CN106872969B - Radar target angle estimation method based on MTD pulse accumulation and sliding processing - Google Patents
Radar target angle estimation method based on MTD pulse accumulation and sliding processing Download PDFInfo
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- 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
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Abstract
The invention discloses a kind of the radar target angle estimation method based on MTD pulse accumulation and sliding processing, main thought are as follows: obtain the echo-signal of radar target, and determine the centre frequency in radar target place Doppler channel；The pulse number L received the and pulse number N received in the setting range of beam scanning figure in the angular range of radar target is successively determined in turn；Moving-target detection pulse accumulation and pulse sliding processing are carried out to the pulse number L received in the angular range of radar target, respectively obtain the pulse accumulation echo data azimuth corresponding with the pulse accumulation echo data Jing Guo L-N+1 sliding window by L-N+1 sliding window；Peak value searching is carried out to the pulse accumulation echo data by L-N+1 sliding window, obtains the maximum impulse accumulation echo data in the pulse accumulation echo data by L-N+1 sliding window, and then obtain the best orientation angle estimated value of radar target.
Description
Technical field
The invention belongs to radar target parameter Estimation fields, in particular to a kind of to be handled based on MTD pulse accumulation and sliding
Radar target angle estimation method, i.e., based on moving-target detection (MTD) pulse accumulation and sliding processing radar target angle
Estimation method, suitable for obtaining the mechanic scan radar azimuth under clutter background.
Background technique
Radar target parameter Estimation is that effective target letter is extracted by being handled the echo-signal received
Breath, such as the target informations such as azimuth, the elevation angle, distance.Radar obtains beam scanning figure, i.e., when carrying out mechanical beam scanning
Echo-signal is obtained with the relational graph of angle change, then by looking for angle conduct corresponding to the peak value of target echo signal
The azimuth of echo signal.For this conventional method, when background environment is relative complex, the clutter and interference components that receive
Echo signal will be had an impact, this will generate big influence to angle estimation.On this basis, it produces and echo is first used
Moveing target indication (MTI) eliminates clutter, then uses processed conventionally processing method.Certain ground can be inhibited miscellaneous with this method
Wave, but inhibition will be generated for the detection of slower-velocity target, simultaneously for the too strong environment of clutter background, the angle value of estimation will have
Bigger error, and there are also can be problematic to the detection of target when multiple targets for distance unit where target.
Later, it is contemplated that the slow time here is coupled with angle, the umber of pulse that the slow time refers toUse is produced again
Moving-target detects the arteries and veins group processing method of (MTD).Using the effective clutter reduction component of this method energy, but using this method to one
Group pulse is handled, and will can only obtain an output valve, this method can only export a centric angle, so angle estimation
Trueness error it is still bigger.
Summary of the invention
In view of the above-mentioned problems of the prior art, the present invention proposes a kind of base in view of former methodical some defects
In MTD pulse accumulation and the radar target angle estimation method of sliding processing, this kind is handled based on MTD pulse accumulation and sliding
Radar target angle estimation method is the side that a kind of pair of echo-signal carries out multi-pulse accumulation and sliding processing carrys out alignment angle
Method, and with this come improve under complex background detect echo signal angle precision.
To reach above-mentioned technical purpose, the present invention is realised by adopting the following technical scheme.
A kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing, comprising the following steps:
Step 1, mechanic scan radar is determined, there are radar targets in the mechanic scan radar detection range；Mechanic scan radar is in its inspection
Survey and carry out mechanical beam scanning in range, obtain beam scanning figure, the beam scanning figure be radar target echo data with
The relational graph of angle change, and then obtain the echo data of radar target；
Step 2, according to beam scanning figure and the echo data of radar target, the angular range of radar target is determined, and
It respectively obtains and receives in the angular range of the echo data and radar target that are received in the angular range of radar target
Pulse number L；The pulse number N received in the setting range of beam scanning figure is determined simultaneously；Each pulse respectively corresponds
Pulse echo data, N, L are respectively positive integer；
Step 3, moving-target detection pulse accumulation and arteries and veins are carried out to the L pulse received in the angular range of radar target
Sliding processing is rushed, the pulse product of L-N+1 sliding window of pulse accumulation echo data and process by L-N+1 sliding window is respectively obtained
The tired corresponding azimuth of echo data；
Step 4, peak value searching is carried out to the pulse accumulation echo data by L-N+1 sliding window, obtained by L-N+1 times
Maximum impulse in the pulse accumulation echo data of sliding window accumulates echo data, and then obtains the best orientation angle of radar target
Estimated value.
