CN102147464A - Intelligent system and method for forecasting robust radar sea clutter - Google Patents

Abstract

The invention discloses an intelligent system for forecasting robust radar sea clutter, comprising a radar, a database and an upper computer, wherein the radar, the database and the upper computer are successively connected; the radar irradiates a detected sea area; radar sea clutter data are stored in the database; the upper computer comprises a data preprocessing module, a modeling module of a robust forecast model, an improved intelligent optimization module, a sea clutter forecast model, a discriminative model updating module and a result displaying module. The invention also provides an intelligent method for forecasting the robust radar sea clutter. The invention provides the intelligent method and system for forecasting the robust radar sea clutter, which have good robustness and avoid the influence of the manual factor.

Description

A kind of robust intelligence Radar Sea clutter forecast system and method

Technical field

The present invention relates to the radar data process field, especially, relate to a kind of robust intelligence Radar Sea clutter forecast system and method.

Background technology

The sea clutter promptly comes from the backscattering echo on a slice sea of being shone by the radar emission signal.Because extra large clutter is to from the sea or near " point " target on sea, detectability as the radar return of targets such as maritime buoyage and floating afloat ice cube forms serious restriction, thereby therefore the research of extra large clutter has crucial influence to the detection performance of targets such as steamer in the marine background and has most important theories meaning and practical value.

Custom Shanghai clutter is regarded as single stochastic process, distributes as lognormal distribution, K etc.Yet these models all have its specific limitation in actual applications, and one of them major reason is that extra large clutter seems waveform at random, does not in fact have random distribution nature.

Summary of the invention

For overcome existing Radar Sea clutter forecasting procedure robustness not high, be subject to the shortcoming that human factor influences intelligent deficiency, the invention provides a kind of robustness is good, avoid the human factor influence intelligent Radar Sea clutter forecast system and method.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of robust intelligence Radar Sea clutter forecast system, comprise radar, database and host computer, radar, database and host computer link to each other successively, and described radar shines the detection marine site, and with Radar Sea clutter data storing to described database, described host computer comprises:

Data preprocessing module, in order to carry out the pre-service of Radar Sea clutter data, adopt following process to finish:

1) from database, gathers N Radar Sea clutter echoed signal amplitude x _iAs training sample, i=1 ..., N;

2) training sample is carried out normalized, obtain the normalization amplitude

${\stackrel{\‾}{x}}_i=\frac{x_i-\min x}{\max x-\min x}$

Wherein, minx represents the minimum value in the training sample, and maxx represents the maximal value in the training sample;

3), obtain input matrix X and corresponding output matrix Y respectively with the training sample reconstruct after the normalization:

$X=\left[\begin{array}{cccc}{\stackrel{\‾}{x}}_1& {\stackrel{\‾}{x}}_2& L& {\stackrel{\‾}{x}}_D\\ {\stackrel{\‾}{x}}_2& {\stackrel{\‾}{x}}_3& L& {\stackrel{\‾}{x}}_{D+1}\\ M& M& O& M\\ {\stackrel{\‾}{x}}_{N-D}& {\stackrel{\‾}{x}}_{N-D+1}& L& {\stackrel{\‾}{x}}_{N-1}\end{array}\right]$

$Y=\left[\begin{array}{c}{\stackrel{\‾}{x}}_{D+1}\\ {\stackrel{\‾}{x}}_{D+2}\\ M\\ {\stackrel{\‾}{x}}_N\end{array}\right]$

Wherein, D represents the reconstruct dimension, and D is a natural number, and D＜N, and the span of D is 50-70;

Robust forecasting model MBM, in order to set up forecasting model, adopt following process to finish:

With X, the following linear equation of Y substitution that obtains:

$\left[\begin{array}{cc}0& 1_v^T\\ 1_v& K{+V}_{\mathrm{\γ}}\end{array}\right]\left[\begin{array}{c}{b}^{*}\\ {\mathrm{\α}}^{*}\end{array}\right]=\left[\begin{array}{c}0\\ Y\end{array}\right]$

Wherein $V_{\mathrm{\γ}}=\mathrm{diag}\{\frac{1}{\mathrm{\γ}{v}_1},K,\frac{1}{\mathrm{\γ}{v}_M}\}$

Weight factor v _iCalculate by following formula:

Wherein be error variance ξ _iThe estimation of standard deviation, c ₁, c ₂Be constant;

Find the solution to such an extent that treat estimation function f (x):

$f\left(x\right)=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{{\mathrm{\α}}_i}^{*}\exp (-||x-x_i||/{\mathrm{\θ}}^2)+b^{*}$

