CN110865363A - Moving target display and detection synthesis method - Google Patents
Moving target display and detection synthesis method Download PDFInfo
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- CN110865363A CN110865363A CN201911057884.3A CN201911057884A CN110865363A CN 110865363 A CN110865363 A CN 110865363A CN 201911057884 A CN201911057884 A CN 201911057884A CN 110865363 A CN110865363 A CN 110865363A
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
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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
- 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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- 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
- G01S7/418—Theoretical aspects
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- 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 relates to the field of moving target display and detection, in particular to a moving target display and detection synthesis method. The method comprises the steps of an amplitude clutter map processing channel, a ground clutter filtering processing channel, a moving clutter filtering processing channel and the like, and finally, a final detection result is obtained through three-channel detection result synthesis. The invention improves the detection probability of the moving target under different scenes through the optimized combination of multiple channels.
Description
Technical Field
The invention relates to the field of moving target display and detection, in particular to a moving target display and detection synthesis method.
Background
Moving target display technology, one of the earliest technologies for clutter suppression, uses the spectral difference between the echo of a moving target and clutter to align the notch of the filter stopband as much as possible with the center frequency of the clutter spectrum, thereby detecting the moving target echo from the clutter background.
The traditional moving target display cancellation filter mainly aims at ground radar to suppress ground clutter, in most cases, the average speed of the ground clutter is zero, and the notch position of the filter is at zero frequency. For motion clutter, the center of the clutter spectrum will deviate from zero doppler frequency, and such clutter cannot be removed well without measures. And for the target flying tangentially, the Doppler frequency is zero, and the Doppler frequency and the ground clutter are eliminated by the filter and cannot be detected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a moving target display and detection synthesis method. The invention improves the detection probability of the moving target under different scenes through the optimized combination of multiple channels.
The technical scheme of the invention is as follows: a moving target display and detection synthesis method is characterized in that: comprises the following steps of (a) carrying out,
step one, processing a channel by an amplitude clutter map: processing the pulse pressure result of the echo by using an amplitude clutter map processing channel to obtain a detection result J1 after the amplitude clutter map is cancelledn(n represents a distance unit, the same applies below);
step two, ground clutter filtering processing channels: processing the pulse pressure result of the echo by using a ground clutter filtering processing channel to obtain a ground clutter filtered detection result J2n；
Step three, filtering and processing channels of the moving clutter: processing the result of the ground clutter filter by using a dynamic clutter filtering processing channel to obtain a detection result J3 after dynamic clutter filteringn；
Step four, three-channel detection result synthesis is carried out to obtain a final detection result JZn；
The method is characterized in that: the three-channel detection result synthesis comprises the following three combinations, namely: when the clutter intensity in the amplitude clutter map is judged to be not greater than the threshold, the ground clutter filtering processing channel cancellation switch is closed, and the clutter map cancellation detection result J1 is selectednAnd ground clutter filter detection result J2nCombined output, detection result JZn＝J1n|J2n(the symbol '|' represents an or operation, the same applies below); a second combination of: when the clutter intensity in the amplitude clutter map is judged to be larger than the threshold, a ground clutter filtering processing channel cancellation switch is opened, and when the residual clutter intensity of the ground clutter filter result is judged to be not larger than the preset threshold, a clutter map cancellation detection result J1 is obtainednAnd ground clutter filter detection result combined output J2nDetection result JZn＝J1n|J2n(ii) a In a third combination: when the residual clutter intensity of the ground clutter filter result is larger than a preset threshold, the clutter map cancellation detection result J1nAnd the detection result J3 of the motion clutter filternCombined output, detection result JZn＝J1n|J3nWhere n represents a distance unit.
The moving target display and detection synthesis method is characterized in that: in the first step, the processing method of the amplitude clutter map comprises the following steps: firstly, performing modular operation on an echo pulse pressure result to obtain a pulse pressure module value, then establishing an amplitude clutter map by using the pulse pressure module value, then performing clutter map cancellation on the pulse pressure module value result by using clutter map data, and finally performing slow-threshold constant false alarm detection, wherein a 1bit detection result J1 after the amplitude clutter map cancellation is obtainedn。
The moving target display and detection synthesis method is characterized in that: in the second step, the ground clutter filtering processing channel is as follows: if the cancellation function is started, firstly, filtering the echo pulse pressure result by using a ground clutter filter, and then performing modulo and logarithm operation on the filtering result; if the cancellation function is closed, directly carrying out modulo and logarithm operation on echo pulse pressure result data; and finally, performing constant false alarm detection to obtain a 1bit detection result J2 after ground clutter filteringn。
The moving target display and detection synthesis method is characterized in that: in the third step, the channel is processed by filtering the moving clutter: calculating the residual clutter speed value of the ground clutter filter result in the second step, establishing a speed map by using the clutter speed value, calculating the dynamic clutter filter coefficient corresponding to the notch by using the speed map, and then using the dynamic clutter filter result for the ground clutter filter resultFiltering, finally performing modulo and logarithm operation on the result of the dynamic clutter filter, and performing constant false alarm detection to obtain a 1bit detection result J3 after dynamic clutter filteringn。
The invention has the beneficial effects that: firstly, the detection probability of the moving object under different scenes is improved. And secondly, the detection probability is improved by reducing the processing loss of the echo signals, effectively filtering ground clutter in the echo signals, effectively filtering ground clutter and dynamic clutter in the echo signals and the like. Thirdly, the method of the invention can be applied to radar technology to improve the detection probability of radar moving targets.
