CN102288944B - Super-resolution height measuring method based on topographic matching for digital array meter wave radar - Google Patents
Super-resolution height measuring method based on topographic matching for digital array meter wave radar Download PDFInfo
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Abstract
The invention discloses a super-resolution height measuring method based on topographic matching for a digital array meter wave radar, which is mainly used for solving the problem of high height measuring error of a fluctuating position in the prior art. The method comprises the following implementation steps of: performing clutter cancellation and interference cancellation processing on a targetsignal received by the radar to obtain a cancelled target signal; roughly measuring a target elevation angle by using a beam forming method; determining a maximum likelihood search range according tothe roughly-measured elevation angle and searching in the search range; computing a ground reflection point coordinate corresponding to each array element and a direct wave path and a reflection wavepath of each target relative to each array element according to a search elevation angle; computing a corresponding direct steering vector and a multipath steering vector by using the direct wave path and the reflection wave path; constructing a synthetic steering vector and computing a projection matrix of the synthetic steering vector; and performing maximum likelihood estimation to obtain a target accurate elevation angle. In the method, an altitude parameter of a radar position and the synthetic steering vector are introduced into super-resolution height measurement, so that the measuringaccuracy is increased; and the method can be applied to target tracking.
Description
Technical field
The invention belongs to the Radar Signal Processing technical field, relate to metre wave radar and survey height, specifically at the digital array metre wave radar, propose a kind of super-resolution based on terrain match and survey high method, can be used for target following.
Background technology
According to generation type and the scan mode of elevation beam, three-dimensional 3D radar can be divided into stacked beam radar, frequency scanning radar, phase-scan radar and digital beam and form radar.
Stacked beam radar gets up the received beam stacked vertically on the elevation angle that forms simultaneously, and mechanical scanning on the orientation, to realize the measurement of ferret out and target three-dimensional.For example, the continental rise S-band three-dimensional AN/TPS-43 radar of the U.S. is with the elevation coverage of 20 ° of 6 elevation beams coverings.L-band three-dimensional S713Martello radar is piled up wave beam with 8 and is covered 20 ° elevation coverage.
Frescanar produces different phase place variable gradients by the variation of controlled frequency at the bore face, thereby makes the required elevation angle of beam position by automatically controlled method, for example, and the carrier-borne three-dimensional AN/SPS-39 of S-band, AN/SPS-48 radar.
Phased-array 3-D radar adopts phase shifter in elevation angle scanning or the scanning of control form of a stroke or a combination of strokes narrow beam.The long-range three-dimensional AN/TPS-59 tactical maneuver of L-band radar for example.
As seen, three-dimensional radar mainly is to be operated in microwave regions such as S-band and L-band at present.And at the metric wave wave band, wave beam is wideer, and wave beam causes the lobe division because of ground, sea surface reflection.Therefore, the metre wave radar in past is two coordinate radars, and two coordinate radars can not satisfy the requirement of modern war.
Radar circle generally believes that metre wave radar has anti-stealthy ability both at home and abroad.But metre wave radar is because being subjected to, and wavelength is long, the restriction of the high factor such as limited of antenna size and frame, antenna beamwidth is wide, angular resolution is low, the more important thing is because of namely so-called " multipath " problem in ground, sea surface reflection makes it be difficult to detecting low-altitude objective, and under multi-path environment, be difficult to survey high, so the high problem of the survey of metre wave radar is the radar circle difficult problem of fine solution not as yet always.
Survey a high difficult problem for solving metric wave preferably, topmost technological approaches is to increase antenna in the aperture of height dimension, to reduce the beam angle of antenna vertical plane.And for low target, even increase antenna in the aperture of height dimension, because avoiding " multipath " problem, it solves the high problem of survey and mainly contains three types of technology:
(1) pass through the wave beam method, single-frequency lobe disintegrating method just, height is estimated in the variation of echo amplitude when utilizing target to pass through wave beam.This method requires the long time, can only estimate height and can not survey height.
(2) multifrequency lobe division altimetry.Utilize a plurality of frequency of operation time-division work, but require the bandwidth of operation of a plurality of frequencies wideer.This method is feasible in theory, but real system is complicated, does not also have this utility system at present.
