CN108196250A - For the continuous-wave radar system and its method of low altitude small target detection - Google Patents
For the continuous-wave radar system and its method of low altitude small target detection Download PDFInfo
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- CN108196250A CN108196250A CN201810077837.4A CN201810077837A CN108196250A CN 108196250 A CN108196250 A CN 108196250A CN 201810077837 A CN201810077837 A CN 201810077837A CN 108196250 A CN108196250 A CN 108196250A
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- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of continuous-wave radar system for low altitude small target detection, wherein transmitting module is used to generate linear frequency modulation continuous wave, and radiate；The linear frequency modulation continuous wave radiateing obtains the echo-signal of target reflection after target reflects；Receiving module is used to receive the echo-signal of target reflection, and obtains Z intermediate-freuqncy signal, and the Z intermediate-freuqncy signal is sent to signal processing module；Signal processing module obtains true low altitude small target point mark, true low altitude small target point mark is sent to terminal display module shows for receiving the Z intermediate-freuqncy signal that the receiving module sends over；Signal processing module is additionally operable to obtain Z low-pass filtering digital signal and carries out parameter Estimation according to true low altitude small target point mark, and then the pitch angle and azimuth information of true low altitude small target are obtained, the pitch angle of true low altitude small target and azimuth information then are sent to terminal display module shows.
Description
Technical field
The present invention relates to target acquisition technical field, more particularly to a kind of continuous wave radars for low altitude small target detection
System and method, suitable for the detection of low-altitude low-velocity small targets under complex environment.
Background technology
To ground, dual-use surveillance radar target acquisition proposes new demand for low altitude airspace opening, and China exists at present
Effective means is there is no in terms of low target monitoring, it is impossible to meet low latitude blank pipe, air defense and the primary demand of security protection, there is an urgent need to solve
Certainly；Using unmanned plane as the rapid development and extensive use of the low-altitude low-velocity small targets technology of representative, brought to national security new
Challenge, strategic point security, region are no-fly etc., and there is an urgent need to the low-altitude low-velocity small targets such as unmanned plane are effectively monitored.
The detection of low target is just always one of important problem that modern radar system is faced, and small to low-altitude low-velocity
The detection of target is even more extremely difficult；Although airborne early warning radar and balloon borne radar have the advantage of detecting low-altitude objective,
Airborne early warning radar and balloon borne radar have system complex, the unfavorable factor for realizing difficult, cost prohibitive etc., and utilization is airborne
Early warning radar and balloon borne radar lose more than gain a little to low-altitude low-velocity small targets detection to realize.So in order to find a kind of letter
Single, cost-effective low-altitude low-velocity small targets detection method, people are it is also contemplated that using ground early-warning radar as the ground of background
Low altitude radar.Ground low altitude radar wave beam in the case where radar has certain frame height wants emphasis to be directed toward low latitude, so as to overcome one
As wave beam occlusion issue present in ground early-warning radar so that wave beam can effectively be irradiated to low target.The radar will
It is small, light-weight, at low cost, and convenient for setting up, generally it is erected at ground commanding elevation such as hilltop, high top of building etc..
When detecting low-altitude low-velocity small targets, mainly facing following problem using ground low altitude radar：
(1) Radar Cross Section (RCS) of low-altitude low-velocity small targets is smaller, and signal echo is weaker, and signal-to-noise ratio is low, detection
It is difficult, it is necessary to use effective method for detecting weak signals.
(2) antenna beam is directed toward low latitude (or in vertical view working condition), and ground clutter intensity is big, and range is wide, and situation is multiple
It is miscellaneous：Low, small, slow target is detected there are important technical bottleneck under non-homogeneous clutter background, radar receiver needs
Big dynamic range, signal processing need strong clutter suppression capability.
(3) jamming target is more：Because low-altitude low-velocity small targets flying height is low, radar can not be kept away when being detected to it
Exempt from that ground moving object (predominantly terrain vehicle) can be detected simultaneously.
Invention content
In view of the deficiencies of the prior art, the present invention intends to propose a kind of company for low altitude small target detection
Continuous wave radar system and its method, for improving detectivity of the radar system to low slow Small object.
To reach above-mentioned technical purpose, the present invention is realised by adopting the following technical scheme.