Drawings
FIG. 1 is a flow chart of moving object display and detection synthesis according to the present invention.
FIG. 2 is a flow chart of an amplitude clutter map processing channel.
FIG. 3 is a flow chart of ground clutter filtering processing channel.
FIG. 4 is a flow chart of the channel filtering process for the moving clutter.
Fig. 5 is a flow chart of three-channel detection result synthesis.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1 to 5, the moving object display and detection synthesis method of the present invention includes the following steps:
step one, processing a channel by an amplitude clutter map: processing the pulse pressure result of the echo by using an amplitude clutter map processing channel to obtain a detection result J1 after the amplitude clutter map is cancelledn。
For the example, as shown in FIG. 2, first, the echo pulse pressure result I is obtainedn,Qn(n is 1,2, … …, m) (m represents the maximum distance unit, the same below), and performing modulo operation to obtain the pulse pressure modulus value Xn＝abs(In+QnI) (abs means the modulus of the complex number, i means the imaginary part of the complex number, the same applies below), and the pulse pressure modulus X is usednEstablishing an amplitude clutter map Yn＝Yn-1*α+Xn(1- α) (α is update coefficient, generally α is 7/8), and then clutter map is usedData YnClutter map cancellation Z for pulse pressure module value resultn＝Xn-β*Yn(β is a threshold correction factor), and finally, slow threshold constant false alarm rate detection is carried out to obtain a 1bit detection result J1 after clutter map cancellationn(a value of '1' represents the presence of a target, and a value of '0' represents the absence of a target).
Clutter map cancellation is mainly used for increasing the detection capability of tangential flight targets.
Step two, ground clutter filtering processing channels: processing the pulse pressure result of the echo by using a ground clutter filtering processing channel to obtain a ground clutter filtered detection result J2n。
Taking this example as an example, as shown in FIG. 3, if the cancellation function is activated, the echo pulse pressure result I is first processedn,Qn(n is 1,2, … …, m) and filtering process A is carried out by ground clutter filtern＝In+Qn*i，H(t)n＝δ1*A(t)n+δ2*A(t-T)n+δ3*A(t-2T)n+δ4*A(t-3T)n+δ5*A(t-4T)n(δ1,δ2,δ3,δ4,δ5Is the ground clutter filter coefficient, T represents the current period, T represents the previous period), and then the filtering processing result H is processednPerforming modulo and logarithm operation Bn＝20log10(abs(Hn) ); if cancellation is turned off, directly carrying out modulus and logarithm taking operation B on echo pulse pressure result datan＝20log10(abs(An)). And finally, performing constant false alarm detection to obtain a 1bit detection result J2 after ground clutter filteringn(1 'means target and 0' means no target), and ground clutter filtering result HnAnd are output together.
The ground clutter filtering processing is used for filtering ground clutter in the echo signal, and a moving target with certain Doppler frequency shift can be effectively detected.
Step three, filtering and processing channels of the moving clutter: processing the result of the ground clutter filter by using a dynamic clutter filtering processing channel to obtain a detection result J3 after dynamic clutter filteringn。
For example, as shown in FIG. 4, the result H of the ground clutter filter in the second step is first calculatednVelocity value of residual noise
Velocity map C built from clutter velocity valuesn＝Cn-1*α+Vn(1- α) (α is update coefficient, generally α is 7/8), and then speed map C is reusednCalculating the coefficients of the dynamic clutter filter corresponding to the notch
(δkIs the ground clutter filter coefficient) and then on the ground clutter filter result HnFiltering processing by using dynamic clutter filter
(
Is the coefficient of the dynamic clutter filter, T represents the current period, T represents the previous period), and finally, the result Hd of the dynamic clutter filter is obtainednPerforming modulo and logarithm operation Bdn＝20log10(abs(Hdn) Constant false alarm rate detection is carried out to obtain a 1bit detection result J3 after the motion clutter is filteredn(a value of '1' represents the presence of a target, and a value of '0' represents the absence of a target).
And the motion clutter filtering processing is used for filtering the motion clutter in the ground clutter filter result, and can effectively detect the moving target from the background of the ground clutter superposed with the motion clutter.