Wherein, M is the number of support vector, 1 _v=[1 ..., 1] ^T,

K=exp (‖ x _i-x _j‖/θ ²), the transposition of subscript T representing matrix, Be Lagrange multiplier, wherein, i=1 ..., M, j=1 ..., M, b ^*Be amount of bias,

And exp (‖ x-x _i‖/θ ²) be the kernel function of support vector machine, x _jBe j Radar Sea clutter echoed signal amplitude, θ is a nuclear parameter, and x represents input variable, and γ is a penalty coefficient;

Improve intelligent optimizing module, the nuclear parameter θ and the penalty coefficient γ of forecasting model be optimized, adopt following process to finish in order to adopt evolution genetic algorithm:

5.1) adopt real number coding method that θ and γ are encoded;

5.2) produce initial population at random;

5.3) calculate each individual fitness, and judge whether to meet the algorithm end condition, if meet, the optimum solution of output optimized individual and representative thereof, and finish to calculate, otherwise continue iteration;

5.4) adopt normal distribution probability to select individuality;

5.5) produce new individuality by the single-point linear crossing;

5.6) produce new individuality by even variation mode;

5.7) the new simple property of a body and function method is carried out the determinacy optimizing;

5.8) population of new generation that produces, return 5.3) carry out iteration;

Wherein, the initial population size is 50-200, maximum algebraically 50-300, it is 0.05-0.1 that optimized individual is selected probability, crossover probability is 0.5-0.9, the variation probability is 0.001-0.01, the extensive root-mean-square error of ideal adaptation degree preference pattern, and end condition is for reaching maximum algebraically or the five generations successively fitness is constant;

Sea clutter forecast module, in order to carry out extra large clutter prediction, adopt following process to finish:

1) gathers D extra large clutter echoed signal amplitude at sampling instant t and obtain TX=[x _T-D+1, K, x _t], x _T-D+1The extra large clutter echoed signal amplitude of representing the t-D+1 sampling instant, x _tThe extra large clutter echoed signal amplitude of representing the t sampling instant;

2) carry out normalized;

$\stackrel{\‾}{\mathrm{TX}}=\frac{\mathrm{TX}-\min x}{\max x-\min x}$

3) the estimation function f (x) that treats that substitution forecasting model MBM obtains calculates the extra large clutter predicted value of sampling instant (t+1).

As preferred a kind of scheme: described host computer also comprises: the discrimination model update module, in order to sampling time interval image data by setting, the measured data and the model prediction value that obtain are compared, if relative error is greater than 10%, then new data is added the training sample data, upgrade forecasting model.

As preferred another kind of scheme: described host computer also comprises: display module as a result shows at host computer in order to the predicted value that extra large clutter forecast module is calculated.

The employed Radar Sea clutter of a kind of robust intelligence Radar Sea clutter forecast system forecasting procedure, described method may further comprise the steps:

(1) from database, gathers N Radar Sea clutter echoed signal amplitude x _iAs training sample, i=1 ..., N;

(2) training sample is carried out normalized, obtain the normalization amplitude

${\stackrel{\‾}{x}}_i=\frac{x_i-\min x}{\max x-\min x}$

Wherein, minx represents the minimum value in the training sample, and maxx represents the maximal value in the training sample;

(3), obtain input matrix X and corresponding output matrix Y respectively with the training sample reconstruct after the normalization:

$X=\left[\begin{array}{cccc}{\stackrel{\‾}{x}}_1& {\stackrel{\‾}{x}}_2& L& {\stackrel{\‾}{x}}_D\\ {\stackrel{\‾}{x}}_2& {\stackrel{\‾}{x}}_3& L& {\stackrel{\‾}{x}}_{D+1}\\ M& M& O& M\\ {\stackrel{\‾}{x}}_{N-D}& {\stackrel{\‾}{x}}_{N-D+1}& L& {\stackrel{\‾}{x}}_{N-1}\end{array}\right]$

$Y=\left[\begin{array}{c}{\stackrel{\‾}{x}}_{D+1}\\ {\stackrel{\‾}{x}}_{D+2}\\ M\\ {\stackrel{\‾}{x}}_N\end{array}\right]$

Wherein, D represents the reconstruct dimension, and D is a natural number, and D＜N, and the span of D is 50-70;

(4) with the X, the following linear equation of Y substitution that obtain:

$\left[\begin{array}{cc}0& 1_v^T\\ 1_v& K{+V}_{\mathrm{\γ}}\end{array}\right]\left[\begin{array}{c}{b}^{*}\\ {\mathrm{\α}}^{*}\end{array}\right]=\left[\begin{array}{c}0\\ Y\end{array}\right]$