Technical solution one：
A kind of continuous-wave radar system for low altitude small target detection, which is characterized in that including：Transmitting module, reception
Module, signal processing module and terminal display module；Transmitting module output terminal radiates linear frequency modulation continuous wave outward, anti-through target
Enter receiving module input terminal, receiving module output terminal connection signal processing module input terminal, signal processing module output after penetrating
End connection terminal display module input terminal；
The transmitting module is used to generate linear frequency modulation continuous wave, and radiate；The linear frequency modulation radiateing is continuous
Wave obtains the echo-signal of target reflection after reflection；Receiving module is used to receive the echo-signal of target reflection, and obtains
The Z intermediate-freuqncy signal is sent to signal processing module by Z intermediate-freuqncy signal；The signal processing module is described for receiving
The Z intermediate-freuqncy signal that receiving module sends over obtains true low altitude small target point mark, by true low altitude small target point mark
Terminal display module is sent to be shown；
Signal processing module is additionally operable to carry out Z intermediate-freuqncy signal respectively A/D transformation, digital coherent detection, low-pass filtering
After processing, Z low-pass filtering digital signal is obtained, and according to true low altitude small target point mark to Z low-pass filtering digital signal
Parameter Estimation is carried out, and then obtains the pitch angle and azimuth information of true low altitude small target, then by true low altitude small target
Pitch angle and azimuth information be sent to terminal display module and shown；Z is the positive integer more than 0.
Technical solution two：
A kind of continuous wave radar method for low altitude small target detection is used for applied to one kind described in claim 1
The continuous-wave radar system of low altitude small target detection, the continuous-wave radar system for low altitude small target detection, including hair
Module, receiving module, signal processing module and terminal display module are penetrated, the transmitting module includes transmitter, M transmitting day
Line, Frequency Synthesizer, sequence controller and M select 1 switch；The receiving module includes Frequency Synthesizer, 1:Z power splitters, N number of reception antenna, Z
A b selects 1 switch, Z coupler and Z receiver；It is characterized in that, the method includes：
Step 1, clock signal is provided to Frequency Synthesizer during m-th of moment of sequence controller, Frequency Synthesizer is believed according to the sequential
Number corresponding waveform is generated, and the waveform is sent to transmitter；The waveform emission lines that transmitter is sended over according to Frequency Synthesizer
Property CW with frequency modulation, be denoted as m roads transmitting signal；M transmitting antenna selects 1 switch to select a transmitting antenna by M, and by institute
It states m roads transmitting signal and is connected to the transmitting antenna, m roads transmitting signal radiation is gone out by the transmitting antenna；Wherein, M,
B, Z is respectively the positive integer more than 0；
Step 2, the value of m is enabled to take 1 to M respectively, repeats step 1, and then respectively obtains the 1st tunnel and emits signal to M
Road emits signal, is denoted as M roads transmitting signal；Wherein per road, transmitting signal radiation all reflects, and mutually deserved after going out by target
The echo-signal reflected to target；Wherein sequence controller at the time of number it is equal with transmitting antenna number value and one is a pair of
It should；
Step 3, after frequency signal needed for Frequency Synthesizer generation, pass through 1:Required frequency signal is divided into Z roads by Z power splitters, is obtained
As Z test signal after to Z roads frequency signal component, corresponding respectively to give Z coupler, Z roads frequency signal component is a with Z
Coupler corresponds；N number of reception antenna is divided into a rows, often arranges Y reception antenna, the Y reception antenna of every row is passed through respectively
It after X b selects 1 switch, often arranges and selects X reception antenna respectively, and then obtain aX reception antenna；Wherein, X, Y, a, N are respectively
Positive integer more than 0, aX=Z, bX=Y；
The echo-signal of target reflection is received respectively by aX reception antenna, and enters the corresponding coupling of respective reception antenna
In device；The test signal and the echo-signal of target reflection that each coupler receives itself are calibrated respectively, and then
Corresponding receiver is sent to after receiving signal to Z；Z receiver correspondence carries out down coversion respectively after receiving and receiving signal
Processing and intermediate frequency enhanced processing, and then obtain Z intermediate-freuqncy signal；Wherein, aY=N；
Step 4, signal processing module carries out Z intermediate-freuqncy signal A/D transformation, digital coherent detection, low-pass filtering respectively
After processing, Z low-pass filtering digital signal is obtained, digital beam froming, pulse then are carried out to Z low-pass filtering digital signal
Compression and moving object detection, obtain moving object detection result；
It determines CFAR detection thresholding, and constant false alarm inspection is carried out to moving object detection result using CFAR detection thresholding
It surveys, obtains true low altitude small target point mark, most true low altitude small target point mark is sent to terminal display module and is shown at last；
Signal processing module carries out parameter Estimation according to true low altitude small target point mark to Z low-pass filtering digital signal,
And then the pitch angle and azimuth information of true low altitude small target are obtained, the pitch angle of true low altitude small target and azimuth are believed
Breath is sent to terminal display module and is shown.
The present invention has the advantage that compared with prior art：
First, the present invention is switched by multiselect one and realizes 360 ° of electron scannings.
Second, the present invention emits signal using broad beam, and passes through digital beam froming (DBF) processing and complete more waves simultaneously
Beam receives, and wave beam residence time is long, and clutter recognition performance is good, low velocity target detection superior performance.