(3) survey high method based on the metre wave radar of lobe division.Utilize the phase relation of different antennae division lobe, determine interval, the elevation angle, target place, carry out to received signal handling than the width of cloth and extract the normalization error signal, obtain the height of target at last according to normalization error signal and elevation angle section scale-checking.Chen Baixiao etc. have introduced " metre wave radar based on the lobe division is surveyed high method " in 2006 in " electronic letters, vol " and radar annual meeting.This is a kind ofly only to need the low elevation angle of the metre wave radar of 3 antennas to survey high method in vertical dimension.This method only is suitable for smooth position, the flatness in position is had relatively high expectations, and altimetry precision can only reach 1% of distance, is difficult to satisfy the higher actual request for utilization of some precision.
(4) the array super-resolution is handled and is surveyed height.Super resolution technology in the Array Signal Processing is applied to differentiate direct wave signal and multipath signal.Because direct wave signal and multipath signal are concerned with, so this class algorithm mainly is the super-resolution algorithm of estimating coherent source direction of arrival DOA, method solutions such as the level and smooth and Topelitz conversion of elder generation's usage space are concerned with, and utilize signal subspace, noise subspace and submatrix rotational invariance to wait angle measurement then.For example, the paper " the wave beam territory ML metre wave radar of array interpolation is surveyed high method " that people such as the paper that people such as Zhao Guanghui delivered at " electronics and information journal " in February, 2009 " based on the low elevation angle of the pretreated metre wave radar of difference Processing Algorithm " and Hu Tiejun delivered at " electric wave science journal " in August, 2009, and Hu Xiaoqin equals the paper " metre wave radar is surveyed high multipath model investigation " delivered at " electric wave science journal " in August, 2008, proposed to consider the metre wave radar array signal unified model of multipath delay difference.This method is based on smooth position model, has bottleneck simultaneously, and that both differentiated relevant exactly, and the locus is near target again.
The high method of above-mentioned several survey all only is applicable to smooth position model, and namely the direct wave of each antenna reception and the wave path-difference of ground-reflected wave satisfy linear approximate relationship.But for complicated radar site, the big rise and fall of the ground launching site of large-scale each antenna of array, the through multipath wave path-difference of each antenna does not satisfy linear approximate relationship, and therefore under the model of complicated position, the high method angle error of existing various surveys is bigger, and is no longer suitable.
Summary of the invention
The objective of the invention is to overcome the deficiency of above-mentioned prior art, propose a kind of super-resolution based on terrain match and survey high method, eliminate nonlinear through multipath wave path-difference to the influence of angle measurement, improve angle measurement accuracy under the model of complicated position and the position adaptive faculty of radar.
For achieving the above object, the present invention is by two dimension coordinates of each array element ground return point, calculate direct wave wave-path and the ground-reflected wave wave-path of different array elements, recycling direct wave wave-path and the synthetic steering vector of reflection wave wave-path structure carry out super-resolution to be handled, and concrete steps comprise as follows:
(1) from radar return, extracts echo signal, and this echo signal is carried out clutter the slake interference cancellation is handled, obtain offseting the back echo signal;
(2) use the wave beam forming method to carry out elevation angle bigness scale to offseting the back echo signal, obtain the bigness scale elevation angle of echo signal
(3) according to the bigness scale elevation angle of echo signal
Determine the hunting zone of maximum likelihood, when
Less than ψ/2 o'clock, the hunting zone is 0~ψ, otherwise the hunting zone is
Wherein ψ represents half-power beam width;
(4) search in the hunting zone that step (3) is determined, according to the search elevation angle, determine the ground return point coordinate of each array element correspondence:
(4a) with ground, echo area height above sea level according to 1 meter at interval layering, according to the search elevation angle, calculate the reflection spot of array element on each layer;
(4b) search the radar site height above sea level figure nearest reflection spot in both sides up and down, be designated as a and b;
(4c) a point and b point vertical projection are arrived radar site height above sea level figure, obtain subpoint c and d, utilize the position elevation data between c point and the d point to do the curve match, obtain curve cd;
(4d) with the intersection point of straight line ab and curve cd as the reflection spot of array element on rolling ground;
(5) according to the ground reflection spot, calculate target direct wave wave-path and the reflection wave wave-path of each array element relatively;
(6) utilize direct wave wave-path and reflection wave wave-path, calculate corresponding through steering vector and multipath steering vector;
(7) use through steering vector and multipath steering vector to calculate synthetic steering vector A
s:
A
s=A
d+A
i,
Wherein: A
dBe through steering vector, A
iBe the multipath steering vector;
(8) calculate synthetic steering vector A
sProjection matrix;
(9) carry out maximal possibility estimation according to projection matrix and the covariance matrix that offsets the back echo signal, obtain the accurate elevation angle of target.