Wherein $V_{\mathrm{\γ}}=\mathrm{diag}\{\frac{1}{\mathrm{\γ}{v}_1},K,\frac{1}{\mathrm{\γ}{v}_M}\}$

Weight factor v _iCalculate by following formula:

Wherein be error variance ξ _iThe estimation of standard deviation, c ₁, c ₂Be constant;

Find the solution to such an extent that treat estimation function f (x):

$f\left(x\right)=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{{\mathrm{\α}}_i}^{*}\exp (-||x-x_i||/{\mathrm{\θ}}^2)+b^{*}$

Wherein, M is the number of support vector, 1 _v=[1 ..., 1] ^T,

K=exp (‖ x _i-x _j‖/θ ²), the transposition of subscript T representing matrix, Be Lagrange multiplier, wherein, i=1 ..., M, j=1 ..., M, b ^*Be amount of bias, And exp (‖ x-x _i‖/θ ²) be the kernel function of support vector machine, x _jBe j Radar Sea clutter echoed signal amplitude, θ is a nuclear parameter, and x represents input variable, and γ is a penalty coefficient;

(5) be optimized with the nuclear parameter θ and the penalty coefficient γ of evolution genetic algorithm, adopt following process to finish step (4):

5.1) adopt real number coding method that θ and γ are encoded;

5.2) produce initial population at random;

5.3) calculate each individual fitness, and judge whether to meet the algorithm end condition, if meet, the optimum solution of output optimized individual and representative thereof, and finish to calculate, otherwise continue iteration;

5.4) adopt normal distribution probability to select individuality;

5.5) produce new individuality by the single-point linear crossing;

5.6) produce new individuality by even variation mode;

5.7) the new simple property of a body and function method is carried out the determinacy optimizing;

5.8) population of new generation that produces, return 5.3) carry out iteration;

Wherein, the initial population size is 50-200, maximum algebraically 50-300, it is 0.05-0.1 that optimized individual is selected probability, crossover probability is 0.5-0.9, the variation probability is 0.001-0.01, the extensive root-mean-square error of ideal adaptation degree preference pattern, and end condition is for reaching maximum algebraically or the five generations successively fitness is constant;

(6) gather D extra large clutter echoed signal amplitude at sampling instant t and obtain TX=[x _T-D+1, K, x _t], x _T-D+1The extra large clutter echoed signal amplitude of representing the t-D+1 sampling instant, x _tThe extra large clutter echoed signal amplitude of representing the t sampling instant;

(7) carry out normalized;

$\stackrel{\‾}{\mathrm{TX}}=\frac{\mathrm{TX}-\min x}{\max x-\min x}$

(8) the estimation function f (x) that treats that substitution step (4) obtains calculates the extra large clutter predicted value of sampling instant (t+1).

As preferred a kind of scheme: described method also comprises:

(9), by the sampling time interval image data of setting, with the measured data that obtains and model prediction value relatively, if relative error greater than 10%, then adds new data the training sample data, the renewal forecasting model.

As preferred another kind of scheme: in described step (8), the extra large clutter predicted value that calculates is shown at host computer.

Technical conceive of the present invention is: the chaotic characteristic that the present invention is directed to the Radar Sea clutter, Radar Sea clutter data are reconstructed, and the data after the reconstruct are carried out nonlinear fitting, introduce the robust intelligent method, thereby set up the robust intelligent forecasting model of Radar Sea clutter.

Beneficial effect of the present invention mainly shows: 1, set up Radar Sea clutter forecasting model, and can on-line prediction Radar Sea clutter; 2, used modeling method only needs less sample to get final product, and response speed is fast; 3, strong robustness, intelligent, height have been avoided artificial factor.

Description of drawings

Fig. 1 is the hardware structure diagram of system proposed by the invention;

Fig. 2 is the functional block diagram of host computer proposed by the invention.

Embodiment

Below in conjunction with accompanying drawing the present invention is further described.The embodiment of the invention is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.

Embodiment 1

With reference to Fig. 1, Fig. 2, a kind of robust intelligence Radar Sea clutter forecast system, comprise radar 1, database 2 and host computer 3, radar 1, database 2 and host computer 3 link to each other successively, described radar shines the detection marine site, and with Radar Sea clutter data storing to described database, described host computer 3 comprises:

Data preprocessing module 4, in order to carry out the pre-service of Radar Sea clutter data, adopt following process to finish:

1) from database, gathers N Radar Sea clutter echoed signal amplitude x _iAs training sample, i=1 ..., N;

2) training sample is carried out normalized, obtain the normalization amplitude

${\stackrel{\‾}{x}}_i=\frac{x_i-\min x}{\max x-\min x}$

Wherein, minx represents the minimum value in the training sample, and maxx represents the maximal value in the training sample;