Third, cylindrical array vertical dimension a row's antennas can be used for surveying high.
4th, radar system uses linear frequency modulation continuous wave system, has the transmission power low, simple in structure, small, again
The advantages of amount is light, reliability is high and at low cost.
Description of the drawings
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of continuous-wave radar system block diagram for low altitude small target detection of the present invention；
Fig. 2 is a kind of continuous-wave radar system antenna composition schematic diagram for low altitude small target detection of the present invention；
Fig. 3 a are transmitting antenna horizontal beam patterns；
Fig. 3 b are transmitting antenna vertical beam directional diagram；
Fig. 3 c are transmitting module workflow block diagram；
Fig. 4 a are reception antenna horizontal beam patterns；
Fig. 4 b are reception antenna vertical beam directional diagram；
Fig. 4 c are receiving module workflow block diagram；
Fig. 5 is signal processing module workflow block diagram；
Fig. 6 a receive simultaneous multiple beams directional diagram for horizontal dimension；
Fig. 6 b are horizontal dimension transmitting-receiving synthesis simultaneous multiple beams directional diagram；
Fig. 6 c receive simultaneous multiple beams directional diagram for vertical dimension；
Fig. 6 d are vertical dimension transmitting-receiving synthesis simultaneous multiple beams directional diagram.
Specific embodiment
With reference to Fig. 1, a kind of continuous-wave radar system block diagram for low altitude small target detection for the present invention；It is wherein described
For the continuous-wave radar system of low altitude small target detection, shown including transmitting module, receiving module, signal processing module and terminal
Show module；Transmitting module output terminal radiates linear frequency modulation continuous wave outward, and receiving module input terminal is entered after target reflects, is connect
Receive module output terminal connection signal processing module input terminal, signal processing module output terminal connection terminal display module input terminal；
In the present embodiment low slow Small object full name for low latitude, at a slow speed, Miniature Vehicle target, flying height generally at 1000 meters hereinafter, speed
Spend slower, the target of radar area very little.
The transmitting module is used to generate linear frequency modulation continuous wave, and radiate；The linear frequency modulation radiateing is continuous
Wave obtains the echo-signal of target reflection after target reflects；Receiving module is used to receive the echo-signal of target reflection, and
Z intermediate-freuqncy signal is obtained, the Z intermediate-freuqncy signal is sent to signal processing module；The signal processing module is used to receive
The Z intermediate-freuqncy signal that the receiving module sends over obtains true low altitude small target point mark, by true low altitude small target
Point mark is sent to terminal display module and is shown.
Signal processing module is additionally operable to carry out Z intermediate-freuqncy signal respectively A/D transformation, digital coherent detection, low-pass filtering
After processing, Z low-pass filtering digital signal is obtained, and according to true low altitude small target point mark to Z low-pass filtering digital signal
Parameter Estimation is carried out, and then obtains the pitch angle and azimuth information of true low altitude small target, then by true low altitude small target
Pitch angle and azimuth information be sent to terminal display module and shown；Z is the positive integer more than 0.
Transmitting module：Transmitting module selects 1 switch including transmitter, M transmitting antenna, Frequency Synthesizer, sequence controller and M；
Sequence controller output terminal connects Frequency Synthesizer input terminal, Frequency Synthesizer output terminal connection transmitter input terminal, and transmitter output terminal connects
It meets M and selects 1 switch input terminal, M selects 1 output switching terminal to connect M transmitting antenna；With reference to Fig. 2, one kind for the present invention is used for low latitude
The continuous-wave radar system antenna composition schematic diagram of small target detection；Each transmitting antenna is one in wherein M transmitting antenna
A compact horn, and M loudspeaker are uniformly placed on an annulus, circle diameter d, M transmitting antenna is all using vertical
Polarization mode, horizontal beam patterns and vertical beam directional diagram difference are as shown in Figure 3a and Figure 3b shows.
It is transmitting module workflow block diagram with reference to Fig. 3 c, the workflow of transmitting module is：
Clock signal is provided to Frequency Synthesizer during 1.1 m-th of moment of sequence controller, Frequency Synthesizer is produced according to the clock signal
Raw corresponding waveform, and the waveform is sent to transmitter；The linear tune of waveform transmitting that transmitter is sended over according to Frequency Synthesizer
Frequency continuous wave is denoted as m roads transmitting signal；M transmitting antenna selects 1 switch to select a transmitting antenna by M, and by described the
M roads transmitting signal is connected to the transmitting antenna, and m roads transmitting signal radiation is gone out by the transmitting antenna；Wherein, M is big
In 0 positive integer.