Beneficial effects of the present invention:
The method of the present invention be when carrying out mechanic scan radar angle estimation, and in the case where estimating target approximate range,
The further method of accurate estimation azimuth of target；This method is by carrying out MTD to the umber of pulse in target approximate range angle
Pulse accumulation and sliding processing, can effectively curb clutter component, at the same can obtain it is multiple output as a result, finally by
Search peak looks for azimuth of target, effectively increases the accuracy of radar bearing angle estimation under clutter background, can be into one
Step improves radar performance；Meanwhile for there are in the case where multiple targets, the method for the present invention can pass through target Doppler frequency
Difference, divide different Doppler channels, then to echo carry out angle estimation, also can effectively improve multi-target condition
Under angle estimation precision, improve radar performance.
Detailed description of the invention
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is that a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing of the invention is realized
Block diagram；
Fig. 2 is after obtaining angle estimation value using conventional angle searching method under the background environment of no clutter and noise
Carry out the obtained angle estimation schematic diagram of 1000 Monte Carlo Experiments；
Fig. 3 is laggard using the method for the present invention search acquisition angle estimation value under the background environment of no clutter and noise
The obtained angle estimation schematic diagram of 1000 Monte Carlo Experiments of row；
Fig. 4 is the rear carry out 1000 for obtaining angle estimation value using conventional angle search under only noisy background environment
The secondary obtained angle estimation schematic diagram of Monte Carlo Experiment；
Fig. 5 is to carry out 1000 times after only obtaining angle estimation value using the method for the present invention search under noisy background environment
The obtained angle estimation schematic diagram of Monte Carlo Experiment；
It is laggard using the method for the present invention search acquisition angle estimation value under the background environment of clutter that Fig. 6 is that existing noise has again
The obtained angle estimation schematic diagram of 1000 Monte Carlo Experiments of row；
Fig. 7 is to carry out angle obtained by 1000 Monte Carlo Experiments using the method for the present invention in the case where changing signal-to-noise ratio
The schematic diagram that degree mean square error changes with signal-to-noise ratio.
Specific embodiment
It referring to Fig.1, is a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing of the invention
Realize block diagram；The radar target angle estimation method based on MTD pulse accumulation and sliding processing, comprising the following steps:
Step 1, mechanic scan radar is determined, there are radar targets in the mechanic scan radar detection range；Mechanic scan radar is in its inspection
Survey and carry out mechanical beam scanning in range, obtain beam scanning figure, the beam scanning figure be radar target echo data with
The relational graph of angle change, and then obtain the echo data of radar target；Then the echo data of radar target is analyzed,
Moving-target detection (MTD) filtering processing is carried out to the echo data of radar target, and then is obtained how general where radar target
Channel is strangled, and determines that the centre frequency in radar target place Doppler channel is f0。
Step 2, the angular range of radar target is determined according to beam scanning figure, and is obtained in the angular range of radar target
The pulse number L received in the angular range of the echo data and radar target that receive；It determines simultaneously in beam scanning figure
3dB within the scope of the pulse number N that receives；Each pulse respectively corresponds pulse echo data, N < L, and N, L are positive whole respectively
Number.
Specifically, it is analyzed, is determined at radar target by the echo data to beam scanning figure and radar target
Near the peak value of beam scanning figure, the angular range for obtaining radar target is θd~θu, i.e. the real angle of radar target is certain
In the range；Wherein, θdThe lower limit estimated value of orientation angles range, θ where radar targetuThe orientation where radar target
The upper limit estimated value of angular range；The angular range of the radar target is the range for being greater than 3dB width in beam scanning figure.
