CN106646451A - Angle tracking subsystem based on radar signal processing system - Google Patents
Angle tracking subsystem based on radar signal processing system Download PDFInfo
- Publication number
- CN106646451A CN106646451A CN201710054610.3A CN201710054610A CN106646451A CN 106646451 A CN106646451 A CN 106646451A CN 201710054610 A CN201710054610 A CN 201710054610A CN 106646451 A CN106646451 A CN 106646451A
- Authority
- CN
- China
- Prior art keywords
- module
- target
- range
- signal
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses an angle tracking subsystem based on a radar signal processing system. The angle tracking subsystem based on the radar signal processing system comprises a distance information acquiring subsystem and an angle tracking subsystem, wherein the distance information acquiring subsystem comprises a first A/D conversion module, a first digital down-conversion module, a range gate strobing module, a first pulse compression module, a first phase-coherent accumulation MTD module, a constant false alarm detecting module and a dots-cohesion module; and the angle tracking subsystem comprises a second A/D conversion module a second digital down-conversion module, a range gate strobing module, a second pulse compression module, a second phase-coherent accumulation MTD module and an angle measuring module. After target signals are detected by constant false alarm and are cohered by a sum channel, meanwhile, target signals of sum and difference channels are transmitted to an angle measuring system to obtain a target azimuth and a pitching angle in the movement direction of a platform, measurement of angle errors is finished, and angle tracking is carried out.
Description
Technical field
The present invention relates to a kind of angleonly tracking subsystem based on Radar Signal Processing System.
Background technology
Radar, is the transliteration of English Radar, comes from the abbreviation of radio detection and ranging, look like for "
Radio detection and ranging ", i.e., find target and determine their locus with wireless method.Therefore, radar also by
Referred to as " radio position finding radio directional bearing ".Radar is using the electronic equipment of electromagnetic wave detection target.Radar emission electromagnetic wave is carried out to target
Irradiate and receive its echo, be derived from the distance of target to electromagnetic emission point, range rate (radial velocity), orientation,
The information such as height.
Radar signal processor, control transmission channel produce chirp pulse signal Jing up-conversions, transmit-receive switch and and
Difference comparator after launched by feed antenna, target reflection echo-signal Jing after feed antenna pass through and differ from comparator formed
With, gun parallax, the road signal of trim three, carry out obtaining intermediate-freuqncy signal after down coversion Jing after transmit-receive switch.At whole radar signal
Reason machine needs to carry out the letter of intermediate-freuqncy signal detection, distance tracking, speed tracing and angleonly tracking for the intermediate-freuqncy signal for obtaining
Number handling process.And angleonly tracking is then as its critically important part.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of angle based on Radar Signal Processing System
Tracing subsystem.
The purpose of the present invention is achieved through the following technical solutions：A kind of angle based on Radar Signal Processing System
Tracing subsystem, including range information acquisition subsystem and angleonly tracking subsystem；Described range information obtains subsystem bag
Include an A/D modular converters, the first Digital Down Converter Module, range gate gating module, the first pulse compression module, the first phase
Ginseng accumulation MTD modules, CFAR detection module and Plot coherence module, described angleonly tracking subsystem turns including the 2nd A/D
Mold changing block, the second Digital Down Converter Module, range gate gating module, the second pulse compression module, the second correlative accumulation MTD moulds
Block, angle measurement module；
First A/D modular converters receive outside intermediate frequency echo and signal is simultaneously direct after intermediate frequency carries out A/D samplings to signal
Send to the first Digital Down Converter Module, the first Digital Down Converter Module exports two-way I/ after processing digital medium-frequency signal
Q and channel signal, two-way I/Q and channel signal by range gate gating module sequentially pass through the first pulse compression module,
Target is detected after one correlative accumulation MTD modules, CFAR detection module, described target is exported to Plot coherence and carries out a mark
Form range information after cohesion to export to angle measurement module；
It is simultaneously direct after intermediate frequency carries out A/D samplings to signal that 2nd A/D modular converters receive outside intermediate frequency echo difference signal
Send to the second Digital Down Converter Module, the second Digital Down Converter Module exports two-way I/ after processing digital medium-frequency signal
Q differs from channel signal, two-way I/Q differ from channel signal by range gate gating module sequentially pass through the second pulse compression module, the
Doppler information is obtained after two correlative accumulation MTD modules, doppler information is exported to angle measurement module；
Angle measurement module deviates antenna normal angle according to target number, range information, doppler information, amplitude information, target
Degree calculates actual Doppler frequency so that it is determined that the angle of target.
Described the first Digital Down Converter Module and the second Digital Down Converter Module includes orthogonalization unit, digital controlled oscillator
NCO, multiplier, FIR low pass filter and extracting unit, orthogonalization unit receives the digital intermediate frequency letter from A/D modular converters
Number and be orthogonalized to form orthogonal I/Q two paths of signals, two paths of signals respectively with digital controlled oscillator NCO formed orthogonal local oscillation
Sequence is multiplied, and exports respectively to the FIR low pass filter on each road, and low pass filter takes out baseband signal and filters radio-frequency component,
Baseband signal is carried out extracting by extracting unit reduces signal rate, and output end and the range gate gating module of extracting unit connect
Connect.
Described the first pulse compression module and the second pulse compression module is used to realize matched filtering, using time domain impulse
Compression module or frequency-domain impulse compression module；
Described Time-Domain Pulse Compression module includes four FIR matched filters and two adders；Wherein, a FIR
The first input end of matched filter and the 2nd FIR matched filters receives I roads signal, a FIR matched filters and
Second input of two FIR matched filters receives respectively Least square estimation, a FIR matched filters and the 2nd FIR
The first input of the first input end and second adder exported respectively after convolution algorithm to first adder is carried out with wave filter
End；The first input end of the 3rd FIR matched filters and the 4th FIR matched filters receives Q roads signal, the 3rd FIR matchings
Second input of wave filter and the 4th FIR matched filters receives respectively Least square estimation, the 3rd FIR matched filters and
4th FIR matched filters carry out being exported respectively after convolution algorithm to second input and second adder of first adder
Second input；First adder and second adder export respectively the letter after I/Q two-way matched filterings after add operation
Number；
Described frequency-domain impulse compression module include FFT unit, complex multiplication unit, matched filter spectrum unit,
IFFT units, it is S (w) that FFT unit is respectively FFT to the I/Q two ways of digital signals being input into and carry out map function to transform to frequency spectrum
Frequency domain, complex multiplication unit is by spectrum H (w) phase of S (w) and the matched filter of matched filter spectrum unit output
Take advantage of, IFFT units carry out the result that IFFT computings obtain pulse compression the achievement for obtaining；Described spectrum H (w) is utilization
Carry out what FFT was obtained with filter factor.