The present invention compared with prior art has following advantage:
(1) the present invention carries out angle measurement by synthetic steering vector and handles, thereby eliminated nonlinear through multipath wave path-difference to the influence of angle measurement owing to use the direct wave wave-path and the synthetic steering vector of reflection wave wave-path structure, has improved angle measurement accuracy;
(2) the present invention introduces radar site height above sea level parameter in the angle measurement algorithm owing to used radar site height above sea level figure, thereby has improved the position adaptive faculty of radar;
(3) therefore the present invention has simplified the computation process of each array element launching site on the rolling ground owing to adopt echo area height above sea level layering and curve fitting method to calculate reflection spot, has reduced algorithm operation quantity.
Description of drawings
Fig. 1 is process flow diagram of the present invention;
Fig. 2 is that radar receives signal model figure among the present invention;
Fig. 3 is that ground return point calculates synoptic diagram among the present invention;
Fig. 4 is the radar site height above sea level figure that emulation of the present invention is used;
Fig. 5 is with each array element direct wave of the present invention's emulation under the model of desirable position and the wave path-difference figure of ground-reflected wave;
Fig. 6 is with each array element direct wave of the present invention's emulation under Fig. 4 model and the wave path-difference figure of ground-reflected wave;
Fig. 7 is the angle measurement accuracy analogous diagram that under Fig. 4 model high elevation angle target is changed with signal to noise ratio (S/N ratio) with distinct methods;
Fig. 8 is the angle measurement accuracy analogous diagram that under Fig. 4 model low elevation angle target is changed with signal to noise ratio (S/N ratio) with distinct methods;
Fig. 9 is the result figure at measured data.
Embodiment
Describe content of the present invention and effect in detail below in conjunction with accompanying drawing.
With reference to Fig. 1, the present invention includes following steps:
Step 1: the echo signal that radar receives is carried out clutter to the processing of slake interference cancellation, obtain offseting the back echo signal.
The model of radar receiving target signal as shown in Figure 2 among the present invention.The narrow band signal in a far field incides the even linear array that M array element is formed among Fig. 2, and the pitch angle of antenna is θ
a, the frame height is h
A0, array element is spaced apart d, is true origin with the subpoint of first antenna on the sea level, and the D point is the ground subpoint of m array element, and the E point is the ground subpoint of target, a
eBe equivalent earth's radius, R
tBe target range, θ is the search elevation angle, and the C point is the earth's core, and the A point is m array element, and A point horizontal coordinate and vertical coordinate are respectively h
Ax(m) and h
Ay(m), the T point is target, and T point horizontal coordinate and vertical coordinate are respectively h
TxAnd h
Ty, the horizontal range that G (m) expression D point and E are ordered, wherein:
h
ax(m)=-d(m-1)cosθ
a,m=1,2L,M
h
ay(m)=h
a0+d(m-1)sinθ
a,m=1,2L,M
G(m)=h
tx-h
ax(m);
The B point is the ground return point of corresponding m the array element of target, and B point horizontal coordinate and vertical coordinate are respectively h
Bx(m) and h
By(m), the target direct wave of m array element and the wave-path of ground-reflected wave are respectively R
d(m) and R
i(m), R
i(m)=R
1(m)+R
2(m), R
1(m) and R
2(m) be respectively the distance that distance that B point and A order and B point and T are ordered.
From Fig. 2 signal model, obtain the echo signal x (m) that m array element receives
x(m)=x
d(m)+x
i(m)+c(m)+g(m)+n(m),m=1,2L,M
Wherein: x
d(m) be target direct wave signal,
x
i(m) be the target reflection wave signal,
C (m) is noise signal, and g (m) is undesired signal, and n (m) is for average is zero, variance is σ
2White Gaussian noise, s is the radar emission signal, к is wave number, Γ is ground reflection coefficent.
X (m) is offseted clutter and interference by auto adapted filtering, obtain offseting the back echo signal
To offset the back echo signal is expressed as with vector X:
Wherein: subscript T represents transposition.
Step 2: use the wave beam forming method to carry out elevation angle bigness scale to offseting the back echo signal, obtain the bigness scale elevation angle of echo signal
Wherein: arg max is for seeking the parameter with maximum scores, and abs is for asking modular arithmetic,
к represents wave number, and M represents element number of array, and R is the covariance matrix that offsets the back signal, R=XX
H, subscript T represents transposition, and subscript H represents conjugate transpose, and X is for offseting back echo signal vector.
Step 3: according to the bigness scale elevation angle of echo signal
Determine the hunting zone of maximum likelihood, when
Less than ψ/2 o'clock, the hunting zone is 0~ψ, otherwise the hunting zone is
Wherein ψ represents half-power beam width.
Step 4: search in the hunting zone that step (3) is determined, according to the search elevation angle, determine the ground return point coordinate of each array element correspondence.
Because reflection spot is positioned on the height above sea level figure of position, and position height above sea level figure is difficult to use mathematic(al) representation to be represented, so the reflection spot coordinate is difficult for directly finding the solution, and uses the mode of height above sea level layering and curve match to find the solution at this, and its solution procedure comprises as follows with reference to Fig. 3:
(4a) with ground, echo area height above sea level according to 1 meter at interval layering, according to the search elevation angle, calculate the reflection spot horizontal coordinate h of array element on each layer
x(m is n) with vertical coordinate h
y(m, n), transverse axis is represented and the horizontal range of radar site among Fig. 3, the longitudinal axis is represented sea level elevation, shadow representation radar site height above sea level, horizontal dotted line is represented the height above sea level layering, the reflection spot of+expression array element on each layer:
h
y(m,n)=n-1,m=1,2,L,M,n=1,2,L,N
Wherein: m represents m array element, and M represents element number of array, and n represents the n layer of echo area height above sea level layering, and N is that ground, echo area height above sea level rises and falls highly h
x(m, n) and h
y(m n) is respectively m array element at horizontal coordinate and the vertical coordinate of n layer reflection spot, and G (m) is the ground level distance of target and m array element, h
Ax(m) be the horizontal coordinate of m array element, p is temporary variable,
ξ is temporary variable,
a
eBe equivalent earth's radius, h
Ay(m) be the vertical coordinate of m array element, h
TyVertical coordinate for target;
(4b) search the radar site height above sea level figure nearest reflection spot in both sides up and down, be designated as a and b;
(4c) a point and b point vertical projection are arrived radar site height above sea level figure, obtain subpoint c and d, perpendicular dotted line is represented vertical projection among Fig. 3, utilizes the position elevation data between c point and the d point to do the curve match, obtains curve cd;
(4d) with the intersection point of straight line ab and curve cd as the reflection spot of array element on rolling ground.
Step 5: according to the ground reflection spot, calculate target to the direct wave wave-path R of each array element by following triangle formula
d(m) and reflection wave wave-path R
i(m):
R
i(m)=R
1(m)+R
2(m),m=1,2,L,M
Wherein: m represents m array element, and M represents element number of array, R
d(m) be the direct wave wave-path of target to a m array element, h
Ay(m) be the vertical coordinate of m array element, a
eBe equivalent earth's radius, h
TyBe the vertical coordinate of target, G (m) is the ground level distance of target and m array element, R
i(m) be the reflection wave wave-path of target to a m array element, R
1(m) be the distance of m array element and m array element corresponding ground reflection spot, R
2(m) be the distance of target and m array element corresponding ground reflection spot,
h
Bx(m) and h
By(m) be respectively horizontal coordinate and the vertical coordinate of m array element corresponding ground reflection spot, h
Ax(m) be the horizontal coordinate of m array element.
Step 6: utilize direct wave wave-path R
d(m) and reflection wave wave-path R
i(m), calculate corresponding through steering vector A
d(θ) with multipath steering vector A
i(θ):
A
d(θ)=[a
d(1),a
d(2),L,a
d(M)]
T
A
i(θ)=[a
i(1),a
i(2),L,a
i(M)]
T
Wherein:
M=1,2, L, M, m represent m array element, and M represents element number of array, and к represents wave number, and Γ is ground reflection coefficent, subscript T represents transposition.
Step 7: use through steering vector A
d(θ) with multipath steering vector A
i(θ) calculate synthetic steering vector A
s(θ):
A
s(θ)=A
d(θ)+A
i(θ)
Wherein: θ is the search elevation angle.
Step 8: use synthetic steering vector A
s(θ) calculate the projection matrix P (θ) that synthesizes steering vector:
Wherein: θ is the search elevation angle, and subscript H represents conjugate transpose, and subscript-1 representing matrix is inverted.
Step 9: carry out maximal possibility estimation according to projection matrix and the covariance matrix that offsets the back echo signal, obtain the accurate elevation angle of target:
Wherein: θ is the accurate elevation angle of target, and arg max is for seeking the parameter with maximum scores, and tr is that matrix is asked mark, and P (θ) is projection matrix, and R is the covariance matrix that offsets the back signal.
Effect of the present invention can further specify by following simulation result and measured data result.
1. simulated environment and condition
Simulated environment is used radar site height above sea level figure shown in Figure 4.Transverse axis represents and the horizontal range of radar site that the longitudinal axis is represented sea level elevation, shadow representation radar site height above sea level.The level of radar site is rugged topography with in for 450 meters, and level is the sea level for 450 meters in addition.
Simulated conditions is following radar parameter: antenna holder is high 6 meters, 6 ° at inclination angle, and element number of array 22, array element is spaced apart half-wavelength, fast umber of beats 10.
2. emulation content
Emulation 3 is carried out angle measurement accuracy emulation to high elevation angle target respectively with existing beamforming algorithm, front-rear space smooth MUSIC algorithm and the present invention under Fig. 4 model, simulation result as shown in Figure 7.Wherein transverse axis is represented signal to noise ratio (S/N ratio) variation from-5 decibels to 15 decibels, and the longitudinal axis is represented angle error.The target component that emulation is chosen: target elevation 4 degree, target and distance by radar 50 kms, Monte Carlo experiment number of times 100 times.DBF represents the angle error of beamforming algorithm when signal to noise ratio (S/N ratio) changes according to transverse axis among Fig. 7, SSMUSIC represents the angle error of front-rear space smooth MUSIC algorithm when signal to noise ratio (S/N ratio) changes according to transverse axis, and GSVML represents the angle error of the present invention when signal to noise ratio (S/N ratio) changes according to transverse axis.As can be drawn from Figure 7, bigger than normal to the existing beamforming algorithm of high elevation angle target, front-rear space smooth MUSIC algorithm angle error, and angle error minimum of the present invention.
3. to the angle measurement result of certain surveillance radar measured data
This surveillance radar sets up position height above sea level figure shown in Fig. 9 (a), wherein transverse axis is represented and the horizontal range of radar site, and the longitudinal axis is represented sea level elevation, and solid line is represented radar site height above sea level, level 6 kms of radar site are rugged topography with in, are the sea level beyond level 6 kms.
With existing beamforming algorithm, front-rear space smooth MUSIC algorithm and the present invention this surveillance radar measured data being carried out angle measurement handles, the angle measurement result is shown in Fig. 9 (b), wherein transverse axis is represented the distance in target and position, the angle error the when longitudinal axis represents that distance changes with transverse axis.DBF represents the angle error of beamforming algorithm among Fig. 9 (b), and SSMUSIC represents the angle error of front-rear space smooth MUSIC algorithm, and GSVML represents angle error of the present invention.Can draw from Fig. 9 (b), existing beamforming algorithm, front-rear space smooth MUSIC algorithm angle error are bigger than normal, and angle error minimum of the present invention.
Claims (6)
1. the digital array metre wave radar super-resolution based on terrain match is surveyed high method, may further comprise the steps:
(1) from radar return, extracts echo signal, and this echo signal is carried out clutter the slake interference cancellation is handled, obtain offseting the back echo signal;
(2) use the wave beam forming method to carry out elevation angle bigness scale to offseting the back echo signal, obtain the bigness scale elevation angle of echo signal
(3) according to the bigness scale elevation angle of echo signal
Determine the hunting zone of maximum likelihood, when
Less than ψ/2 o'clock, the hunting zone is 0~ψ, otherwise the hunting zone is
Wherein ψ represents half-power beam width;
(4) search in the hunting zone that step (3) is determined, according to the search elevation angle, determine the ground return point coordinate of each array element correspondence:
(4a) with ground, echo area height above sea level according to 1 meter at interval layering, according to the search elevation angle, calculate the reflection spot of array element on each layer, be to be undertaken by following formula:
h
y(m,n)=n-1,m=1,2,...,M,n=1,2,...,N
Wherein: m represents m array element, and M represents element number of array, and n represents the n layer of echo area height above sea level layering, and N is that ground, echo area height above sea level rises and falls highly h
x(m, n) and h
y(m n) is respectively m array element at horizontal coordinate and the vertical coordinate of n layer reflection spot, and G (m) is the horizontal range of target and m array element, G (m)=h
Tx-h
Ax(m), p is temporary variable,
ξ is temporary variable,
h
Ax(m) be the horizontal coordinate of m array element, h
TxBe the horizontal coordinate of target,
a
eBe equivalent earth's radius, h
Ay(m) be the vertical coordinate of m array element, h
TyBe the vertical coordinate of target,
(4b) search the radar site height above sea level figure nearest reflection spot in both sides up and down, be designated as a and b;
(4c) a point and b point vertical projection are arrived radar site height above sea level figure, obtain subpoint c and d, utilize the position elevation data between c point and the d point to do the curve match, obtain curve cd;
(4d) with the intersection point of straight line ab and curve cd as the reflection spot of array element on rolling ground;
(5) according to the ground reflection spot, calculate target direct wave wave-path and the reflection wave wave-path of each array element relatively;
(6) utilize direct wave wave-path and reflection wave wave-path, calculate corresponding through steering vector and multipath steering vector;
(7) use through steering vector and multipath steering vector to calculate synthetic steering vector A
s:
A
s=A
d+A
i,
Wherein: A
dBe through steering vector, A
iBe the multipath steering vector;
(8) calculate synthetic steering vector A
sProjection matrix;
(9) carry out maximal possibility estimation according to projection matrix and the covariance matrix that offsets the back echo signal, obtain the accurate elevation angle of target.
2. metre wave radar super-resolution according to claim 1 is surveyed high method, and wherein the described use wave beam of step (2) forming method carries out elevation angle bigness scale to offseting the back echo signal, is to be undertaken by following formula:
Wherein:
Be the target bigness scale elevation angle, arg max is for seeking the parameter with maximum scores, and abs is for asking modular arithmetic,
κ represents wave number, and M represents element number of array, and subscript T represents transposition, and subscript H represents conjugate transpose, and R is the covariance matrix that offsets the back signal.
3. metre wave radar super-resolution according to claim 1 is surveyed high method, and relatively direct wave wave-path and the reflection wave wave-path of each array element of the described calculating target of step (5) wherein is to be undertaken by following triangle formula:
R
i(m)=R
1(m)+R
2(m),m=1,2,...,M
Wherein: m represents m array element, and M represents element number of array, R
d(m) be the direct wave wave-path of m array element, h
Ay(m) be the vertical coordinate of m array element, a
eBe equivalent earth's radius, h
TyBe the vertical coordinate of target, G (m) is the horizontal range of target and m array element, R
i(m) be the reflection wave wave-path of m array element, R
1(m) be the distance of m array element and m array element corresponding ground reflection spot, R
2(m) be the distance of target and m array element corresponding ground reflection spot,
4. metre wave radar super-resolution according to claim 1 is surveyed high method, and the described calculating of step (6) through steering vector and multipath steering vector accordingly wherein is to be undertaken by following formula:
A
d(θ)=[a
d(1),a
d(2),...,a
d(M)]
T
A
i(θ)=[a
i(1),a
i(2),...,a
i(M)]
T
Wherein: A
d(θ) be through steering vector, A
i(θ) be the multipath steering vector, θ is the search elevation angle,
5. metre wave radar super-resolution according to claim 2 is surveyed high method, and the described calculating projection matrix of step (8) wherein is to be undertaken by following formula:
Wherein: P (θ) is projection matrix, and θ is the search elevation angle, A
s(θ) be synthetic steering vector, subscript H represents conjugate transpose, and subscript-1 representing matrix is inverted.
6. metre wave radar super-resolution according to claim 1 is surveyed high method, and the described calculating maximal possibility estimation of step (9) wherein is to be undertaken by following formula:
Wherein: θ is the accurate elevation angle of target, and arg max is for seeking the parameter with maximum scores, and tr is that matrix is asked mark, and P (θ) is projection matrix, and R is the covariance matrix that offsets the back signal.
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