Then the echo data received in the angular range of radar target is determinedAnd the angular range of radar target
The pulse number L inside received, L > 0；The pulse number N received within the scope of the 3dB of beam scanning figure is determined simultaneously, each
Pulse respectively corresponds pulse echo data；N < L, N, L are respectively positive integer.
Wherein, xiEcho data for i-th of the pulse received in the angular range of radar target, i ∈ 1,2 ...,
L }, L is the pulse total number that receives in the angular range of radar target.
Step 3, moving-target detection (MTD) pulse product is carried out to the L pulse received in the angular range of radar target
Tired and pulse sliding processing respectively obtains L-N+1 sliding window of pulse accumulation echo data and process by L-N+1 sliding window
The corresponding azimuth of pulse accumulation echo data.
Specifically, it is successively gone here and there by the L pulse received in the angular range to radar target according to N number of one group
Sliding processing, realizes the coherent accumulation of multiple pulses and has been completed at the same time the inhibition of clutter.
It should be noted that the commonly required operand wanted all can be bigger when carrying out sliding processing, but in view of carrying out
When accurate angle detects, the angular range of radar target is it has been determined that only in Doppler's channel range of radar target, and at this
The angular range of radar target carries out sliding processing, so operand at this time can be within an acceptable range.
It 3a) initializes: r being enabled to indicate the r times sliding window, the initial value of r ∈ { 1,2 ..., L-N+1 }, r are 1.
The echo data of r-th of pulse in L pulse receiving in the angular range of radar target 3b) is chosen to N+
The echo data of r-1 pulse, N number of pulse echo data x after being denoted as the r times sliding windowr, N < L；Then to the r times cunning
N number of pulse echo data x after windowrCarry out moving-target detection (MTD) pulse accumulation, the accumulation echo after obtaining the r times sliding window
Data yr, while recording the accumulation echo data y after the r times sliding windowrCorresponding azimuth angle thetar, expression formula are as follows:
Wherein, θdThe lower limit estimated value of orientation angles range, θ where radar targetuThe orientation angles where radar target
The upper limit estimated value of range, L are the pulse total number that receives in the angular range of radar target, L > 0；N is in mechanical beam
The pulse total number received within the scope of the 3dB of scanning, N < L.
Specifically, to N number of pulse echo data x after the r times sliding windowrWhen carrying out moving-target detection (MTD) pulse accumulation,
Wherein the weight factor of moving-target detection (MTD) pulse accumulation is w,f0For thunder
The centre frequency in Doppler channel where up to target, Tr are the pulse repetition period, and e indicates that exponential function, j indicate imaginary unit；
N number of pulse echo data x after the r times sliding windowr, expression formula are as follows: xr=[xr,xr+1,…,xN+r-1]；xrFor radar mesh
The echo data of r-th of the pulse received in target angular range, xr+1For received in the angular range of radar target
The echo data of r+1 pulse, xN+r-1Number of echoes for the N+r-1 pulse received in the angular range of radar target
According to；Accumulation echo data y after the r times sliding windowr, expression formula are as follows:
Wherein, w is the weight factor that moving-target detects (MTD) pulse accumulation, xrFor N number of pulse echo after the r times sliding window
Data, subscript * indicate conjugate operation, and subscript T indicates transposition operation.
3c) r is enabled to add 1, repeats sub-step 3b), until the L arteries and veins received in the angular range for choosing radar target
Echo data of the echo data of the L-N+1 pulse to l-th pulse, N number of pulse after being denoted as the L-N+1 times sliding window in punching
Echo data xL-N+1；Then to N number of pulse echo data x after the L-N+1 times sliding windowL-N+1Carry out moving-target detection
(MTD) pulse accumulation, the accumulation echo data y after obtaining the L-N+1 times sliding windowL-N+1, while after the L-N+1 times sliding window of record
Accumulate echo data yL-N+1Corresponding azimuth angle thetaL-N+1, expression formula are as follows:
Specifically, to N number of pulse echo data x after the L-N+1 times sliding windowL-N+1Carry out moving-target detection (MTD) pulse
When accumulation, wherein N number of pulse echo data x after the L-N+1 times sliding windowL-N+1Are as follows:
xL-N+1=[xL-N+1,xL-N+2,…,xL], xL-N+1For L-N+1 received in the angular range of radar target
The echo data of pulse, xL-N+2Echo data for the L-N+2 pulse received in the angular range of radar target, xLFor
The echo data of the l-th pulse received in the angular range of radar target；Accumulation echo after the L-N+1 times sliding window
Data yL-N+1, expression formula are as follows:
Wherein, w is the weight factor that moving-target detects (MTD) pulse accumulation, xL-N+1For N number of arteries and veins after the L-N+1 times sliding window
Echo data is rushed, subscript * indicates conjugate operation, and subscript T indicates transposition operation.