Also include the first range gate being sequentially connected between the first pulse compression module and the first correlative accumulation MTD modules
Reordering module and the first Moveing target indication MTI modules；Between the second pulse compression module and the second correlative accumulation MTD modules also
Including the second distance door reordering module being sequentially connected with and the second Moveing target indication MTI modules；
Described range gate reordering module adopts two-dimentional buffer storage, by radar echo signal according to the pulse repetition period
A two-dimensional matrix is arranged in range cell, wherein, identical pulse repetition period, the echo-signal of different distance unit are by row
Arrangement, i.e., the different range cell of each row correspondence；The different pulse repetition periods, the echo-signal of same distance unit is by row row
Row, that is, arrange the correspondence different pulse repetition period；Time difference between i.e. each row adjacent two data is precisely that pulse repeats
Cycle；During using pulse compression signal, range gate width is taken as the pulse width after pulse compression；
Mutually inspection output work of the described Moveing target indication MTI modules by same range cell within the adjacent repetition period subtracts each other
Computing, completes to offset fixed echo, while clutter at a slow speed of significantly decaying, retains Moving Target Return.
Described the first correlative accumulation MTD modules and the second correlative accumulation MTD modules was needed within N number of accumulation pulse period
M N points plural number FFT computing need to be carried out, M is range cell；Correlative accumulation MTD modules are adjacent and partly overlapping narrow using one group
Band Doppler filter group realizes that described arrowband Doppler filter group covers the whole frequency of target Doppler frequency
Scope, realizes that moving-target is detected, equivalent to different passages correlative accumulation is carried out；Wherein, N number of adjacent arrowband Doppler filter
Ripple device group is to realize that described is N number of through the different weights of each repetition period and after summation by the transversal filter of N number of output
The transversal filter of output includes N number of repetition period and N-1 root delay lines.
Described CFAR detection module is controlled by appropriate thresholding, makes the false-alarm probability of detection constant；Described perseverance
False-alarm detection module includes that multiple CFAR detection units and a multichannel select big unit, the number of described CFAR detection unit
Amount is identical with the output way of correlative accumulation MTD modules, and each CFAR detection unit is received respectively from correlative accumulation MTD moulds
The single channel output of each range cell of block, carries out exporting after CFAR detection judgement to multichannel and selects big unit, and multichannel choosing is big single
Unit carries out the comparison on longitudinal Doppler's passage, selects the maximum of each range cell, obtains multichannel and selects big result；
Respectively there is a sliding window for covering some range cells in described CFAR detection unit lead and trail edge, using in sliding window
The average of reference sample, forms before and after edge partial estimation, then it is average to partial estimation, choosing is big, little or weighted average is selected, with true
The background clutter mean power for determining CFAR detection unit is estimated.
Described range information obtain subsystem also include tracking gate module, distance centering processing module, range finder module,
Kalman filtering module/alpha-beta filtration module；Data output after cohesion to tracking gate module, then Jing are processed apart from centering
Carry out without fuzzy range finding into range finder module after module, Jing Kalman filterings/alpha-beta filtration module produces range gating ripple after range finding
Door, makes the echo signal detected by the center of tracking gate alignment echo of range gate gating module.
The input of described Plot coherence module receives the target for crossing thresholding of CFAR detection module output, and away from
Traveled through and judged whether the range gate number of adjacent target is continuous on descriscent：The median of range gate number is stored if continuous
As target range door information, while the range cell to there is target chooses the maximum target of orientation amplitude as output；Such as
Fruit is discontinuous then to continue to travel through.
The angle measurement mode of described angle measurement module is：
(1) target range and doppler information after cohesion are obtained respectively；
(2) value of after MTD is processed and passage ∑ and difference passage Δ correspondence position is taken；
(3) difference is calculated and than width K：K=imag (Δ/∑), as poor passage Δ with and passage ∑ ratio imaginary part；
(4) the angle measurement curve that antenna radiation pattern determines is obtained, judges K values whether in angle measurement curve ranges：If K values exist
Then tabled look-up according to directional diagram in angle measurement curve ranges and obtain error angle information, if K values are carried out not in angle measurement curve ranges
Blanking process is abandoned the target information.
Described angleonly tracking subsystem also includes a low pass filter, the output end and low pass filter of angle measurement module
Connection, low pass filter output moving-target difference information.
The invention has the beneficial effects as follows：The intermediate-freuqncy signal of the present invention carries out being converted to data signal after analog-to-digital conversion module,
Then again through Digital Down Convert, I, Q two-way baseband signal is converted a signal into, and differs from three road I, Q signal respectively through distance
Select gate forms gating signal, and gating signal exports narrow pulse signal, range gate after pulse compression and resets buffer-stored
Data chronological be changed into by range cell arrangement, carry out coherent to target by MTD afterwards and mutually tire out by device from original.By with
Passage detects echo signal and after being condensed Jing CFAR detection, while and, the echo signal of difference passage deliver to angle measuring system,
The azimuth of target and the angle of pitch of the platform direction of motion are obtained, the measurement of angle error is completed and is carried out angleonly tracking.In addition, with
Passage, by Kalman filtering after being found range, forms the distance choosing of subsequent time Jing after CFAR detection detection echo signal
Tong Bomen, obtains energy.