3), obtain input matrix X and corresponding output matrix Y respectively with the training sample reconstruct after the normalization:

$X=\left[\begin{array}{cccc}{\stackrel{\‾}{x}}_1& {\stackrel{\‾}{x}}_2& L& {\stackrel{\‾}{x}}_D\\ {\stackrel{\‾}{x}}_2& {\stackrel{\‾}{x}}_3& L& {\stackrel{\‾}{x}}_{D+1}\\ M& M& O& M\\ {\stackrel{\‾}{x}}_{N-D}& {\stackrel{\‾}{x}}_{N-D+1}& L& {\stackrel{\‾}{x}}_{N-1}\end{array}\right]$

$Y=\left[\begin{array}{c}{\stackrel{\‾}{x}}_{D+1}\\ {\stackrel{\‾}{x}}_{D+2}\\ M\\ {\stackrel{\‾}{x}}_N\end{array}\right]$

Wherein, D represents the reconstruct dimension, and D is a natural number, and D＜N, and the span of D is 50-70;

Robust forecasting model MBM 5, in order to set up forecasting model, adopt following process to finish:

With X, the following linear equation of Y substitution that obtains:

$\left[\begin{array}{cc}0& 1_v^T\\ 1_v& K{+V}_{\mathrm{\γ}}\end{array}\right]\left[\begin{array}{c}{b}^{*}\\ {\mathrm{\α}}^{*}\end{array}\right]=\left[\begin{array}{c}0\\ Y\end{array}\right]$

Wherein $V_{\mathrm{\&gamma;}}=\mathrm{diag}\{\frac{1}{\mathrm{\&gamma;}{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000048707770000011.png"\; state="\{\{state\}\}">v</figure-callout>}}_1},K,\frac{1}{\mathrm{\&gamma;}{v}_M}\}$

Weight factor v _iCalculate by following formula:

Wherein be error variance ξ _iThe estimation of standard deviation, c ₁, c ₂Be constant; Find the solution to such an extent that treat estimation function f (x):

$f\left(x\right)=\underset{i=1}{\overset{M}{\mathrm{\&Sigma;}}}{{\mathrm{\&alpha;}}_i}^{*}\exp (-||x-x_i||/{\mathrm{\&theta;}}^2)+b^{*}$

Wherein, M is the number of support vector, 1 _v=[1 ..., 1] ^T,

K=exp (‖ x _i-x _j‖/θ ²), the transposition of subscript T representing matrix,

Be Lagrange multiplier, wherein, i=1 ..., M, j=1 ..., M, b ^*Be amount of bias,

And exp (‖ x-x _i‖/θ ²) be the kernel function of support vector machine, x _jBe j Radar Sea clutter echoed signal amplitude, θ is a nuclear parameter, and x represents input variable, and γ is a penalty coefficient;

Improve intelligent optimizing module 6, the nuclear parameter θ and the penalty coefficient γ of forecasting model be optimized, adopt following process to finish in order to adopt evolution genetic algorithm:

5.1) adopt real number coding method that θ and γ are encoded;

5.2) produce initial population at random;

5.3) calculate each individual fitness, and judge whether to meet the algorithm end condition, if meet, the optimum solution of output optimized individual and representative thereof, and finish to calculate, otherwise continue iteration;

5.4) adopt normal distribution probability to select individuality;

5.5) produce new individuality by the single-point linear crossing;

5.6) produce new individuality by even variation mode;

5.7) the new simple property of a body and function method is carried out the determinacy optimizing;

5.8) population of new generation that produces, return 5.3) carry out iteration;

Wherein, the initial population size is 50-200, maximum algebraically 50-300, it is 0.05-0.1 that optimized individual is selected probability, crossover probability is 0.5-0.9, the variation probability is 0.001-0.01, the extensive root-mean-square error of ideal adaptation degree preference pattern, and end condition is for reaching maximum algebraically or the five generations successively fitness is constant;

Sea clutter forecast module 7, in order to carry out extra large clutter prediction, adopt following process to finish:

1) gathers D extra large clutter echoed signal amplitude at sampling instant t and obtain TX=[x _T-D+1, K, x _t], x _T-D+1The extra large clutter echoed signal amplitude of representing the t-D+1 sampling instant, x _tThe extra large clutter echoed signal amplitude of representing the t sampling instant;

2) carry out normalized;

$\stackrel{\&OverBar;}{\mathrm{TX}}=\frac{\mathrm{TX}-\min x}{\max x-\min x}$

3) the estimation function f (x) that treats that substitution forecasting model MBM obtains obtains the extra large clutter predicted value of sampling instant (t+1);

Described host computer 3 also comprises: discrimination model update module 8, by the sampling time interval image data of setting, measured data and the model prediction value that obtains compared, if relative error is greater than 10%, then new data is added the training sample data, upgrade forecasting model.