3d) respectively by the accumulation echo data y after the 1st sliding window1Accumulation echo data after to the L-N+1 times sliding window
yL-N+1, it is denoted as the pulse accumulation echo data y by L-N+1 sliding window；By the accumulation echo after the obtain at this time the 1st sliding window
Data y1Corresponding azimuth angle theta1Accumulation echo data y after to the L-N+1 times sliding windowL-N+1Corresponding azimuth angle thetaL-N+1, it is denoted as
By the corresponding azimuth angle theta of pulse accumulation echo data of L-N+1 sliding window, expression formula is respectively as follows:
Y=(y1,y2,…,yL-N+1), θ=(θ1,θ2,…,θL-N+1)。
Step 4, peak value searching is carried out to the pulse accumulation echo data by L-N+1 sliding window, obtained by L-N+1 times
Maximum impulse in the pulse accumulation echo data of sliding window accumulates echo data, and then obtains the best orientation angle of radar target
Estimated value.
Specifically, firstly, to the pulse accumulation echo data y progress peak value searching by L-N+1 sliding window, obtain by
Maximum impulse in the pulse accumulation echo data y of L-N+1 sliding window accumulates echo data ymax, expression formula are as follows:
ymax=max (y1,y2,…,yL-N+1)。
Then, y=(y is found1,y2,…,yL-N+1) in ymax=max (y1,y2,…,yL-N+1) equal yl, that is, determine
Maximum impulse in pulse accumulation echo data y by L-N+1 sliding window accumulates echo data ymaxAfter the l times sliding window
Accumulate echo data yl, l ∈ { 1,2 ..., L-N+1 }.
Finally, determining the accumulation echo data y after the l times sliding windowlCorresponding azimuth angle thetal, and will be after the l times sliding window
Accumulation echo data ylCorresponding azimuth angle thetal, best orientation angle estimated value as radar targetIts expression formula are as follows:
Wherein, θdThe lower limit estimated value of orientation angles range, θ where radar targetuThe orientation angles where radar target
The upper limit estimated value of range, l ∈ { 1,2 ..., L-N+1 }, L are the pulse total number that receives in the angular range of radar target,
L>0；N is the pulse total number received within the scope of the 3dB that mechanical beam scans, N < L.
Further verifying explanation is made to effect of the present invention by following emulation experiment.
Simulating, verifying:
(1) simulated conditions:
Assuming that the pulse recurrence frequency of certain mechanic scan radar is 300HZ, mechanic scan radar scans a circle institute in its detection range
It is 8S with the time, the aerial array of the mechanic scan radar 34, array element spacing is half-wavelength, output signal-to-noise ratio 20dB, miscellaneous noise ratio
For 30dB；Assuming that the radar target elevation angle is 3.56 °, the centre frequency in Doppler channel where radar target is f0For 200HZ, ground
The variance of object clutter spectrumFor 4Hz, land clutter powerIt is 106。
The azimuth of radar target is estimated using two ways.
During design and simulation, the clutter of consideration is mainly ground clutter, and clutter spectrum obeys Gauss Spectral structure, miscellaneous
Wave amplitude Rayleigh distributed；Assuming that time received within the scope of beam angle 3dB is obtained by calculation under conditions of given
Wave number according to comprising pulse number be 20, select progress angle in 0 °~10 ° of angular range of practical radar target to search herein
The echo-signal that rope, i.e. mechanic scan radar carry out the radar target obtained after mechanical beam scanning carries out in the range of 0 °~10 °
Processing.