Description of the drawings
Fig. 1 is present configuration block diagram；
Fig. 2 is Digital Down Converter Module theory diagram；
Fig. 3 is Time-Domain Pulse Compression module principle block diagram；
Fig. 4 is frequency-domain impulse compression module theory diagram；
Fig. 5 is secondary canceller theory diagram；
Fig. 6 is MTD Doppler filter group theory diagrams；
Fig. 7 is average class CFAR module principle block diagram；
Multichannel CFAR module Cleaning Principle block diagram when Fig. 8 is MTD working methods；
Fig. 9 is Plot coherence block process schematic diagram；
Figure 10 is angle measurement block process schematic diagram.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of angleonly tracking subsystem based on Radar Signal Processing System, including range information acquisition
System and angleonly tracking subsystem；Described range information obtains subsystem includes an A/D modular converters, the lower change of the first numeral
Frequency module, range gate gating module, the first pulse compression module, the first correlative accumulation MTD modules, CFAR detection module and
Plot coherence module, described angleonly tracking subsystem includes the 2nd A/D modular converters, the second Digital Down Converter Module, distance
Ripple door gating module, the second pulse compression module, the second correlative accumulation MTD modules, angle measurement module；
First A/D modular converters receive outside intermediate frequency echo and signal is simultaneously direct after intermediate frequency carries out A/D samplings to signal
Send to the first Digital Down Converter Module, the first Digital Down Converter Module exports two-way I/ after processing digital medium-frequency signal
Q and channel signal, two-way I/Q and channel signal by range gate gating module sequentially pass through the first pulse compression module,
Target is detected after one correlative accumulation MTD modules, CFAR detection module, described target is exported to Plot coherence and carries out a mark
Form range information after cohesion to export to angle measurement module；
It is simultaneously direct after intermediate frequency carries out A/D samplings to signal that 2nd A/D modular converters receive outside intermediate frequency echo difference signal
Send to the second Digital Down Converter Module, the second Digital Down Converter Module exports two-way I/ after processing digital medium-frequency signal
Q differs from channel signal, two-way I/Q differ from channel signal by range gate gating module sequentially pass through the second pulse compression module, the
Doppler information is obtained after two correlative accumulation MTD modules, doppler information is exported to angle measurement module；
Angle measurement module deviates antenna normal angle according to target number, range information, doppler information, amplitude information, target
Degree calculates actual Doppler frequency so that it is determined that the angle of target.
Further, in the present embodiment, angleonly tracking subsystem is two, and one of them is according to intermediate frequency echo bearing
Difference signal measures moving-target gun parallax information, and another is to set out target pitch according to intermediate frequency echo trim signal of change
Difference information.
Wherein, it is sample frequency f that the major design of A/D converters considerssSelection, fsSelection and IF-FRE and letter
Number bandwidth is relevant, while in order that signal processor has bigger dynamic range, fsHeight should be measured, in order that signal processor to the greatest extent may be used
Energy ground is simple, fsShould be as low as possible, fsSelection be the result for considering these factors, by bandpass signal sample formula：
F in formula0For 120MHz centre frequencies, B is 40MHz bandwidth, takes fs=160MHz (situation equivalent to n=1), should
Sample frequency can simultaneously take into account dynamic range and realize difficulty.
Direct intermediate frequency (IF) Sampling technology is that signal is directly sampled with A/D in intermediate frequency, after signal sampling, is got in return through becoming
To I, Q simple two-way signal.The uniformity of the orthogonal signalling for so obtaining is good, high precision, and other advantages with digital circuit,
So as to improve Radar Signal Processing System performance to a great extent.
As shown in Fig. 2 described Digital Down Converter Module includes orthogonalization unit, digital controlled oscillator NCO, multiplier, FIR
Low pass filter and extracting unit, orthogonalization unit receives the digital medium-frequency signal from A/D modular converters and is orthogonalized
Form orthogonal I/Q two paths of signals, orthogonal local oscillation sequence (- sin (the 2 π * that two paths of signals is formed respectively with digital controlled oscillator NCO
Fi*n*ts) with cos (2 π * fi*n*ts)) it is multiplied, and export respectively to the FIR low pass filter on each road, low pass filter takes out
Baseband signal filters radio-frequency component, and baseband signal is carried out extracting by extracting unit reduces signal rate, the output end of extracting unit
It is connected with range gate gating module.
Specifically, the function that digital quadrature down conversion module is completed includes 3 parts：One is orthogonalization, by digital intermediate frequency
Signal obtains orthogonal I, Q two paths of signals by orthogonalization module；Two is down coversion, digital mixer by digital medium-frequency signal and
Orthogonal local oscillation sequence is multiplied, and then takes out baseband signal by low pass filter, filters radio-frequency component；Three is to extract, to reduce
Signal rate.Multiplier and low pass filter are all completed by digital operation in DDC, there is no analog multiplier and analog low-pass
Range error and phase quadrature error that wave filter causes because circuit is inconsistent.
Centre frequency f0For 120MHz, bandwidth B is 40MHz, sampling rate fs=160MHz, therefore NCO centre frequencies are
20MHz, extracting multiple is 2.
FIR low pass filter is designed as 128 ranks, and Out-of-band rejection reaches more than 65dB；Wave filter input data is 14, is
Number is 16, and sampling rate is 80Msps, wave filter output data bit wide 23.
Call special IP kernel to be filtered in ISE, it is intended that the work clock of FIR filtering for 4 times of sampling clock (i.e.
320MHz), then need in FPGA DSP resources to be 16, and differ from 16*2 is needed after three road signal orthogonalizations (per the orthogonal I/Q of passage
Two-way) * 3 (and difference triple channel)=96 DSP resources.
Time-Domain Pulse Compression module adopts FIR filter structures, by the pulse to echo sequence s (n) and matched filter
Response sequence h (n) seeks convolution to realize, to obtain output result needs to do four groups of related operations, wave filter multiple correlation computing
Amount is dramatically increased with increase wide during signal, is completed the chip magnitude needed for computing and is consequently increased.Process of pulse-compression
Time domain realizes that block diagram is as shown below.Matched filter coefficient is gripped altogether for the mirror image of linear FM signal complex envelope.In advance by institute
The filter coefficient for having waveform is deposited in the ROM of FPGA, during work, is read corresponding coefficient according to different radar waveforms and is entered
Row convolution algorithm.In order to suppress pulse pressure secondary lobe, also tackle matched filter and weighted using Hamming window.
As shown in figure 3, described Time-Domain Pulse Compression module includes four FIR matched filters and two adders；Its
In, the first input end of a FIR matched filters and the 2nd FIR matched filters receives I roads signal, FIR matchings
Second input of wave filter and the 2nd FIR matched filters receives respectively Least square estimation, a FIR matched filters and
2nd FIR matched filters carry out being exported respectively after convolution algorithm to the first input end and second adder of first adder
First input end；The first input end of the 3rd FIR matched filters and the 4th FIR matched filters receives Q roads signal, and the 3rd
Second input of FIR matched filters and the 4th FIR matched filters receives respectively Least square estimation, the 3rd FIR matchings
Wave filter and the 4th FIR matched filters carry out the second input and second exported respectively after convolution algorithm to first adder
Second input of adder；First adder and second adder export respectively the matching filter of I/Q two-way after add operation
Signal after ripple.