1.2 enable the value of m take 1 to M respectively, repeat 1.1, and then respectively obtain the 1st tunnel and emit signal to the transmitting of M roads
Signal is denoted as M roads transmitting signal；Wherein per road, transmitting signal radiation all reflects, and accordingly obtain target after going out by target
The echo-signal of reflection；Since transmitting signal in every road is all linear frequency modulation continuous wave, the transmitting antenna of each moment corresponding selection
It is different from, i.e., each moment automatically selects other 1 transmitting antenna by sequence controller, so that a complete week
M transmitting antenna all works one time in phase；And in a complete cycle, M transmitting signal radiation is gone out, can be ensured
M transmitting signal has covered 360 ° of orientation, the range of 20 ° of pitching；Wherein sequence controller at the time of number and transmitting antenna
Number value is equal.
Receiving module：With reference to Fig. 2, a kind of continuous-wave radar system antenna for low altitude small target detection for the present invention
Composition schematic diagram；The wherein described continuous-wave radar system for low altitude small target detection is continuous-wave radar system, emits mould
M transmitting antenna in the block can not be shared with N number of reception antenna in receiving module, thus transmitting module and receiving module it
Between add baffle, the purpose of baffle is to ensure transceiver insulation；The baffle is cylinder, a diameter of D, a height of D4, and is placed on
The underface of transmitting module, the distance between baffle top and M transmitting antenna are D3.
N number of reception antenna in receiving module is cylindrical array, and common a rows, often Y reception antenna of row, a shared a × Y=N are a
Reception antenna, cylindrical array a diameter of d, a height of D2, and the underface of baffle is placed on, N number of reception antenna in receiving module
Distance is D1 between M transmitting antenna in transmitting module, is not arranged equidistantly between row and row in a rows, N number of reception antenna
All using vertical polarization mode, unit form is dipole or other (being easily placed on the side of cylinder), that is to say, that has Y
A array element surrounds an annulus in the horizontal direction, forms a round battle array, and then obtains a identical circle battle arrays, a identical circles
Battle array is not arranged equidistantly, forms cylindrical array, horizontal beam patterns and vertical beam directional diagram are respectively such as Fig. 4 a and Fig. 4 b institutes
Show.
With reference to Fig. 4 c, receiving module workflow block diagram, receiving module includes Frequency Synthesizer, 1:Z power splitters, N number of reception day
Line, Z b select 1 switch, Z coupler and Z receiver, and each coupler includes first input end and the second input terminal；Frequency synthesizer
Device output terminal connection 1:Z power splitter input terminals, 1:The Z a first that Z output terminal of Z power splitters is correspondingly connected with Z coupler is defeated
Enter end, the output terminal of Z coupler is correspondingly connected with Z input terminal of Z receiver, and N number of reception antenna is divided into a rows, the Y often arranged
A reception antenna selects 1 switch input terminal to connect with X b respectively, and aX b selects 1 output switching terminal to be correspondingly connected with the Z of Z coupler
A second input terminal, aX=Z, aY=N, bX=Y；Z coupler and Z receiver correspond, the workflow of receiving module
Cheng Shi：
After frequency signal needed for Frequency Synthesizer generation, pass through 1:Required frequency signal is divided into Z roads by Z power splitters, obtains Z roads frequency
It is corresponding respectively to give Z coupler, Z roads frequency signal component and Z coupler as Z test signal after rate signal component
It corresponds；N number of reception antenna is divided into a rows, often arranges Y reception antenna, and the Y reception antenna of every row is selected respectively by X b
After 1 switch, often arrange and select X reception antenna respectively, and then obtain aX reception antenna；Target reflection echo-signal respectively by
AX reception antenna receives (aX=Z reception antenna altogether), and enters in the corresponding coupler of respective reception antenna；Each coupling
The echo-signal of test signal and target reflection that clutch receives itself is calibrated respectively, and then is obtained Z and received letter
Corresponding receiver is sent to after number；Z receiver correspondence carries out down-converted respectively after receiving and receiving signal and intermediate frequency is put
Big processing, and then Z intermediate-freuqncy signal is obtained, and the Z intermediate-freuqncy signal is sent to signal processing module.
Wherein, the Frequency Synthesizer that the Frequency Synthesizer and the receiving module that the transmitting module includes include is same frequency synthesizer
Device, the Frequency Synthesizer include two output terminals, and one of output terminal connects transmitter input terminal, another output terminal connection 1:
Z power splitter input terminals.
Signal processing module：Signal processing be one of core of radar (particularly with for this radar be even more such as
This), signal processing module mainly handles Z intermediate-freuqncy signal and extracts useful information, completes target acquisition and letter
Cease the processing of extraction；This Radar Signal Processing module mainly includes A/D transformation, digital coherent detection, low-pass filtering while more waves
Beam forms the parts such as (DBF), pulse compression, moving object detection (MTD), CFAR detection (CFAR), target component estimation.
