to mi, wherein i represents a trigger serial number, j represents an EP point serial number, mi is the total number of EP points on the ith trigger received, mi is less than or equal to N, r i,j Is received asThe ith trigger, the distance unit where the jth EP point is located, theta i,j The position of the jth EP point is the ith trigger received.
3. The echo envelope detection-based radar spot agglomeration method of claim 1, wherein: the step S2 of merging the detection points to form a plurality of detection point clique information and obtaining a final merged trace point fuzzy region comprises the following substeps:
step S201: forming a line segment queue by detecting points which have the same distance and different directions and have the following direction intervals:
ΔA j ＝|A 0 -AE j |＜ΔDA min
wherein, A 0 For the current trigger position, AE j For the ending orientation of line j, Δ DA min Is a detection point azimuth fracture threshold;
step S202: fusing all line segments of which the orientation intervals and the distance intervals simultaneously meet the following conditions into cluster information:
wherein, Δ CA max Is the azimuthal fracture threshold, Δ CR, of the cliques and line segments max The distance between the blob and the line segment is the fracture threshold, and the starting orientation of blob k is CAS k K is more than or equal to 1 and less than or equal to the total number of clusters, and the ending orientation of the cluster k is CAE k The starting distance unit of the cluster k is CRS k The end distance unit of the blob k is CRE k ，AS j Is the starting position of line j, R j Is the distance cell in which line j is located, Δ CA k For azimuthal fracture of blob k and line segment j, Δ CR k Breaking the distance between the ball k and the line segment j;
ΔCA k and Δ CR k The calculation formula of (a) is as follows:
ΔCA k ＝|CAS k -AE j |orΔCA k ＝|CAE k -AS j |
ΔCR k ＝|CRS k -R j |orΔCR k ＝|CRE k -R j |；
step S203: fusing all clusters of which the azimuth intervals and the distance intervals simultaneously meet the following conditions into large cluster information to obtain a final merged trace point fuzzy region:
wherein, Δ CCA k For azimuthal cleavage of group k from group t, Δ CCR k Fracture of the distance between the group k and the group t, CAW k Is the azimuthal width of the blob k, CAW t Is the azimuthal width of the clique t, CRW k Distance Width of blob k, CRW t The distance width of the clique t is shown, and k and t are the number of cliques;
let the starting orientation of blob k be CAS k K is more than or equal to 1 and less than or equal to the total number of clusters, and the ending direction is CAE k The starting distance unit is CRS k End distance unit CRE k The starting orientation of the compared cliques t is CAS t T is more than or equal to 1 and less than or equal to the total number of clusters, t is not equal to k, and the ending direction is CAE t The starting distance unit is CRS t End distance unit CRE t Then the following calculation is true:
ΔCCA k ＝|CAS k -CAE t |orΔCCA k ＝|CAE k -CAS t |
ΔCCR k ＝|CRS k -CRE t |orΔCCR k ＝|CRE k -CRS t |
CAW k ＝|CAE k -CAS k |
CAW t ＝|CAE t -CAS t |
CRW k ＝|CRE k -CRS k |
CRW t ＝|CRE t -CRS t |。
4. the echo envelope detection-based radar trace-agglomeration method of claim 1, wherein: step S3, determining whether the information in the trace point fuzzy region satisfies waveform resolution, namely: according to the radar characteristics of a pulse system, influenced by the radar beam width and the pulse width, the target occupies a certain size in azimuth and distance, if the azimuth width and the distance width of the trace-dotted fuzzy area simultaneously meet the following conditions, the area is subjected to trace-dotted azimuth resolution processing in the step S4, and if the azimuth width and the distance width do not meet the following conditions, the step S6 is executed;
wherein AW Dotted trace fuzzy region For the azimuth width of the blurred spot-trace region, RW Dotted trace fuzzy area Is the distance width of the blurred region of the trace point, theta 3dB For antenna horizontal beam width, τ is radar pulse width, and C is speed of light.
5. The echo envelope detection-based radar spot agglomeration method of claim 1, wherein: the step S4 of performing azimuth resolution processing on the blurred dot trace region satisfying waveform resolution to form one or more resolved "small cluster" regions, which means performing azimuth resolution on the lapped echo based on echo envelope detection, includes the following sub-steps:
step S401: according to a pulse system radar, a radar antenna directional diagram function F (theta) is used as an azimuth, amplitude distribution of radar target echoes in the azimuth meets a weak-strong-weak or valley-peak-valley standard waveform relation, an azimuth echo envelope is formed by using amplitude maximum values of different distance points in the same azimuth in a fuzzy area block, positions of wave crests and wave troughs in the echo envelope are searched by adopting a method of indexing local extreme values with large differences in the azimuth during point trace azimuth resolution, for the pulse compression system radar, the target occupies a plurality of distance units in the same azimuth under the influence of the size of the target and the resolution of the radar, and an EP point with the largest amplitude value in the same azimuth is selected to form the echo envelope;
step S402: searching all peak points and valley points in the azimuth echo envelope by an extreme value azimuth interval threshold I max Determining the positions of the wave crest and the wave trough in the envelope, and the amplitude ratio threshold K of the wave crest and the wave trough max Judging the correctness of the wave crests and the wave troughs, I max ≥θ 3dB /2，θ 3dB Is the 3dB beam width, K, of the radar antenna max The method for specifically searching and judging the wave crest and the wave trough comprises the following steps:
assuming that there are n triggers in the echo envelope, each trigger has m1, m2, m3,. And mn EP detection points, and the matrix array formed by the amplitudes of each trigger is:
the matrix array formed by the distance r and the direction theta of the EP point on each corresponding trigger is as follows:
selecting the EP point with the maximum amplitude value on different range units in the same azimuth to form an echo envelope max (A) = A '= [ A' 1 A′ 2 A′ 3 ...A′ n ]The corresponding azimuth is θ '= [ θ' 1 θ′ 2 θ′ 3 ...θ′ n ]；
Taking ith amplitude value A 'in envelope' i ，I≤i≤n-I max Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that the following conditions are simultaneously met' i Is the peak amplitude, corresponding EP point orientation theta' i Is the peak position theta Peak(s)
Taking j amplitude value A 'in envelope' j J is more than or equal to 1 and less than or equal to n, whether the following conditions are simultaneously met is sequentially judged, and if the following conditions are met, A' j Is valley amplitude, corresponding EP point location θ' j Is the trough position theta Grain
If A' i /A′ j ≥K max Then wave crest A' i And trough A' j If the peak is an effective extreme point, otherwise, an invalid abnormal extreme point is eliminated, and the number of the wave crests obtained after traversal is X ang The number of the wave troughs is Y ang ；
Step S403: splitting the echo region according to a valley-peak-valley standard waveform to obtain one or more small region blocks after azimuth resolution, namely sequencing all extreme points in the azimuth according to the azimuth size to form an azimuth extreme matrix E ang ＝[θ Valley x θ Peak y ]Wherein X is more than or equal to 0 and less than or equal to X ang ，0≤y≤Y ang Sequentially searching the matrix of the orientation extreme values satisfying theta Grain -θ Peak(s) -θ Grain All extreme points of the sequence, corresponding to the azimuth area theta Grain -θ Grain And forming the split azimuth area.
6. The echo envelope detection-based radar spot agglomeration method of claim 1, wherein: step S5 is to perform distance resolution processing on the "small cluster" area formed by the position resolution, and the forming of the final each trace point area is: distance-resolving the lapped echoes based on echo envelope detection comprises the following sub-steps:
step S501: for a pulse compression system radar, when a transmitting signal is a linear frequency modulation signal, a received signal is subjected to pulse compression through a matched filter, the formed echo signal envelope is approximate to a sine function, the amplitude distribution of radar target echoes on the distance meets the standard waveform relation of weak-strong-weak or valley-peak-valley, distance resolution processing is respectively carried out on each small region block after position resolution, the maximum amplitude values on the same distance and different position distance points in each small region form a distance echo envelope, namely, the EP point with the maximum amplitude value in the same distance unit and different positions is selected to form a distance echo envelope;
step S502: finding all peak points and valley points in the distance echo envelope, and spacing a threshold J by an extremum distance max Determining the positions of the wave crest and the wave trough in the envelope, and the amplitude ratio threshold L of the wave crest and the wave trough max Judging the correctness of the wave crests and the wave troughs, J max Is related to factors such as pulse duration, radar resolution and target size, L max The method for specifically searching and judging the wave crest and the wave trough comprises the following steps:
assuming that there are q triggers in a certain region after the azimuth resolution, each trigger has p1, p2, p3, and.
The matrix array formed by the distance r and the direction theta of the EP point on each corresponding trigger is as follows:
selecting the EP point with the maximum amplitude value at the same distance and different directions to form an echo envelope
Wherein p is max Is the maximum value of the distance point, the corresponding distance point is
Taking ith amplitude value B 'in envelope' i ，J max ≤i≤p max -J max Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that B' i Is the wave crest amplitude, the corresponding EP point distance r' i Is the peak position r Peak(s) ，
Taking jth amplitude value B 'in envelope' j ，1≤j≤p max Sequentially judging whether the following conditions are simultaneously met or not, and if so, judging that B' j Is a trough amplitude, corresponding EP point distance r' j Is the trough position r Grain ，
If B' i /B′ j ≥L max Then wave crest B' i And trough B' j If the peak is an effective extreme point, otherwise, an invalid abnormal extreme point is eliminated, and the number of the wave crests obtained after traversal is X rng The number of the wave troughs is Y rng ；
Step S503: splitting the echo region according to a valley-peak-valley standard waveform to obtain one or more distance-resolved small region blocks, namely sequencing all extreme points on a distance envelope according to the distance to form a distance extreme matrix E rng ＝[r Valley x r Peak y ]Wherein X is more than or equal to 0 and less than or equal to X rng ，0≤y≤Y rng Sequentially searching for the matrix of distance extremum satisfying r Grain -r Peak(s) -r Grain All extreme points of the sequence, corresponding distance zones r Grain -r Grain And forming the split distance area.
7. The echo envelope detection-based radar spot agglomeration method of claim 1, wherein: step S6 is to calculate the trace point region according to the amplitude weighting method to obtain the trace point position condensed from each region, and output and store trace point information, where the calculation method specifically is as follows:
assuming that a certain area has M EP points in total, the distance and orientation coordinates of each EP point are respectively p 1 ＝(r 1 ,θ 1 )、p 2 ＝(r 2 ,θ 2 )、p 3 ＝(r 3 ,θ 3 )、……、p M ＝(r M ,θ M ) The amplitude value of each EP point is A 1 、A 2 、A 3 、……、A M Then the distance r of the condensation point is calculated by using the amplitude weighting method center And azimuth angle theta center The calculation formula is as follows:
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