It can be seen that Time-Domain Pulse Compression needs 4 FIR filters to realize, required according to Waveform Design, LFM pulses
The most a width of 36us of width, when sampling rate is 80Msps, the coefficient of matched filter is 2880, input data bit wide 23
Position, coefficient bit wide 16, wave filter output data bit wide 32.
As shown in figure 4, frequency-domain impulse compression general principle be first to collect data signal s (n) does FFT,
It is set to transform to frequency domain, its frequency spectrum is S (w), then S (w) (is entered with the spectrum H (w) of matched filter using matched filtering coefficient
Row FFT is obtained) multiplication, the product for obtaining is carried out the result that IFFT computings obtain pulse compression.For frequency domain method, frequency domain
When processing big, its equipment amount increases little to digital pulse-compression during bandwidth signals, adopts frequency domain during width Signal for Pulse when processing big
Processing system has obvious advantage.
Specifically, described frequency-domain impulse compression module includes FFT unit, complex multiplication unit, matched filter frequency spectrum
Unit, IFFT units, FFT unit is respectively FFT and carries out map function and transforms to frequency spectrum and be to the I/Q two ways of digital signals being input into
The frequency domain of S (w), complex multiplication unit is by the spectrum H (w) of S (w) and the matched filter of matched filter spectrum unit output
It is multiplied, IFFT units carry out the result that IFFT computings obtain pulse compression the achievement for obtaining；Described spectrum H (w) is utilization
Matched filtering coefficient carries out what FFT was obtained.
Input data bit wide 23, H (k) coefficients are 16, and data bit width is 32 after multiplier output.
For different wave, resource of 3 passages required for time domain and frequency domain carry out pulse compression to 3 passages simultaneously and
Process time such as following table (with selected chip SCKU115 as platform)：
Visible in table, under such condition, frequency domain technique has relative to time-domain processing method in terms of FPGA resource
Obvious advantage, therefore, the present embodiment is intended being processed using frequency-domain impulse compression.
Further, also include what is be sequentially connected between the first pulse compression module and the first correlative accumulation MTD modules
First range gate reordering module and the first Moveing target indication MTI modules；In the second pulse compression module and the second correlative accumulation MTD
Also include second distance door reordering module and the second Moveing target indication MTI modules being sequentially connected between module.
Wherein, realizing that range gate is reset needs two-dimentional buffer storage, by radar echo signal according to the pulse repetition period
A two-dimensional matrix is arranged in range cell.The identical pulse repetition period, the echo-signal of different distance unit by rows,
The different range cell of i.e. each row correspondence；Different pulse repetition periods, the echo-signal of same distance unit is arranged by row arrangement
The correspondence different pulse repetition period.It follows that the time difference between each row adjacent two data is precisely pulse repeating
Cycle.
During using pulse compression signal, range gate width is taken as the pulse width after pulse compression.Data are from single distance
Door reading is sent to follow-up clutter and processes and Doppler filter group, and the data from different distance door are analyzed successively.
Sampled data is entered after rearrangement according to form above, by this frame data, obtaining the fuzzy of target
Distance or fuzzy speed.MTD carries out doppler filtering to the N point datas of each range cell successively, is to ensure in whole process
The filtering of each range cell can be completed in N*Tr (coherent processing be spaced CPI), be input into read-out speed (the i.e. wave filter of storage
Processing speed) typically can be more quicker than its writing rate.
Need to design storages of the RAM to realize range gate 2-D data, input data bit wide 32, if needed in FPGA
The target in the range of 375 meters is detected, needs range gate number M to be 100.
For different wave, three passages resource such as following table required in data rearrangement：
When fixed target, land clutter etc. are in same range cell with moving target, the former echo is generally relatively strong, with
It is submerged wherein as the echo of moving target, therefore must try to make a distinction the two.It is different from clutter for moving-target
Additive operation is made in doppler characterization, the mutually inspection output by same range cell within the adjacent repetition period, then permanent echo
To be done and offset, at a slow speed clutter also will largely be decayed, and only Moving Target Return is retained.Obviously so just
Fixed target, at a slow speed clutter and moving target can be made a distinction.By Moveing target indication (MTI) technology, using mti filter
Corresponding clutter is filtered, fixed land clutter is suppressed, so as to improve target detection performance.
During pulsed operation state, signal is repeated by repetition period interval, therefore the frequency response of wave filter used also should be
Comb teeth-shaped.The basic element of wave filter be time delay be equal to the repetition period delay line, zero-frequency clutter (land clutter)
Mti filter recess should be formed at zero-frequency and its cycle appearance point.
Because clutter spectrum has certain width, and this project objective Doppler frequency is not high, therefore answers reasonable design
Mti filter.
The most frequently used zero-frequency mti filter is binomial wave filter, wherein most typically first-order cancellation device (two pulses
Offset) and secondary canceller (three pulses are offseted).
Shown in theory diagram Fig. 5 of secondary canceller or title three pulse canceller, input data is a base band plural number sample
This, these are that same range cell is returned by sequential pulse, form an effective sampling interval TrDiscrete time sequence
Row x (n).At that time domain equation is：Y (n)=x (n) -2*x (n-l)+x (n-2), the transmission function of fixed cancellation device is H (z)
=1-2*Z-1+Z-2。
Cancellation device is relative to once offseting, it will be apparent that improve the null and notch width of zero Technique for Doppler Frequency, improves
The performance of clutter recognition.
Although cancellation device has wider suppression recess compared with a canceller, clutter suppression capability has strengthened, and leads to
Gain in band is still very big, it is possible to also inhibits transient echo, the method for improving mti filter pass-band performance is to increase
Feedback branch, designs so-called recursion filter.
In the present embodiment, moving-target detection process are that one kind suppresses various clutters using Doppler filter, to carry
High radar detects the technology of moving target ability under clutter background.MTD is using one group of adjacent and partly overlapping Doppler's filter
Ripple device group, covers the whole frequency range of target Doppler frequency, and to reach the purpose of moving-target detection, its essence is quite
In carrying out correlative accumulation to different passages.
Because clutter is different with the Doppler frequency shift of target, they will appear in different Doppler filter output ends,
Doppler frequency difference has corresponded to different narrow band filters outputs, thus, MTD can be with defeated according to different narrow band filters
Go out to obtain Doppler frequency shift and then the speed to determine target.