(1) emulation content and result:
Consider first be no clutter and influence of noise background environment under, only have for the echo-signal of radar target
Useful signal, is respectively adopted conventional angle searching method and the method for the present invention is handled, and result is referring to Fig. 2 and Fig. 3, Fig. 2
For under the background environment of no clutter and noise use conventional angle searching method obtain angle estimation value after carry out 1000 times
The obtained angle estimation schematic diagram of Monte Carlo Experiment, Fig. 3 are that this hair is used under the background environment of no clutter and noise
Bright method search carries out the obtained angle estimation schematic diagram of 1000 Monte Carlo Experiments after obtaining angle estimation value.
Analysis chart 2 and Fig. 3, the echo-signal for radar target only includes useful signal message, is returned to radar target
Wave signal carries out the search of two ways, use conventional angle searching method directly scan for obtaining angle estimation value for
3.6 °, the angle estimation value for using the method for the present invention to obtain is 3.525 °；The result of experiment not with the transformation of experiment number and
Change, after carrying out multiple Monte Carlo Experiment respectively using conventional angle searching method and the method for the present invention, obtained angle is equal
Square error is respectively 0.04 ° and 0.035 °, and error at this time is as caused by quantization error.
But actual background environment is considered first there are noise, there is no clutters by clutter and noise jamming
In the case of angle searching；Echo-signal for radar target had not only included radar target signal, but including noise in the case where,
It is respectively adopted conventional angle searching method and result that the method for the present invention is handled is as shown in Figure 4 and Figure 5, Fig. 4 is only
It is obtained obtained by 1000 Monte Carlo Experiments of rear carry out of angle estimation value under the background environment of noise using conventional angle search
The angle estimation schematic diagram arrived, Fig. 5 obtain angle estimation value to search under only noisy background environment using the method for the present invention
The obtained angle estimation schematic diagram of 1000 Monte Carlo Experiments is carried out afterwards.
In the presence of noise, it is contemplated that the randomness of noise carries out 1000 Monte Carlo Experiments herein,
Fig. 4 is directly to scan for the echo-signal of radar target, finds the radar target angle under test every time, meanwhile, pass through
The mean square error that angle is calculated in this 1000 times result is 0.8299 °；Fig. 5 is first to carry out to the echo-signal of radar target
Pulse accumulation is accumulated according to 20 pulses herein；Then the output valve after carrying out angle translation by the way of smooth is again
Carry out the result figure that angle searching obtains；Meanwhile equally angle is calculated to this 1000 times result mean square error be
0.3943°；As can be seen that you give the accuracy for further increasing radar target angle and estimating using the method for the present invention.
It considers again in the presence of clutter, herein for the influence of ground clutter, the echo of radar target is believed
Number both include signal, noise, further includes clutter component；Angle parameter cannot directly be carried out to the echo-signal of radar target at this time
Search estimation, it should first curb clutter component, while pulse accumulation be carried out to the echo-signal of radar target, then scan for
It is obtained afterwards as a result, as shown in fig. 6, Fig. 6 is that existing noise has under the background environment of clutter using the method for the present invention search acquisition again
The obtained angle estimation schematic diagram of 1000 Monte Carlo Experiments is carried out after angle estimation value.
It under the complex background environment existing for clutter and noise, directly scans for being unrealistic, miscellaneous noise ratio is than letter
It makes an uproar bigger than also, the echo-signal of radar target is buried in clutter at this time, cannot estimate radar target angle；Using the present invention
Method first curbs clutter ingredient, and obtained angle estimation value is as shown in fig. 6, and the angle mean square error of calculating under this condition
It is 0.3879 °.It can be seen that estimation angle mean square error reduces with the increase of signal-to-noise ratio substantially, accuracy is also being improved, from
And further demonstrate the validity of the method for the present invention.
Finally consider to work as change under all existing complex background environment of the echo-signal in radar target, noise and clutter
In the case where signal-to-noise ratio, angle estimation is carried out to radar target using the method for the present invention, and carry out 1000 Monte Carlo Experiments
The angle estimation mean square error under corresponding state of signal-to-noise is obtained, obtained result is as shown in fig. 7, Fig. 7 is to change letter
It makes an uproar than in the case where, angle mean square error obtained by 1000 Monte Carlo Experiments is carried out using the method for the present invention and is changed with signal-to-noise ratio
Schematic diagram.
When background environment difference, i.e., in the case that signal-to-noise ratio changes, angle estimation is carried out using the method for the present invention,
Finally obtained angle estimation mean square error is as shown in Figure 7, it can be seen that estimation angle mean square error is substantially with the increasing of signal-to-noise ratio
Reduce greatly, accuracy is also improving, to further demonstrate the validity of the method for the present invention.
In summary, the radar target angle that the method for the present invention can further improve under complex clutter background environment is estimated
Precision is counted, also can be used in the angle estimation of airborne radar, and emulation experiment demonstrates the correctness, effectively of the method for the present invention
Property and reliability.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range；In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (6)
1. a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing, which is characterized in that including following
Step:
Step 1, mechanic scan radar is determined, there are radar targets in the mechanic scan radar detection range；Mechanic scan radar detects model at it
Interior progress mechanical beam scanning is enclosed, beam scanning figure is obtained, the beam scanning figure is the echo data of radar target with angle
The relational graph of variation, and then obtain the echo data of radar target；
Step 2, according to beam scanning figure and the echo data of radar target, the angular range of radar target is determined, and respectively
Obtain the pulse received in the angular range of the echo data received in the angular range of radar target and radar target
Number L；The pulse number N received in the setting range of beam scanning figure is determined simultaneously；Each pulse respectively corresponds pulse
Echo data, N, L are respectively positive integer；
Step 3, moving-target detection pulse accumulation is carried out to the L pulse received in the angular range of radar target and pulse is sliding
Dynamic processing respectively obtains the pulse accumulation echo data by L-N+1 sliding window and the pulse accumulation time Jing Guo L-N+1 sliding window
Wave number is according to corresponding azimuth；
Step 4, peak value searching is carried out to the pulse accumulation echo data by L-N+1 sliding window, obtained by L-N+1 sliding window
Pulse accumulation echo data in maximum impulse accumulate echo data, and then obtain radar target best orientation angle estimation
Value.
2. a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing as described in claim 1,
It is characterized in that, in step 2, the angular range of the radar target is denoted as θd~θu, θdThe orientation angles where radar target
The lower limit estimated value of range, θuThe upper limit estimated value of orientation angles range where radar target；The angle of the radar target
Range is to be greater than the range of 3dB width in beam scanning figure；
The pulse number N received in the setting range of beam scanning figure is inscribed in the 3dB range of beam scanning figure
The pulse number N, N < L received；N, L is respectively positive integer；
The echo data received in the angular range of the radar target is denoted asIts expression formula are as follows:
Wherein, xiEcho data for i-th of the pulse received in the angular range of radar target, i ∈ { 1,2 ..., L }, L are
The pulse total number received in the angular range of radar target.
3. a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing as claimed in claim 2,
It is characterized in that, the sub-step of step 3 are as follows:
It 3a) initializes: r being enabled to indicate the r times sliding window, the initial value of r ∈ { 1,2 ..., L-N+1 }, r are 1；
The echo data of r-th of pulse in L pulse receiving in the angular range of radar target 3b) is chosen to N+r-1
The echo data of a pulse, N number of pulse echo data x after being denoted as the r times sliding windowr, N < L；Then to the r times sliding window after
N number of pulse echo data xrIt carries out moving-target and detects pulse accumulation, the accumulation echo data y after obtaining the r times sliding windowr, in turn
Accumulation echo data y after obtaining the r times sliding windowrCorresponding azimuth angle thetar；
3c) r is enabled to add 1, repeats sub-step 3b), the accumulation echo data y after obtaining the L-N+1 times sliding windowL-N+1With
Accumulation echo data y after L-N+1 sliding windowL-N+1Corresponding azimuth angle thetaL-N+1；
3d) respectively by the accumulation echo data y after the 1st sliding window1Accumulation echo data y after to the L-N+1 times sliding windowL-N+1,
It is denoted as the pulse accumulation echo data y by L-N+1 sliding window；By the accumulation echo data after the obtain at this time the 1st sliding window
y1Corresponding azimuth angle theta1Accumulation echo data y after to the L-N+1 times sliding windowL-N+1Corresponding azimuth angle thetaL-N+1, be denoted as by
The corresponding azimuth angle theta of pulse accumulation echo data of L-N+1 sliding window, expression formula are respectively as follows:
Y=(y1,y2,…,yL-N+1), θ=(θ1,θ2,…,θL-N+1)。
4. a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing as claimed in claim 3,
It is characterized in that, N number of pulse echo data x after the r times sliding windowr, expression formula are as follows: xr=[ r, r+1,…, N+r-1], rEcho data for r-th of the pulse received in the angular range of radar target, r+1For the angular range of radar target
The echo data of the r+1 pulse inside received, N+r-1For N+r-1 received in the angular range of radar target
The echo data of pulse；
Accumulation echo data y after the r times sliding windowrCorresponding azimuth angle thetar, expression formula are as follows:
Wherein, θdThe lower limit estimated value of orientation angles range, θ where radar targetuThe orientation angles range where radar target
Upper limit estimated value, L is the pulse total number that receives in the angular range of radar target, L > 0；N is to scan in mechanical beam
3dB within the scope of the pulse total number that receives, N < L.
5. a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing as claimed in claim 4,
It is characterized in that, N number of pulse echo data x to after the r times sliding windowrIt carries out moving-target and detects pulse accumulation, wherein dynamic mesh
The weight factor of mark detection pulse accumulation is w, expression formula are as follows:
f0The centre frequency in Doppler channel, Tr are where radar target
Pulse repetition period, e indicate that exponential function, j indicate imaginary unit；
Accumulation echo data y after the r times sliding windowr, expression formula are as follows:
Wherein, w is the weight factor that moving-target detects pulse accumulation, xrFor N number of pulse echo data after the r times sliding window, subscript *
Indicate conjugate operation, subscript T indicates transposition operation.
6. a kind of radar target angle estimation method based on MTD pulse accumulation and sliding processing as claimed in claim 3,
It is characterized in that, the process of step 4 are as follows:
Firstly, carrying out peak value searching to the pulse accumulation echo data y by L-N+1 sliding window, obtain by L-N+1 sliding window
Pulse accumulation echo data y in maximum impulse accumulate echo data ymax, expression formula are as follows:
ymax=max (y1,y2,…,yL-N+1)；
Then, it is determined that the maximum impulse in pulse accumulation echo data y by L-N+1 sliding window accumulates echo data ymaxFor
Accumulation echo data y after the l times sliding windowl, l ∈ { 1,2 ..., L-N+1 }；
Finally, determining the accumulation echo data y after the l times sliding windowlCorresponding azimuth angle thetal, and by the product after the l times sliding window
Tired echo data ylCorresponding azimuth angle thetal, best orientation angle estimated value as radar targetIts expression formula are as follows:
Wherein, θdThe lower limit estimated value of orientation angles range, θ where radar targetuThe orientation angles range where radar target
Upper limit estimated value, l ∈ { 1,2 ..., L-N+1 }, L are the pulse total number that receives in the angular range of radar target, L > 0；
N is the pulse total number received within the scope of the 3dB that mechanical beam scans, N < L.
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| CN109507662B (en) * | 2018-12-25 | 2021-07-27 | 无锡格跃科技有限公司 | Low-cost high-precision radar azimuth measurement method |
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| CN111812608B (en) * | 2020-06-15 | 2023-06-23 | 西安电子科技大学 | Radar target azimuth angle estimation method based on MTD pulse accumulation and modal decomposition |
| CN114970595B (en) * | 2021-12-31 | 2023-04-18 | 北京理工大学 | Single snapshot multi-target angle estimation method based on deep learning |
| CN115685113B (en) * | 2022-09-15 | 2023-07-14 | 河北省交通规划设计研究院有限公司 | Traffic radar super-resolution angle estimation method based on multi-pulse synthesis snapshot |
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