Described host computer 3 also comprises: display module 9 as a result, are used for the predicted value that extra large clutter forecast module calculates is shown at host computer.

The hardware components of described host computer 3 comprises: the I/O element is used for the collection of data and the transmission of information; Data-carrier store, data sample that storage running is required and operational factor etc.; Program storage, storage realizes the software program of functional module; Arithmetical unit, executive routine, the function of realization appointment; Display module shows the parameter and the operation result that are provided with.

Embodiment 2

With reference to Fig. 1, Fig. 2, a kind of robust intelligence Radar Sea clutter forecasting procedure, described method may further comprise the steps:

(1) from database, gathers N Radar Sea clutter echoed signal amplitude x _iAs training sample, i=1 ..., N;

(2) training sample is carried out normalized, obtain the normalization amplitude

${\stackrel{\&OverBar;}{x}}_i=\frac{x_i-\min x}{\max x-\min x}$

Wherein, minx represents the minimum value in the training sample, and maxx represents the maximal value in the training sample;

(3), obtain input matrix X and corresponding output matrix Y respectively with the training sample reconstruct after the normalization:

$X=\left[\begin{array}{cccc}{\stackrel{\&OverBar;}{x}}_1& {\stackrel{\&OverBar;}{x}}_2& L& {\stackrel{\&OverBar;}{x}}_D\\ {\stackrel{\&OverBar;}{x}}_2& {\stackrel{\&OverBar;}{x}}_3& L& {\stackrel{\&OverBar;}{x}}_{D+1}\\ M& M& O& M\\ {\stackrel{\&OverBar;}{x}}_{N-D}& {\stackrel{\&OverBar;}{x}}_{N-D+1}& L& {\stackrel{\&OverBar;}{x}}_{N-1}\end{array}\right]$

$Y=\left[\begin{array}{c}{\stackrel{\&OverBar;}{x}}_{D+1}\\ {\stackrel{\&OverBar;}{x}}_{D+2}\\ M\\ {\stackrel{\&OverBar;}{x}}_N\end{array}\right]$

Wherein, D represents the reconstruct dimension, and D is a natural number, and D＜N, and the span of D is 50-70;

(4) with the X, the following linear equation of Y substitution that obtain:

$\left[\begin{array}{cc}0& 1_v^T\\ 1_v& K{+V}_{\mathrm{\&gamma;}}\end{array}\right]\left[\begin{array}{c}{b}^{*}\\ {\mathrm{\&alpha;}}^{*}\end{array}\right]=\left[\begin{array}{c}0\\ Y\end{array}\right]$

Wherein $V_{\mathrm{\&gamma;}}=\mathrm{diag}\{\frac{1}{\mathrm{\&gamma;}{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000048707770000011.png"\; state="\{\{state\}\}">v</figure-callout>}}_1},K,\frac{1}{\mathrm{\&gamma;}{v}_M}\}$

Weight factor v _iCalculate by following formula:

$v_i=\left\{\begin{array}{cc}1& \mathrm{if}|{\mathrm{\&xi;}}_i/\hat{s}|\&le;c_1\\ \frac{c_2-|{\mathrm{\&xi;}}_i/\hat{s}|}{c_2-{\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA0000048707770000011.png"\; state="\{\{state\}\}">c</figure-callout>}}_1}& \mathrm{if}{\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA0000048707770000011.png"\; state="\{\{state\}\}">c</figure-callout>}}_1\&le;|{\mathrm{\&xi;}}_i/\hat{s}|\&le;{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA0000048707770000011.png"\; state="\{\{state\}\}">c</figure-callout>}}_2\\ {10}^{-4}& \mathrm{otherwise}\end{array}\right.$

Wherein be error variance ξ _iThe estimation of standard deviation, c ₁, c ₂Be constant;

Find the solution to such an extent that treat estimation function f (x):

$f\left(x\right)=\underset{i=1}{\overset{M}{\mathrm{\&Sigma;}}}{{\mathrm{\&alpha;}}_i}^{*}\exp (-||x-x_i||/{\mathrm{\&theta;}}^2)+b^{*}$

Wherein, M is the number of support vector, 1 _v=[1 ..., 1] ^T,

K=exp (‖ x _i-x _j‖/θ ²), the transposition of subscript T representing matrix,

Be Lagrange multiplier, wherein, i=1 ..., M, j=1 ..., M, b ^*Be amount of bias,

And exp (‖ x-x _i‖/θ ²) be the kernel function of support vector machine, x _jBe j Radar Sea clutter echoed signal amplitude, θ is a nuclear parameter, and x represents input variable, and γ is a penalty coefficient;

(5) be optimized with the nuclear parameter θ and the penalty coefficient γ of evolution genetic algorithm, adopt following process to finish step (4):

5.1) adopt real number coding method that θ and γ are encoded;

5.2) produce initial population at random;

5.3) calculate each individual fitness, and judge whether to meet the algorithm end condition, if meet, the optimum solution of output optimized individual and representative thereof, and finish to calculate, otherwise continue iteration;

5.4) adopt normal distribution probability to select individuality;

5.5) produce new individuality by the single-point linear crossing;

5.6) produce new individuality by even variation mode;

5.7) the new simple property of a body and function method is carried out the determinacy optimizing;

5.8) population of new generation that produces, return 5.3) carry out iteration;

Wherein, the initial population size is 50-200, maximum algebraically 50-300, it is 0.05-0.1 that optimized individual is selected probability, crossover probability is 0.5-0.9, the variation probability is 0.001-0.01, the extensive root-mean-square error of ideal adaptation degree preference pattern, and end condition is for reaching maximum algebraically or the five generations successively fitness is constant;

(6) gather D extra large clutter echoed signal amplitude at sampling instant t and obtain TX=[x _T-D+1, K, x _t], x _T-D+1The extra large clutter echoed signal amplitude of representing the t-D+1 sampling instant, x _tThe extra large clutter echoed signal amplitude of representing the t sampling instant;

(7) carry out normalized;

$\stackrel{\&OverBar;}{\mathrm{TX}}=\frac{\mathrm{TX}-\min x}{\max x-\min x}$

(8) the estimation function f (x) that treats that substitution step (4) obtains calculates the extra large clutter predicted value of sampling instant (t+1).

Described method also comprises: (9), by the sampling time interval image data of setting, with the measured data that obtains and model prediction value relatively, if relative error greater than 10%, then adds new data the training sample data, the renewal forecasting model.

Described method also comprises: the extra large clutter predicted value that will calculate in described step (8) shows at host computer.

Claims (6)

1. robust intelligence Radar Sea clutter forecast system, comprise radar, database and host computer, radar, database and host computer link to each other successively, it is characterized in that: described radar shines the detection marine site, and with Radar Sea clutter data storing to described database, described host computer comprises:

Data preprocessing module, in order to carry out the pre-service of Radar Sea clutter data, adopt following process to finish:

1) from database, gathers N Radar Sea clutter echoed signal amplitude x _iAs training sample, i=1 ..., N;

2) training sample is carried out normalized, obtain the normalization amplitude

${\stackrel{\&OverBar;}{x}}_i=\frac{x_i-\min x}{\max x-\min x}$

Wherein, minx represents the minimum value in the training sample, and maxx represents the maximal value in the training sample;

3), obtain input matrix X and corresponding output matrix Y respectively with the training sample reconstruct after the normalization:

$X=\left[\begin{array}{cccc}{\stackrel{\&OverBar;}{x}}_1& {\stackrel{\&OverBar;}{x}}_2& L& {\stackrel{\&OverBar;}{x}}_D\\ {\stackrel{\&OverBar;}{x}}_2& {\stackrel{\&OverBar;}{x}}_3& L& {\stackrel{\&OverBar;}{x}}_{D+1}\\ M& M& O& M\\ {\stackrel{\&OverBar;}{x}}_{N-D}& {\stackrel{\&OverBar;}{x}}_{N-D+1}& L& {\stackrel{\&OverBar;}{x}}_{N-1}\end{array}\right]$

$Y=\left[\begin{array}{c}{\stackrel{\&OverBar;}{x}}_{D+1}\\ {\stackrel{\&OverBar;}{x}}_{D+2}\\ M\\ {\stackrel{\&OverBar;}{x}}_N\end{array}\right]$

Wherein, D represents the reconstruct dimension, and D is a natural number, and D＜N, and the span of D is 50-70;

Robust forecasting model MBM, in order to set up forecasting model, adopt following process to finish:

With X, the following linear equation of Y substitution that obtains:

$\left[\begin{array}{cc}0& 1_v^T\\ 1_v& K{+V}_{\mathrm{\&gamma;}}\end{array}\right]\left[\begin{array}{c}{b}^{*}\\ {\mathrm{\&alpha;}}^{*}\end{array}\right]=\left[\begin{array}{c}0\\ Y\end{array}\right]$

Wherein $V_{\mathrm{\&gamma;}}=\mathrm{diag}\{\frac{1}{\mathrm{\&gamma;}{v}_1},K,\frac{1}{\mathrm{\&gamma;}{v}_M}\}$

Weight factor v _iCalculate by following formula:

Wherein be error variance ξ _iThe estimation of standard deviation, c ₁, c ₂Be constant;

Find the solution to such an extent that treat estimation function f (x):

$f\left(x\right)=\underset{i=1}{\overset{M}{\mathrm{\&Sigma;}}}{{\mathrm{\&alpha;}}_i}^{*}\exp (-||x-x_i||/{\mathrm{\&theta;}}^2)+b^{*}$

Wherein, M is the number of support vector, 1 _v=[1 ..., 1] ^T,

K=exp (‖ x _i-x _j‖/θ ²), the transposition of subscript T representing matrix,

Be Lagrange multiplier, wherein, i=1 ..., M, j=1 ..., M, b ^*Be amount of bias,

And exp (‖ x-x _i‖/θ ²) be the kernel function of support vector machine, x _jBe j Radar Sea clutter echoed signal amplitude, θ is a nuclear parameter, and x represents input variable, and γ is a penalty coefficient;

Improve intelligent optimizing module, the nuclear parameter θ and the penalty coefficient γ of forecasting model be optimized, adopt following process to finish in order to adopt evolution genetic algorithm:

5.1) adopt real number coding method that θ and γ are encoded;

5.2) produce initial population at random;

5.3) calculate each individual fitness, and judge whether to meet the algorithm end condition, if meet, the optimum solution of output optimized individual and representative thereof, and finish to calculate, otherwise continue iteration;

5.4) adopt normal distribution probability to select individuality;

5.5) produce new individuality by the single-point linear crossing;

5.6) produce new individuality by even variation mode;

5.7) the new simple property of a body and function method is carried out the determinacy optimizing;

5.8) population of new generation that produces, return 5.3) carry out iteration;

Wherein, the initial population size is 50-200, maximum algebraically 50-300, it is 0.05-0.1 that optimized individual is selected probability, crossover probability is 0.5-0.9, the variation probability is 0.001-0.01, the extensive root-mean-square error of ideal adaptation degree preference pattern, and end condition is for reaching maximum algebraically or the five generations successively fitness is constant;

Sea clutter forecast module, in order to carry out extra large clutter prediction, adopt following process to finish:

1) gathers D extra large clutter echoed signal amplitude at sampling instant t and obtain TX=[x _T-D+1, K, x _t], x _T-D+1The extra large clutter echoed signal amplitude of representing the t-D+1 sampling instant, x _tThe extra large clutter echoed signal amplitude of representing the t sampling instant;

2) carry out normalized;

$\stackrel{\&OverBar;}{\mathrm{TX}}=\frac{\mathrm{TX}-\min x}{\max x-\min x}$

3) the estimation function f (x) that treats that substitution forecasting model MBM obtains calculates the extra large clutter predicted value of sampling instant (t+1).

2. robust intelligence Radar Sea clutter forecast system as claimed in claim 1, it is characterized in that: described host computer also comprises: the discrimination model update module, in order to sampling time interval image data by setting, the measured data and the model prediction value that obtain are compared, if relative error is greater than 10%, then new data is added the training sample data, upgrade forecasting model.

3. robust as claimed in claim 1 or 2 intelligence Radar Sea clutter forecast system, it is characterized in that: described host computer also comprises: display module as a result shows at host computer in order to the predicted value that extra large clutter forecast module is calculated.

4. the employed Radar Sea clutter of robust as claimed in claim 1 intelligence Radar Sea clutter forecast system forecasting procedure, it is characterized in that: described method may further comprise the steps:

(1) from database, gathers N Radar Sea clutter echoed signal amplitude x _iAs training sample, i=1 ..., N;

(2) training sample is carried out normalized, obtain the normalization amplitude

${\stackrel{\&OverBar;}{x}}_i=\frac{x_i-\min x}{\max x-\min x}$

Wherein, minx represents the minimum value in the training sample, and maxx represents the maximal value in the training sample;

(3), obtain input matrix X and corresponding output matrix Y respectively with the training sample reconstruct after the normalization:

$X=\left[\begin{array}{cccc}{\stackrel{\&OverBar;}{x}}_1& {\stackrel{\&OverBar;}{x}}_2& L& {\stackrel{\&OverBar;}{x}}_D\\ {\stackrel{\&OverBar;}{x}}_2& {\stackrel{\&OverBar;}{x}}_3& L& {\stackrel{\&OverBar;}{x}}_{D+1}\\ M& M& O& M\\ {\stackrel{\&OverBar;}{x}}_{N-D}& {\stackrel{\&OverBar;}{x}}_{N-D+1}& L& {\stackrel{\&OverBar;}{x}}_{N-1}\end{array}\right]$