In digitized processing, the method that MTD generally adopts digital filtering, as shown in fig. 6, with the horizontal of N number of output
Filtering (N number of repetition period and N-1 root delay lines), through the different weights of each repetition period and after summation, you can realize N number of phase
Adjacent narrow band filter group.The frequency coverage of the wave filter is 0 to fr, and fr rushes repetition rate for radar work time pulse, its
Principle structure block diagram is as illustrated, (Tr is the pulse repetition period).
Because DFT is a kind of special transversal filter, if weighted factor presses DFT definition selections in figure, and using DFT's
Fast algorithm FFT, so that it may realize that the MTD based on FFT is filtered.N number of wave filter that N points FFT is formed is evenly distributed on 0～fr frequencies
In interval, echo signal possibly be present on the diverse location of frequency axis due to the difference of Doppler frequency, it is thus possible to from 0～
N-1 wave filters are exported.Specific practice is
One group of data of the same range cell of each pulse are FFT to obtain equivalent wave filter group.
MTD needs to carry out the secondary N points plural number FFT computings of M (range cell) in N number of accumulation pulse period domestic demand.Assume that FFT is defeated
Enter data bit width 32, work in the case where 320MHz processes clock, then the calculation resources of 1 passage such as following table：
Because process time only has 5.1us, and N number of accumulation pulse period is far longer than process time, so 3 passages
FFT can adopt flow processing method.
In the present embodiment, echo-signal carries out CFAR detection process after doppler filtering and envelope detection, permanent
False-alarm (CFAR) detection is controlled by appropriate thresholding, makes the false-alarm probability of detection constant.CFAR process can make radar strong
Interference is lower to lose a little detectability but remains to normal work.
Suitable for spatially counting stable background, it respectively has a covering to average class CFAR in detector unit before and after edge
The sliding window of some range cells, using the average of reference sample in sliding window, forms before and after edge partial estimation, then to local
Estimate that average, choosing is big, select little or weighted average, to determine that the background clutter mean power of detector unit is estimated.In view of signal can
Can cross in before and after adjacent unit, detector unit and its close on longitudinal separation unit and be generally not included in average window, such as
Fruit echo signal then finds target more than computing detection threshold, and otherwise target cannot be found.Compare in average class CFAR
Typical several method is that CA-CFAR (CA-CFAR), both sides cell-average select big CFAR (GO-CFAR), both sides
Cell-average selects little CFAR (SO-CFAR) and unit weighted average CFAR (WCA-CFAR).Schematic diagram is as shown with 7.
Radar echo signal through MTD it is filtered output be exactly N number of wave filter output, each data have distance with
Two parameters of frequency, so needing using two-dimentional CFAR detection.CFAR detection is that the output of N number of wave filter needs to be sent to
N number of CFAR detection circuit, the detection threshold of each wave filter can be according to the power of institute's Noise and clutter in the wave filter
And determine in real time.
MTD wave filters have multiple-channel output, so need to be detected using multichannel CFAR, as shown in Figure 8.Individual pulse each away from
After unit detection judgement output, then the comparison on longitudinal direction i.e. Doppler's passage is carried out, selected in each range cell most
Big value, obtains multichannel and selects big result.The MTD results of N number of passage are big through choosing, finally export single channel CFAR result.
FPGA operands：512 plural modulus computings are at most done under each timeticks, approximate data can be adopted, only
Needs compare to be realized with addition.
In the present embodiment, described range information obtains subsystem also to be included tracking gate module, processes apart from centering
Module, range finder module, Kalman filtering module/alpha-beta filtration module；Data output after cohesion to tracking gate module, then
Carry out without fuzzy range finding, Jing Kalman filterings/alpha-beta filtration module after range finding into range finder module Jing after distance centering processing module
Range gating ripple door is produced, the echo signal detected by the center of tracking gate alignment echo of range gate gating module is made.
Specifically, and channel signal detects target after matched filtering, MTD and CFAR detection, then Jing tracking
Ripple door and processing apart from centering is carried out without fuzzy range finding, and Jing Kalman filterings or alpha-beta filtering produce range gating ripple door, make ripple door
Echo signal detected by the alignment echo of center, so as to ensure that the movement of ripple door automatically tracks target.
During target following, in order to improve the interference free performance of system, the distance to target, velocity information are needed
Kalman filtering or alpha-beta filtering are carried out, the impact of strong noise jamming is prevented.Kalman filtering is a kind of linear unbiased minimum variance
Best estimate：After i.e. k-th cycle observation Z (K) is obtained, it is obtained with the estimate linear combination in previous cycle
The estimate in k-th cycleIts performance is optimal.
Due in practical situations both, often there is target across multiple distances and the situation of doppler cells, now can make
Same target is obtained by repeated detection, the number that detection target is once put is increased.Therefore can be to mesh before Monopulse estimation
Mark carries out Plot coherence.The effect of Plot coherence is that the same target across multiple range gates or multiple doppler cells is entered
Row " cohesion " operation, to reduce a point target number of final output.The method comparison for carrying out Plot coherence is more, and the system is adopted
With to the Object selection intermediate distance door across many range gates as target range door output；Think same on Doppler
There is no the target of multiple friction speeds in range gate, target strength is chosen most on all Doppler's passages of a range gate
Big target is exported as final target.
During CFAR detection, to what is carried out, the slide window processing of Doppler's passage is often carried out due in distance
The target that Doppler number is identical but range gate number is differed can be just obtained, can directly judge whether these range gate labels are to connect
It is continuous, if continuously, then the target of selected distance door centre as output, rather than using all of target as most
Whole output.In distance to after the completion of cohesion, the target to there is same distance door to number carries out the big process of orientation amplitude choosing, most
There is the maximum impact point of the orientation amplitude of same distance door and the range gate at last as output.
Specifically, as shown in figure 9, the input of described Plot coherence module receives the mistake of CFAR detection module output
The target of thresholding, and traveled through upwards and judged whether the range gate number of adjacent target continuous in distance：Deposit if continuous
The median of storage range gate number is used as target range door information, while the range cell to there is target chooses orientation amplitude maximum
Target as output；Continue to travel through if discontinuous.
The number of target can be reduced after the completion of Plot coherence, the number of target, range information, how general so far can be obtained
Le information and amplitude information.But the angle information of target is not also obtained, using in Monopulse estimation and difference beam angle measurement
Method, to target deviate antenna normal orientation angle measure.According to the angle of measurement, target reality can be calculated
Doppler frequency, so that it is determined that the physical location of target.