Step four, three-channel detection result synthesis: the detection results of the three processing channels are determined according to the clutter distribution (J1)n,J2n,J3n) Automatically synthesized and output to obtain the final detection result JZn。
Taking this example as an example, the automatic synthesis output mode of the detection result is performed according to the following criteria: as shown in fig. 5, the first combination: firstly, judging whether the clutter intensity in the amplitude clutter map is larger than a preset threshold
(threshold F is the mean of the system noise levels
Adding an offset epsilon to obtain), if the current value is not more than a threshold F, judging that the current value is in a clutter-free area, closing a ground clutter filtering processing channel cancellation switch, and selecting a clutter map cancellation detection result J1nAnd ground clutter filter detection result J2nAre combined and output together to obtain the final detection result JZn＝J1n|J2nThe combination mode can detect the tangential flying target, reduce the processing loss of the echo signal and improve the detection probability of the moving target. A second combination of: if the clutter is larger than the threshold F, a ground clutter filtering processing channel cancellation switch is opened, whether the residual clutter intensity of the ground clutter filter result is larger than a preset threshold L (the threshold L is adjusted according to the clutter residual of the recorded P display interface) is judged, if the clutter filter result is not larger than the threshold L, the current ground clutter filter result is judged to be in a ground clutter area, and a clutter map cancellation detection result J1 is selectednCombined with the ground clutter filter detection result to output J2nTo obtain the final detection result JZn＝J1n|J2nThe method can detect the tangential flying target, effectively filter the ground clutter in the echo signal and improve the detection probability of the moving target in the ground clutter background. In a third combination: if the sum of the ground clutter and the motion clutter is larger than the threshold L, judging that the current ground clutter and the motion clutter are superposed, filtering the residual motion clutter, and selecting a clutter map cancellation detection result J1nAnd the detection result J3 of the motion clutter filternAre combined and output together to obtain the final detection result JZn＝J1n|J3nThe method can detect the tangential flying target, effectively filter the ground clutter and the dynamic clutter in the echo signal, and improve the detection probability of the moving target in the background of the superposition of the ground clutter and the dynamic clutter.
Claims (4)
1. A moving target display and detection synthesis method is characterized in that: comprises the following steps of (a) carrying out,
step one, processing a channel by an amplitude clutter map: processing the pulse pressure result of the echo by using an amplitude clutter map processing channel to obtain a detection result J1 after the amplitude clutter map is cancelledn(n represents a distance unit, the same applies below);
step two, ground clutter filtering processing channels: processing the pulse pressure result of the echo by using a ground clutter filtering processing channel to obtain a ground clutter filtered detection result J2n；
Step three, filtering and processing channels of the moving clutter: processing the result of the ground clutter filter by using a dynamic clutter filtering processing channel to obtain a detection result J3 after dynamic clutter filteringn；
Step four, three-channel detection result synthesis is carried out to obtain a final detection result JZn；
The method is characterized in that: the three-channel detection result synthesis comprises the following three combinations, namely: when the clutter intensity in the amplitude clutter map is judged to be not greater than the threshold, the ground clutter filtering processing channel cancellation switch is closed, and the clutter map cancellation detection result J1 is selectednAnd ground clutter filter detection result J2nCombined output, detection result JZn＝J1n|J2n(the symbol '|' represents an or operation, the same applies below); a second combination of: when the clutter intensity in the amplitude clutter map is judged to be larger than the threshold, a ground clutter filtering processing channel cancellation switch is opened, and when the residual clutter intensity of the ground clutter filter result is judged to be not larger than the preset threshold, a clutter map cancellation detection result J1 is obtainednAnd ground clutter filter detection result combined output J2nDetection result JZn＝J1n|J2n(ii) a In a third combination: when the residual clutter intensity of the ground clutter filter result is larger than a preset threshold, the clutter map cancellation detection result J1nAnd the detection result J3 of the motion clutter filternCombined output, detection result JZn＝J1n|J3n。
2. The moving object displaying and detecting synthesis method according to claim 1, wherein: in the first step, the processing method of the amplitude clutter map comprises the following steps: firstly, toPerforming modular operation on the echo pulse pressure result to obtain a pulse pressure module value, establishing an amplitude clutter map by using the pulse pressure module value, performing clutter map cancellation on the pulse pressure module value result by using clutter map data, and finally performing slow-threshold constant false alarm detection to obtain a 1bit detection result J1 after the amplitude clutter map cancellationn。
3. The moving object displaying and detecting synthesis method according to claim 1, wherein: in the second step, the ground clutter filtering processing channel is as follows: if the cancellation function is started, firstly, filtering the echo pulse pressure result by using a ground clutter filter, and then performing modulo and logarithm operation on the filtering result; if the cancellation function is closed, directly carrying out modulo and logarithm operation on echo pulse pressure result data; and finally, performing constant false alarm detection to obtain a 1bit detection result J2 after ground clutter filteringn。
4. The moving object displaying and detecting synthesis method according to claim 1, wherein: in the third step, the channel is processed by filtering the moving clutter: calculating the residual clutter speed value of the ground clutter filter result in the step two, establishing a speed map by using the clutter speed value, calculating the dynamic clutter filter coefficient corresponding to the notch by using the speed map, then filtering the ground clutter filter result by using a dynamic clutter filter, finally performing modulo and logarithm taking operation on the dynamic clutter filter result, and performing constant false alarm detection to obtain a 1bit detection result J3 after the dynamic clutter is filteredn。
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Application publication date: 20200306 |