$Y=\left[\begin{array}{c}{\stackrel{\&OverBar;}{x}}_{D+1}\\ {\stackrel{\&OverBar;}{x}}_{D+2}\\ M\\ {\stackrel{\&OverBar;}{x}}_N\end{array}\right]$

Wherein, D represents the reconstruct dimension, and D is a natural number, and D＜N, and the span of D is 50-70;

(4) with the X, the following linear equation of Y substitution that obtain:

$\left[\begin{array}{cc}0& 1_v^T\\ 1_v& K{+V}_{\mathrm{\&gamma;}}\end{array}\right]\left[\begin{array}{c}{b}^{*}\\ {\mathrm{\&alpha;}}^{*}\end{array}\right]=\left[\begin{array}{c}0\\ Y\end{array}\right]$

Wherein $V_{\mathrm{\&gamma;}}=\mathrm{diag}\{\frac{1}{\mathrm{\&gamma;}{v}_1},K,\frac{1}{\mathrm{\&gamma;}{v}_M}\}$

Weight factor v _iCalculate by following formula:

$v_i=\left\{\begin{array}{cc}1& \mathrm{if}|{\mathrm{\&xi;}}_i/\hat{s}|\&le;c_1\\ \frac{c_2-|{\mathrm{\&xi;}}_i/\hat{s}|}{c_2-c_1}& \mathrm{if}{c}_1\&le;|{\mathrm{\&xi;}}_i/\hat{s}|\&le;c_2\\ {10}^{-4}& \mathrm{otherwise}\end{array}\right.$

Wherein be error variance ξ _iThe estimation of standard deviation, c ₁, c ₂Be constant;

Find the solution to such an extent that treat estimation function f (x):

$f\left(x\right)=\underset{i=1}{\overset{M}{\mathrm{\&Sigma;}}}{{\mathrm{\&alpha;}}_i}^{*}\exp (-||x-x_i||/{\mathrm{\&theta;}}^2)+b^{*}$

Wherein, M is the number of support vector, 1 _v=[1 ..., 1] ^T,

K=exp (‖ x _i-x _j‖/θ ²), the transposition of subscript T representing matrix,

Be Lagrange multiplier, wherein, i=1 ..., M, j=1 ..., M, b ^*Be amount of bias,

And exp (‖ x-x _i‖/θ ²) be the kernel function of support vector machine, x _jBe j Radar Sea clutter echoed signal amplitude, θ is a nuclear parameter, and x represents input variable, and γ is a penalty coefficient;

(5) be optimized with the nuclear parameter θ and the penalty coefficient γ of evolution genetic algorithm, adopt following process to finish step (4):

5.1) adopt real number coding method that θ and γ are encoded;

5.2) produce initial population at random;

5.3) calculate each individual fitness, and judge whether to meet the algorithm end condition, if meet, the optimum solution of output optimized individual and representative thereof, and finish to calculate, otherwise continue iteration;

5.4) adopt normal distribution probability to select individuality;

5.5) produce new individuality by the single-point linear crossing;

5.6) produce new individuality by even variation mode;

5.7) the new simple property of a body and function method is carried out the determinacy optimizing;

5.8) population of new generation that produces, return 5.3) carry out iteration;

Wherein, the initial population size is 50-200, maximum algebraically 50-300, it is 0.05-0.1 that optimized individual is selected probability, crossover probability is 0.5-0.9, the variation probability is 0.001-0.01, the extensive root-mean-square error of ideal adaptation degree preference pattern, and end condition is for reaching maximum algebraically or the five generations successively fitness is constant;

(6) gather D extra large clutter echoed signal amplitude at sampling instant t and obtain TX=[x _T-D+1, K, x _t], x _T-D+1The extra large clutter echoed signal amplitude of representing the t-D+1 sampling instant, x _tThe extra large clutter echoed signal amplitude of representing the t sampling instant;

(7) carry out normalized;

$\stackrel{\&OverBar;}{\mathrm{TX}}=\frac{\mathrm{TX}-\min x}{\max x-\min x}$

(8) the estimation function f (x) that treats that substitution step (4) obtains calculates the extra large clutter predicted value of sampling instant (t+1).

5. Radar Sea clutter forecasting procedure as claimed in claim 4, it is characterized in that: described method also comprises:

(9), by the sampling time interval image data of setting, with the measured data that obtains and model prediction value relatively, if relative error greater than 10%, then adds new data the training sample data, the renewal forecasting model.

6. as claim 4 or 5 described Radar Sea clutter forecasting procedures, it is characterized in that: in described step (8), the extra large clutter predicted value that calculates is shown at host computer.

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