It is to determine due to the directional diagram of antenna, therefore can determine the imaginary part of Cha Luyuhe roads ratio K with target in advance
AngleVariation relation, make and meet the form of precision and be stored in the ROM of FPGA and used for tabling look-up.
Specifically, as shown in Figure 10, the angle measurement mode of described angle measurement module is：
(1) target range and doppler information after cohesion are obtained respectively；
(2) value of after MTD is processed and passage ∑ and difference passage Δ correspondence position is taken；
(3) difference is calculated and than width K：K=imag (Δ/∑), as poor passage Δ with and passage ∑ ratio imaginary part；
(4) the angle measurement curve that antenna radiation pattern determines is obtained, judges K values whether in angle measurement curve ranges：If K values exist
Then tabled look-up according to directional diagram in angle measurement curve ranges and obtain error angle information, if K values are carried out not in angle measurement curve ranges
Blanking process is abandoned the target information.
Further, described angleonly tracking subsystem also include a low pass filter, the output end of angle measurement module with
Low pass filter connects, low pass filter output moving-target difference information.
Claims (10)
1. a kind of angleonly tracking subsystem based on Radar Signal Processing System, it is characterised in that：Son is obtained including range information
System and angleonly tracking subsystem；Described range information obtains subsystem includes an A/D modular converters, the lower change of the first numeral
Frequency module, range gate gating module, the first pulse compression module, the first correlative accumulation MTD modules, CFAR detection module and
Plot coherence module, described angleonly tracking subsystem includes the 2nd A/D modular converters, the second Digital Down Converter Module, distance
Ripple door gating module, the second pulse compression module, the second correlative accumulation MTD modules, angle measurement module；
First A/D modular converters receive outside intermediate frequency echo and signal and the directly transmission after intermediate frequency carries out A/D samplings to signal
To the first Digital Down Converter Module, the first Digital Down Converter Module digital medium-frequency signal is processed after export two-way I/Q and
Channel signal, two-way I/Q and channel signal sequentially pass through the first pulse compression module, the first phase by range gate gating module
Target is detected after ginseng accumulation MTD modules, CFAR detection module, described target is exported to Plot coherence and carries out Plot coherence
Form range information afterwards to export to angle measurement module；
2nd A/D modular converters receive outside intermediate frequency echo difference signal and the directly transmission after intermediate frequency carries out A/D samplings to signal
To the second Digital Down Converter Module, it is poor that the second Digital Down Converter Module exports two-way I/Q after processing digital medium-frequency signal
Channel signal, two-way I/Q difference channel signals sequentially pass through the second pulse compression module, the second phase by range gate gating module
Doppler information is obtained after ginseng accumulation MTD modules, doppler information is exported to angle measurement module；
Angle measurement module deviates antenna normal angle meter according to target number, range information, doppler information, amplitude information, target
Actual Doppler frequency is calculated so that it is determined that the angle of target.
2. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
Described the first Digital Down Converter Module and the second Digital Down Converter Module includes orthogonalization unit, digital controlled oscillator NCO, multiplication
Device, FIR low pass filter and extracting unit, orthogonalization unit receives the digital medium-frequency signal from A/D modular converters and carries out
Orthogonalization forms orthogonal I/Q two paths of signals, the orthogonal local oscillation sequence phase that two paths of signals is formed respectively with digital controlled oscillator NCO
Take advantage of, and export respectively to the FIR low pass filter on each road, low pass filter takes out baseband signal and filters radio-frequency component, extracts single
Baseband signal is carried out extracting by unit reduces signal rate, and the output end of extracting unit is connected with range gate gating module.
3. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
Described the first pulse compression module and the second pulse compression module is used to realize matched filtering, using Time-Domain Pulse Compression module
Or frequency-domain impulse compression module；
Described Time-Domain Pulse Compression module includes four FIR matched filters and two adders；Wherein, FIR matchings
The first input end of wave filter and the 2nd FIR matched filters receives I roads signal, a FIR matched filters and the 2nd FIR
Second input of matched filter receives respectively Least square estimation, a FIR matched filters and the 2nd FIR matched filterings
Device carries out the first input end of the first input end and second adder exported respectively after convolution algorithm to first adder；3rd
The first input end of FIR matched filters and the 4th FIR matched filters receives Q roads signal, the 3rd FIR matched filters and
Second input of the 4th FIR matched filters receives respectively Least square estimation, the 3rd FIR matched filters and the 4th FIR
Matched filter carry out being exported respectively after convolution algorithm to first adder the second input and second adder it is second defeated
Enter end；First adder and second adder export respectively the signal after I/Q two-way matched filterings after add operation；
Described frequency-domain impulse compression module includes that FFT unit, complex multiplication unit, matched filter spectrum unit, IFFT are mono-
Unit, FFT unit to be input into I/Q two ways of digital signals be respectively FFT carry out map function transform to frequency spectrum be S (w) frequency
Domain, complex multiplication unit being multiplied S (w) with the spectrum H (w) of the matched filter of matched filter spectrum unit output,
IFFT units carry out the result that IFFT computings obtain pulse compression the achievement for obtaining；Described spectrum H (w) is using matching filter
Wave system number carries out what FFT was obtained.
4. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
Also include the first range gate reordering module being sequentially connected between the first pulse compression module and the first correlative accumulation MTD modules
With the first Moveing target indication MTI modules；Also include sequentially between the second pulse compression module and the second correlative accumulation MTD modules
The second distance door reordering module of connection and the second Moveing target indication MTI modules；
Described range gate reordering module using two-dimentional buffer storage, by radar echo signal according to the pulse repetition period and away from
A two-dimensional matrix is arranged in from unit, wherein, identical pulse repetition period, the echo-signal of different distance unit are by row row
Row, i.e., the different range cell of each row correspondence；Different pulse repetition periods, the echo-signal of same distance unit is arranged by row,
Arrange the correspondence different pulse repetition period；Time difference between i.e. each row adjacent two data is precisely that pulse repeats week
Phase；During using pulse compression signal, range gate width is taken as the pulse width after pulse compression；
Mutually inspection output work of the described Moveing target indication MTI modules by same range cell within the adjacent repetition period subtracts each other fortune
Calculate, complete to offset fixed echo, while clutter at a slow speed of significantly decaying, retains Moving Target Return.
5. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
Described the first correlative accumulation MTD modules and the second correlative accumulation MTD modules needs to carry out M in N number of accumulation pulse period domestic demand
Secondary N points plural number FFT computings, M is range cell；Correlative accumulation MTD modules are adjacent using one group and how general partly overlapping arrowband is
Strangle wave filter group to realize, described arrowband Doppler filter group covers the whole frequency range of target Doppler frequency,
Realize that moving-target is detected, equivalent to different passages correlative accumulation is carried out；Wherein, N adjacent arrowband Doppler filter
Group is realized through the different weights of each repetition period and after summation by the transversal filter of N number of output, described N number of output
Transversal filter include N number of repetition period and N-1 root delay lines.
6. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
Described CFAR detection module is controlled by appropriate thresholding, makes the false-alarm probability of detection constant；Described CFAR detection
Module includes that multiple CFAR detection units and a multichannel select big unit, the quantity and coherent of described CFAR detection unit
The output way of accumulation MTD modules is identical, and each CFAR detection unit receives respectively each from correlative accumulation MTD modules
The single channel output of range cell, carries out exporting after CFAR detection judgement to multichannel and selects big unit, multichannel to select big unit to be indulged
Comparison on Doppler's passage, selects the maximum of each range cell, obtains multichannel and selects big result；Described
CFAR detection unit lead and trail edge respectively has a sliding window for covering some range cells, using reference sample in sliding window
Average, form before and after edge partial estimation, then it is average to partial estimation, choosing is big, little or weighted average is selected, to determine CFAR
The background clutter mean power of detector unit is estimated.
7. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
Described range information obtains subsystem also includes tracking gate module, distance centering processing module, range finder module, Kalman's filter
Ripple module/alpha-beta filtration module；, to tracking gate module, then Jing distance centering processing module is laggard for data output after cohesion
Entering range finder module is carried out without fuzzy range finding, and Jing Kalman filterings/alpha-beta filtration module produces range gating ripple door after range finding, make away from
The echo signal detected by center of tracking gate alignment echo from ripple door gating module.
8. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
The input of described Plot coherence module receives the target for crossing thresholding of CFAR detection module output, and in distance to enterprising
Row traversal simultaneously judges whether the range gate number of adjacent target is continuous：The median of range gate number is stored if continuous as target
Range gate information, while the range cell to there is target chooses the maximum target of orientation amplitude as output；If discontinuous
Then continue to travel through.
9. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, it is characterised in that：
The angle measurement mode of described angle measurement module is：
（1）Target range and doppler information after cohesion are obtained respectively；
（2）Take the value of after MTD is processed and passage ∑ and difference passage Δ correspondence position；
（3）Calculate difference and than width K：K=imag (Δ/∑), as poor passage Δ with and passage ∑ ratio imaginary part；
（4）The angle measurement curve that antenna radiation pattern determines is obtained, judges K values whether in angle measurement curve ranges：If K values are in angle measurement
Then tabled look-up according to directional diagram in curve ranges and obtain error angle information, if K values carry out blanking not in angle measurement curve ranges
Process is abandoned the target information.
10. a kind of angleonly tracking subsystem based on Radar Signal Processing System according to claim 1, its feature exists
In：Described angleonly tracking subsystem also includes a low pass filter, and the output end of angle measurement module is connected with low pass filter,
Low pass filter output moving-target difference information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054610.3A CN106646451A (en) | 2017-01-24 | 2017-01-24 | Angle tracking subsystem based on radar signal processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054610.3A CN106646451A (en) | 2017-01-24 | 2017-01-24 | Angle tracking subsystem based on radar signal processing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106646451A true CN106646451A (en) | 2017-05-10 |
Family
ID=58842237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710054610.3A Pending CN106646451A (en) | 2017-01-24 | 2017-01-24 | Angle tracking subsystem based on radar signal processing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106646451A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456339A (en) * | 2019-08-12 | 2019-11-15 | 四川九洲电器集团有限责任公司 | A kind of inquiry, answer method and device, computer storage medium, electronic equipment |
| CN110879390A (en) * | 2019-12-02 | 2020-03-13 | 西安电子工程研究所 | Distance Doppler plane point trace agglomeration method based on parent-child node traversal |
| CN111427034A (en) * | 2020-01-02 | 2020-07-17 | 北京理工大学 | Time difference range radar structure with low power consumption and simple structure |
| CN111693933A (en) * | 2020-06-18 | 2020-09-22 | 成都锦江电子系统工程有限公司 | Radar signal instantaneous wide-azimuth direction-finding system |
| CN111751782A (en) * | 2020-06-08 | 2020-10-09 | 西安思丹德信息技术有限公司 | Amplitude comparison angle measurement system and method based on FPGA |
| CN111913161A (en) * | 2020-06-22 | 2020-11-10 | 西安电子科技大学 | Method for improving NLFM waveform radar target angle measurement precision |
| CN112532305A (en) * | 2020-11-30 | 2021-03-19 | 成都泰格微电子研究所有限责任公司 | Self-checking system and method for satellite ground station |
| CN113030872A (en) * | 2021-03-18 | 2021-06-25 | 中国电子科技集团公司第三十八研究所 | High-low frequency excitation waveform alternate generation method suitable for Mars subsurface detection radar |
| RU2791090C1 (en) * | 2022-06-21 | 2023-03-02 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военная академия воздушно-космической обороны имени Маршала Советского Союза Г.К. Жукова" Министерства обороны Российской Федерации | Dual channel detection device |