With reference to Fig. 5, signal processing module workflow block diagram；Z intermediate-freuqncy signal of receiving module output is sent directly into letter
Number processing module, signal processing module carry out Z intermediate-freuqncy signal A/D transformation, digital coherent detection, low-pass filtering treatment respectively
Afterwards, Z low-pass filtering digital signal is obtained；Then digital beam froming (DBF), arteries and veins are carried out to Z low-pass filtering digital signal
Punching press contracting and moving object detection (MTD) obtain moving object detection as a result, and using unit average constant false alarm detection method
(CA-CFAR) the first CFAR detection thresholding U and the second CFAR detection thresholding K are obtained, i.e. CFAR detection thresholding is KU；
CFAR detection (CFAR) is carried out to moving object detection result using detection threshold KU, obtains true low altitude small target point mark,
Most true low altitude small target point mark is sent to terminal display module and is shown at last；The target letter investigated with reference to external equipment
Breath and Z low-pass filtering digital signal carry out target, interference and environmental characteristics study, improve or reduce the second CFAR detection
Then thresholding K, the second CFAR detection thresholding after being adjusted are multiplied by using the second CFAR detection thresholding after adjustment
One CFAR detection thresholding obtains new detection threshold, and carries out permanent void to moving object detection result with new detection threshold
Alert detection (CFAR), to ensure that false-alarm probability is constant.
For example, under strong clutter background, clutter will be included in moving object detection result, it at this time can be by target, dry
It disturbs and learns with environmental characteristics, the second CFAR detection thresholding K is suitably improved, to ensure that false-alarm probability is constant；At synchronous signal
It manages module and combines true low altitude small target information to Z low-pass filtering digital signal progress parameter Estimation, i.e., surveyed using pulse
The methods of angle or beam scanning angle measurement, carries out parameter Estimation to true low altitude small target, and then obtains true low altitude small target
The pitch angle of true low altitude small target and azimuth information are sent to terminal display module and carried out by pitch angle and azimuth information
Display.
Specifically, since the radar system is digital beam froming system, in signal processing, passing through DBF shapes
Multiple reception wave beams can be formed simultaneously during into reception wave beam, in order to covered the radiation scope of launching beam, in this way
" width send out narrow receipts " system is equivalent to, such benefit is that residence time of the reception wave beam in each wave position is longer, clutter recognition energy
Power is strong, this is also the essential condition guarantee that overland radar system obtains strong clutter suppression capability.
Wherein the formation of reception antenna simultaneous multiple beams includes Multibeam synthesis and vertical dimension antenna while horizontal dimension antenna
While Multibeam synthesis；The arrangement of a row's antenna unequal intervals of vertical dimension simultaneously, it is high available for surveying；It is to be noted that such as
Fruit can handle the number for increasing corresponding simultaneous multiple beams to reduce the gain loss of edge wave beam by DBF, but this
Sample also can suitably increase operand.
A kind of continuous wave radar method for low altitude small target detection is used for applied to one kind described in claim 1
The continuous-wave radar system of low altitude small target detection, the continuous-wave radar system for low altitude small target detection, including hair
Module, receiving module, signal processing module and terminal display module are penetrated, the transmitting module includes transmitter, M transmitting day
Line, Frequency Synthesizer, sequence controller and M select 1 switch；The receiving module includes Frequency Synthesizer, 1:Z power splitters, N number of reception antenna, Z
A b selects 1 switch, Z coupler and Z receiver；The method includes：
Step 1, clock signal is provided to Frequency Synthesizer during m-th of moment of sequence controller, Frequency Synthesizer is believed according to the sequential
Number corresponding waveform is generated, and the waveform is sent to transmitter；The waveform emission lines that transmitter is sended over according to Frequency Synthesizer
Property CW with frequency modulation, be denoted as m roads transmitting signal；M transmitting antenna selects 1 switch to select a transmitting antenna by M, and by institute
It states m roads transmitting signal and is connected to the transmitting antenna, m roads transmitting signal radiation is gone out by the transmitting antenna；Wherein, M,
B, Z is respectively the positive integer more than 0.
Step 2, the value of m is enabled to take 1 to M respectively, repeats step 1, and then respectively obtains the 1st tunnel and emits signal to M
Road emits signal, is denoted as M roads transmitting signal；Wherein per road, transmitting signal radiation all reflects, and mutually deserved after going out by target
The echo-signal reflected to target；Wherein sequence controller at the time of number it is equal with transmitting antenna number value and one is a pair of
It should.
Step 3, after frequency signal needed for Frequency Synthesizer generation, pass through 1:Required frequency signal is divided into Z roads by Z power splitters, is obtained
As Z test signal after to Z roads frequency signal component, corresponding respectively to give Z coupler, Z roads frequency signal component is a with Z
Coupler corresponds；N number of reception antenna is divided into a rows, often arranges Y reception antenna, the Y reception antenna of every row is passed through respectively
It after X b selects 1 switch, often arranges and selects X reception antenna respectively, and then obtain aX reception antenna；Wherein, X, Y, a, N are respectively
Positive integer more than 0, bX=Y, aX=Z.
The echo-signal of target reflection is received respectively by aX reception antenna, and enters the corresponding coupling of respective reception antenna
In device；The test signal and the echo-signal of target reflection that each coupler receives itself are calibrated respectively, and then
Corresponding receiver is sent to after receiving signal to Z；Z receiver correspondence carries out down coversion respectively after receiving and receiving signal
Processing and intermediate frequency enhanced processing, and then obtain Z intermediate-freuqncy signal；Wherein, aY=N.
Step 4, signal processing module carries out Z intermediate-freuqncy signal A/D transformation, digital coherent detection, low-pass filtering respectively
After processing, Z low-pass filtering digital signal is obtained；Then digital beam froming, pulse are carried out to Z low-pass filtering digital signal
Compression and moving object detection obtain moving object detection as a result, obtaining the first permanent void using unit average constant false alarm detection method
Alert detection threshold U and the second CFAR detection thresholding K, i.e. CFAR detection thresholding are KU；Using detection threshold KU to moving mesh
It marks testing result and carries out CFAR detection, obtain true low altitude small target point mark, most true low altitude small target point mark is sent at last
It is shown to terminal display module；The target information and Z low-pass filtering digital signal investigated with reference to external equipment carry out
Target, interference and environmental characteristics study, improve or reduce the second CFAR detection thresholding K, the second constant false alarm after being adjusted
Then detection threshold is multiplied by the first CFAR detection thresholding using the second CFAR detection thresholding after adjustment, obtains new inspection
Thresholding is surveyed, and CFAR detection (CFAR) is carried out to moving object detection result with new detection threshold, to ensure false-alarm probability
It is constant.
Signal processing module carries out parameter Estimation according to true low altitude small target point mark to Z low-pass filtering digital signal,
And then the pitch angle and azimuth information of true low altitude small target are obtained, the pitch angle of true low altitude small target and azimuth are believed
Breath is sent to terminal display module and is shown.
The effect of the present invention can further be verified by following emulation experiment：
The arrangement of radar system is in experiment：Transmitting antenna is made of 12 compact horns, and all loudspeaker are launched antenna
It is placed on an annulus, reception antenna is cylindrical shape, totally 3 row, often row 48, altogether 144 antennas, selects 1 to open by 3
It closes, chooses 16 antennas progress simultaneous multiple beams from 48 antennas every time and formed.
The working frequency of radar system is X-band in experiment, and wavelength λ, the concrete numerical value of remaining parameter will represent by λ：
D=10.7 λ, D=15.3 λ, D1=10 λ, D2=6 λ, D3=8.5 λ, D4=0.7 λ.Reception antenna level dimension array element spacing be
0.7 λ, the array element spacing of vertical dimension is 2 λ and 3 λ.
Below with the 18th to the 33rd horizontal reception antenna (totally 16 antennas) of tieing up come more waves while emulating horizontal dimension
Beam is formed, while generates 7 wave beams, and coverage area is 168.75 ° -198.75 °.
Experiment 1：Transmitting antenna horizontal beam patterns are not considered, and simulation result is as shown in Figure 6 a；It can be seen by Fig. 6 a
When going out not consider transmitting antenna directional diagram, wave beam minor level is higher, reaches -6.7dB.In order to further reduce wave beam secondary lobe electricity
It is flat, it may be considered that plus transmitting antenna horizontal beam patterns.
Experiment 2：Consider transmitting antenna horizontal beam patterns, simulation result is as shown in Figure 6 b.
Below with Multibeam synthesis while 3 reception antennas of vertical dimension emulation vertical dimension, it is formed simultaneously 4 wave beams, 4
It is 2 °, 7 °, 12 ° and 17 ° respectively that the center of wave beam, which is directed toward, the range of 15 ° of covering.
Experiment 3：Transmitting antenna vertical beam directional diagram is not considered, and simulation result is as fig. 6 c；It can be seen by Fig. 6 c
When going out not consider transmitting antenna directional diagram, wave beam minor level is higher；In order to further reduce wave beam minor level, it may be considered that
In addition transmitting antenna vertical beam directional diagram.
Experiment 4：Transmitting antenna vertical beam directional diagram is not considered, and simulation result is as shown in fig 6d.
In conclusion emulation experiment demonstrates the correctness of the present invention, validity 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
God 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 (5)
1. a kind of continuous-wave radar system for low altitude small target detection, which is characterized in that including：Transmitting module receives mould
Block, signal processing module and terminal display module；Transmitting module output terminal radiates linear frequency modulation continuous wave outward, is reflected through target
Enter receiving module input terminal, receiving module output terminal connection signal processing module input terminal, signal processing module output terminal afterwards
Connect terminal display module input terminal；
The transmitting module is used to generate linear frequency modulation continuous wave, and radiate；The linear frequency modulation continuous wave warp radiateing
After crossing reflection, the echo-signal of target reflection is obtained；Receiving module is used to receive the echo-signal of target reflection, and obtains Z
The Z intermediate-freuqncy signal is sent to signal processing module by intermediate-freuqncy signal；The signal processing module is used to receive the reception
The Z intermediate-freuqncy signal that module sends over obtains true low altitude small target point mark, and true low altitude small target point mark is sent
It is shown to terminal display module；
Signal processing module is additionally operable to carry out Z intermediate-freuqncy signal respectively A/D transformation, digital coherent detection, low-pass filtering treatment
Afterwards, Z low-pass filtering digital signal is obtained, and Z low-pass filtering digital signal is carried out according to true low altitude small target point mark
Parameter Estimation, and then obtain the pitch angle and azimuth information of true low altitude small target, then bowing true low altitude small target
The elevation angle and azimuth information are sent to terminal display module and are shown；Z is the positive integer more than 0.
2. a kind of continuous-wave radar system for low altitude small target detection as described in claim 1, which is characterized in that described
Transmitting module selects 1 switch including transmitter, M transmitting antenna, Frequency Synthesizer, sequence controller and M；Wherein sequence controller exports
End connection Frequency Synthesizer input terminal, Frequency Synthesizer output terminal connection transmitter input terminal, transmitter output terminal connection M select 1 switch to input
End, M select 1 output switching terminal to connect M transmitting antenna；
Transmitting module workflow is：
Clock signal is provided to Frequency Synthesizer during 1.1 m-th of moment of sequence controller, Frequency Synthesizer is according to clock signal generation pair
Waveform is answered, and the waveform is sent to transmitter；The waveform transmitting linear frequency modulation that transmitter is sended over according to Frequency Synthesizer connects
Continuous wave is denoted as m roads transmitting signal；M transmitting antenna selects 1 switch to select a transmitting antenna by M, and by the m roads
Transmitting signal is connected to the transmitting antenna, and m roads transmitting signal radiation is gone out by the transmitting antenna；Wherein, M is more than 0
Positive integer；
1.2 enable the value of m take 1 to M respectively, repeat 1.1, and then respectively obtain the 1st tunnel and emit signal to M roads transmitting letter
Number, it is denoted as M roads transmitting signal；Wherein per road, transmitting signal radiation all reflects, and it is anti-accordingly to obtain target after going out by target
The echo-signal penetrated；Wherein sequence controller at the time of number it is equal with transmitting antenna number value.
3. a kind of continuous-wave radar system for low altitude small target detection as described in claim 1, which is characterized in that described
Receiving module includes Frequency Synthesizer, 1:Z power splitters, N number of reception antenna, Z b select 1 switch, Z coupler and Z receiver, often
A coupler includes first input end and the second input terminal；Frequency Synthesizer output terminal connection 1:Z power splitter input terminals, 1:Z power splitters
Z output terminal be correspondingly connected with Z first input end of Z coupler, the output terminal of Z coupler is correspondingly connected with Z reception
Z input terminal of machine, N number of reception antenna are divided into a rows, and the Y reception antenna often arranged selects 1 switch input terminal to connect with X b respectively
It connects, aX b selects 1 output switching terminal to be correspondingly connected with Z the second input terminals of Z coupler, aX=Z, aY=N, bX=Y；Z coupling
Clutch and Z receiver correspond；
The workflow of receiving module is：
Frequency signal needed for Frequency Synthesizer generation, passes through 1:Required frequency signal is divided into Z roads by Z power splitters, obtains Z roads frequency signal
As Z test signal after component, corresponding respectively to give Z coupler, Z roads frequency signal component and Z coupler one are a pair of
It should；N number of reception antenna is divided into a rows, often arranges Y reception antenna, the Y reception antenna of every row is selected 1 switch by X b respectively
Afterwards, it often arranges and selects X reception antenna respectively, and then obtain aX reception antenna；The echo-signal of target reflection is respectively by aX
Reception antenna receives, and enters in the corresponding coupler of respective reception antenna；The test letter that each coupler receives itself
Number and target reflection echo-signal calibrated respectively, and then obtain Z reception signal after be sent to corresponding receiver；Z
Receiver correspondence carries out down-converted and intermediate frequency enhanced processing respectively after receiving reception signal, and then obtains Z intermediate frequency letter
Number, and the Z intermediate-freuqncy signal is sent to signal processing module.
4. a kind of continuous-wave radar system for low altitude small target detection as described in claim 2 and 3, which is characterized in that
The Frequency Synthesizer that the Frequency Synthesizer and the receiving module that the transmitting module includes include is same Frequency Synthesizer, which includes
Two output terminals, one of output terminal connect transmitter input terminal, another output terminal connection 1:Z power splitter input terminals.
5. a kind of continuous wave radar method for low altitude small target detection, applied to described in claim 1 a kind of for low
The continuous-wave radar system of empty small target detection, the continuous-wave radar system for low altitude small target detection, including transmitting
Module, receiving module, signal processing module and display module, the transmitting module include transmitter, M transmitting antenna, frequency synthesizer
Device, sequence controller and M select 1 switch；The receiving module includes Frequency Synthesizer, 1:Z power splitters, N number of reception antenna, Z b select 1
Switch, Z coupler and Z receiver；It is characterized in that, the method includes：
Step 1, clock signal is provided to Frequency Synthesizer during m-th of moment of sequence controller, Frequency Synthesizer is produced according to the clock signal
Raw corresponding waveform, and the waveform is sent to transmitter；The linear tune of waveform transmitting that transmitter is sended over according to Frequency Synthesizer
Frequency continuous wave is denoted as m roads transmitting signal；M transmitting antenna selects 1 switch to select a transmitting antenna by M, and by described the
M roads transmitting signal is connected to the transmitting antenna, and m roads transmitting signal radiation is gone out by the transmitting antenna；Wherein, M, b, Z
Respectively it is more than 0 positive integer；
Step 2, the value of m is enabled to take 1 to M respectively, repeats step 1, and then respectively obtains the 1st tunnel and emits signal to M roads hair
Signal is penetrated, is denoted as M roads transmitting signal；Wherein per road, transmitting signal radiation all reflects, and accordingly obtain mesh after going out by target
Mark the echo-signal of reflection；Wherein sequence controller at the time of number it is equal with transmitting antenna number value and correspond；
Step 3, after frequency signal needed for Frequency Synthesizer generation, pass through 1:Required frequency signal is divided into Z roads by Z power splitters, obtains Z roads
As Z test signal after frequency signal component, corresponding respectively to give Z coupler, Z roads frequency signal component is coupled with Z
Device corresponds；N number of reception antenna is divided into a rows, often arranges Y reception antenna, and the Y reception antenna of every row is passed through X b respectively
It after selecting 1 switch, often arranges and selects X reception antenna respectively, and then obtain aX reception antenna；Wherein, X, Y, a, N are respectively and are more than
0 positive integer, aX=Z, bX=Y；
The echo-signal of target reflection is received respectively by aX reception antenna, and enters the corresponding coupler of respective reception antenna
In；The test signal and the echo-signal of target reflection that each coupler receives itself are calibrated, and then obtain Z respectively
Corresponding receiver is sent to after a reception signal；Z receiver correspondence carries out down-converted respectively after receiving and receiving signal
With intermediate frequency enhanced processing, and then Z intermediate-freuqncy signal is obtained；Wherein, aY=N；
Step 4, signal processing module carries out Z intermediate-freuqncy signal A/D transformation, digital coherent detection, low-pass filtering treatment respectively
Afterwards, Z low-pass filtering digital signal is obtained, digital beam froming is then carried out to Z low-pass filtering digital signal, pulse is compressed
And moving object detection, obtain moving object detection result；
It determines CFAR detection thresholding, and CFAR detection is carried out to moving object detection result using CFAR detection thresholding,
True low altitude small target point mark is obtained, most true low altitude small target point mark is sent to terminal display module and is shown at last；
Signal processing module carries out parameter Estimation according to true low altitude small target point mark to Z low-pass filtering digital signal, and then
The pitch angle and azimuth information of true low altitude small target are obtained, the pitch angle of true low altitude small target and azimuth information are sent out
It send to terminal display module and is shown.
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| RU2752235C1 (en) * | 2020-09-22 | 2021-07-23 | Акционерное общество "НИИ измерительных приборов - Новосибирский завод имени Коминтерна" /АО "НПО НИИИП-НЗиК"/ | Method for measuring angle of low-altitude target and device for its implementation |
| CN112666555A (en) * | 2020-12-17 | 2021-04-16 | 中国人民解放军32802部队 | Distributed detection system and detection method for base station type small unmanned aerial vehicle |
| CN112782697A (en) * | 2020-12-24 | 2021-05-11 | 成都福瑞空天科技有限公司 | Unmanned aerial vehicle airborne anti-collision radar system and working method |
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