| CN116990773A (en) * | 2023-09-27 | 2023-11-03 | 广州辰创科技发展有限公司 | Low-speed small target detection method and device based on self-adaptive threshold and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101825707A (en) * | 2010-03-31 | 2010-09-08 | 北京航空航天大学 | Monopulse angular measurement method based on Keystone transformation and coherent integration |
| CN104569970A (en) * | 2014-12-24 | 2015-04-29 | 南京航空航天大学 | Self-focusing method for foresight single-pulse imaging of airborne radar |
| CN105785340A (en) * | 2016-05-23 | 2016-07-20 | 中国人民解放军63892部队 | Angle-measuring and identifying method for target and bait interferences in main lobe of monopulse radar |
-
2017
- 2017-01-24 CN CN201710054610.3A patent/CN106646451A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101825707A (en) * | 2010-03-31 | 2010-09-08 | 北京航空航天大学 | Monopulse angular measurement method based on Keystone transformation and coherent integration |
| CN104569970A (en) * | 2014-12-24 | 2015-04-29 | 南京航空航天大学 | Self-focusing method for foresight single-pulse imaging of airborne radar |
| CN105785340A (en) * | 2016-05-23 | 2016-07-20 | 中国人民解放军63892部队 | Angle-measuring and identifying method for target and bait interferences in main lobe of monopulse radar |
Non-Patent Citations (6)
| Title |
|---|
| 何海兴 等: "多模式雷达的时域脉冲压缩实现", 《火控雷达技术》 * |
| 刁海南: "雷达引信MTD技术中的数字滤波器设计", 《制导与引信》 * |
| 张浩: "低空目标探测雷达高速目标检测与跟踪技术研究与实现", 《万方学位论文数据库》 * |
| 李书飞: "多模雷达信号处理平台的研究与实现", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 欧旺军: "基于多核处理器的机载PD雷达信号处理算法设计", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 赵红伟: "伪码调相中断连续波雷达的信号处理系统设计及FPGA实现", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456339B (en) * | 2019-08-12 | 2021-09-14 | 四川九洲电器集团有限责任公司 | Inquiring and responding method and device, computer storage medium and electronic equipment |
| CN110456339A (en) * | 2019-08-12 | 2019-11-15 | 四川九洲电器集团有限责任公司 | A kind of inquiry, answer method and device, computer storage medium, electronic equipment |
| CN110879390A (en) * | 2019-12-02 | 2020-03-13 | 西安电子工程研究所 | Distance Doppler plane point trace agglomeration method based on parent-child node traversal |
| CN110879390B (en) * | 2019-12-02 | 2023-03-24 | 西安电子工程研究所 | Distance Doppler plane point trace agglomeration method based on parent-child node traversal |
| CN111427034A (en) * | 2020-01-02 | 2020-07-17 | 北京理工大学 | Time difference range radar structure with low power consumption and simple structure |
| CN111751782A (en) * | 2020-06-08 | 2020-10-09 | 西安思丹德信息技术有限公司 | Amplitude comparison angle measurement system and method based on FPGA |
| CN111751782B (en) * | 2020-06-08 | 2023-12-19 | 西安思丹德信息技术有限公司 | FPGA-based amplitude comparison angle measurement system and method |
| CN111693933A (en) * | 2020-06-18 | 2020-09-22 | 成都锦江电子系统工程有限公司 | Radar signal instantaneous wide-azimuth direction-finding system |
| CN111693933B (en) * | 2020-06-18 | 2023-08-25 | 成都锦江电子系统工程有限公司 | Radar signal instantaneous wide-azimuth direction finding system |
| CN111913161A (en) * | 2020-06-22 | 2020-11-10 | 西安电子科技大学 | Method for improving NLFM waveform radar target angle measurement precision |
| CN111913161B (en) * | 2020-06-22 | 2023-05-26 | 西安电子科技大学 | Method for improving NLFM waveform radar target angle measurement precision |
| CN112532305A (en) * | 2020-11-30 | 2021-03-19 | 成都泰格微电子研究所有限责任公司 | Self-checking system and method for satellite ground station |
| CN112532305B (en) * | 2020-11-30 | 2022-06-24 | 成都泰格微电子研究所有限责任公司 | Self-checking system and method for satellite ground station |
| CN113030872A (en) * | 2021-03-18 | 2021-06-25 | 中国电子科技集团公司第三十八研究所 | High-low frequency excitation waveform alternate generation method suitable for Mars subsurface detection radar |
| CN113030872B (en) * | 2021-03-18 | 2023-05-16 | 中国电子科技集团公司第三十八研究所 | High-low frequency excitation waveform alternate generation method suitable for Mars subsurface detection radar |
| RU2791090C1 (en) * | 2022-06-21 | 2023-03-02 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военная академия воздушно-космической обороны имени Маршала Советского Союза Г.К. Жукова" Министерства обороны Российской Федерации | Dual channel detection device |
| CN116990773A (en) * | 2023-09-27 | 2023-11-03 | 广州辰创科技发展有限公司 | Low-speed small target detection method and device based on self-adaptive threshold and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106814353A (en) | A kind of Radar Signal Processing System | |
| CN106597429A (en) | Radar-signal-processing-system-based speed tracking subsystem | |
| CN106646451A (en) | Angle tracking subsystem based on radar signal processing system | |
| CN106814356A (en) | It is a kind of based on Radar Signal Processing System apart from tracing subsystem | |
| CN111352102B (en) | Multi-target number detection method and device based on frequency modulation continuous wave radar | |
| CN107561508B (en) | Coherent accumulation detection method for uniformly accelerated moving target | |
| CN107907878B (en) | Method for obtaining FMCW radar distance measurement value with high precision | |
| US6809682B1 (en) | Method and device for the detection and track of targets in high clutter | |
| CN103969635B (en) | The meteorologic signal process IP kernel of low-altitude surveillance radar | |
| CN109188387B (en) | Target parameter estimation method for distributed coherent radar based on interpolation compensation | |
| EP1759224B1 (en) | Improvements relating to velocity extraction | |
| US4916452A (en) | Process for range measurement with a pulse radar of high pulse repetition frequency | |
| CN110297233B (en) | LFMCW array radar signal parallel pipelining processing method | |
| CN105445701B (en) | The pulse angle estimating method of DDMA MIMO radar targets | |
| CN104502898B (en) | The maneuvering target method for parameter estimation that modified R FT and amendment MDCFT are combined | |
| CN110412559A (en) | The non-coherent of distributed unmanned plane MIMO radar merges object detection method | |
| US4339754A (en) | Spatially adaptive moving target indicator system for radar equipment | |
| CN110879389B (en) | Multi-human-body target identification and positioning method based on multi-base IR-UWB (infrared-ultra wide band) biological radar signals | |
| CN110161472A (en) | A kind of broadband vehicle-mounted millimeter wave radar solution velocity ambiguity method based on signal multiplexing | |
| CN106772302A (en) | A kind of knowledge assistance STAP detection methods under complex Gaussian background | |
| CN114185018A (en) | Phase noise digital real-time estimation method and system of frequency modulation continuous wave radar | |
| CN109613505A (en) | A kind of device and its suppressing method inhibiting dual clutter | |
| CN109507654A (en) | Phase information calculation method under a kind of complex environment based on LS | |
| CN109085568B (en) | Frequency modulation continuous wave multi-target detection method based on secondary frequency mixing | |
| CN113009473A (en) | Multi-beam staring radar low-elevation target height measurement method, device and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |