CN102879766A - Method and apparatus for detecting and tracking faint target of high frequency ground wave radar - Google Patents
Method and apparatus for detecting and tracking faint target of high frequency ground wave radar Download PDFInfo
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Abstract
The invention discloses a method for detecting and tracking a faint target of a high frequency ground wave radar with a non-linear dynamics characteristic of a wave echo. The method comprises the following steps: recording intermediate frequency data in an echo signal in real time; canceling impact interference and the first-order data of an echo; establishing a chaotic dynamics forecasting model of the wave echo; and executing detection and tracking of the faint target, wherein the steps of canceling are as follows: implementing distance conversion and speed conversion to the intermediate frequency data; eliminating impact interference on a speed spectral domain through a spline wavelet filter, and eliminating a strong sea clutter through a track matrix wave of a reconstructing attractor. In addition, the invention discloses an apparatus for detecting and tracking a faint target of a high frequency ground wave radar with a non-linear dynamics characteristic of a wave echo.
Description
Technical field
Present invention relates in general to field of radar, more specifically, relate to the weak target detection tracking method of a kind of high-frequency ground wave radar and device.
Background technology
The sea is boundless, and is broad immeasurable, under cover infinite secret.The research of high frequency radio sea echo Nonlinear Dynamical Characteristics is attracting numerous scientists.Especially the appearance of higher-frequency radar has promoted the development of high frequency radio thalassography frontier.Which feature does the high frequency radio marine echo have? how to extract high frequency radio sea echo Nonlinear Dynamical Characteristics? how to use above-mentioned latent structure based on the weak target detection tracking method of high frequency radio sea echo nonlinear dynamic characteristic? this be still do not carry out both at home and abroad at present, challenging invention problem, be the problem to be solved in the present invention.Higher-frequency radar is operated in very crowded short-wave band, thereby the high frequency radio sea echo is different from the microwave sea echo fully, and it is the very complicated nonlinear properties of structure.The research of existing high frequency wave echoing characteristics mainly concentrates in the sea echo spectrum analysis, mainly contains two kinds of patterns, and a kind of is the half theoretical semiempirical model that Barrick etc. sets up, and another kind is the auto-adaptive time series model that Khan etc. sets up.The Barrick model is difficult to Real-time modeling set.And when the ocean nonlinear interaction strengthened, the deviation of model can enlarge markedly.Khan method real-time is better, but helpless for high order component.This is that ground unrest is Gaussian noise simply because the high frequency sea echo certainly is not only the simple linear time-varying model.
The high-frequency ground wave radar Testing of Feeble Signals is still not to be resolved in the world at present under the strong sea clutter background, and the problem of very paying close attention to.Existing high-frequency ground wave radar target detection and extra large attitude remote sensing technique all are to detect according to the Bragg resonance theory of high-frequency electric wave and ocean surface effect and single order, second order dispersion theory, thereby this method can't detect the weak target that is submerged under single order and the second order strong sea clutter frequency spectrum background.
Summary of the invention
The present invention is according to high frequency radio sea echo nonlinear dynamic characteristic, set up high frequency sea echo chaotic model, and utilize the time and space correlativity of Chaotic Sea Clutter and other chaos topological characteristics to carry out the prediction of extra large clutter, thereby in sea echo, reject strong sea clutter, the final detection that realizes being submerged in the weak target under the strong sea clutter background.The present invention will follow the tracks of the new feasible method that provides for solving high-frequency ground wave radar weak target detection under the strong sea clutter background.
The invention provides the weak target detection tracking method of a kind of higher-frequency radar, may further comprise the steps: the intermediate frequency data of real time record echoed signal; Offset the first-order spectrum data of impulsive disturbance and echo; Set up the wave Forecasting Model of Chaos Dynamics of echo; And carry out weak target detection and follow the tracks of, wherein, the step that offsets comprises: intermediate frequency data is carried out range conversion and velocity transformation, reject impulsive disturbance at the speed spectral domain with the spline wavelets wave filter, and reject the strong sea clutter of echo with the track matrix-style of reconstruct attractor.
Wherein, fill up disallowable data with the front and back echo data.
Wherein, real time record is by using the fpga10k data acquisition board to finish.
Wherein, the step of foundation comprises: set up the wave Forecasting Model of Chaos Dynamics of echo from the angle of phase space, offset sea echo.
Wherein, the step of the weak target detection tracking of execution comprises: carry out based on the weak target detection of echoed signal fractal dimension feature and follow the tracks of.
Wherein, the reconstruct attractor is more than or equal to approximately 6.01 and be less than or equal to approximately 8.12 dimension.
In addition, the present invention also provides a kind of higher-frequency radar weak target detection tracking means, comprising: logging modle, for the intermediate frequency data of real time record echoed signal; Offset module, be used for offseting the first-order spectrum data of impulsive disturbance and echo; Model building module is for the wave Forecasting Model of Chaos Dynamics of setting up echo; And execution module, be used for carrying out weak target detection and follow the tracks of, wherein, offset module and be used for intermediate frequency data is carried out range conversion and velocity transformation, reject impulsive disturbance at the speed spectral domain with the spline wavelets wave filter, and reject the first-order spectrum data of echo with the track matrix-style of reconstruct attractor.
Wherein, fill up disallowable data with the front and back echo data.
Wherein, real time record is by using the fpga10k data acquisition board to finish.
Description of drawings
When reading in conjunction with the accompanying drawings, the present invention may be better understood according to the following detailed description.Should be emphasized that, according to the standard practices in the industry, various parts are not drawn in proportion.In fact, in order clearly to discuss, the size of various parts can be increased arbitrarily or be reduced
Fig. 1 shows according to theory diagram of the present invention;
Fig. 2 shows the acquisition process according to the high frequency radio sea echo data of the embodiment of the invention;
Fig. 3 shows extra large clutter prediction and the cancellation process schematic diagram according to the embodiment of the invention;
Fig. 4 shows according to the high frequency sea echo wave chaotic prediction of the embodiment of the invention weak target detection trace flow figure to the fractal detection of slake;
Fig. 5 shows the echoed signal frequency spectrum behind the impulsive disturbance of offseting according to the embodiment of the invention;
Fig. 6-8 shows certain the range gate chaotic signal feature according to the rejecting wave first-order spectrum of the embodiment of the invention and impulsive disturbance back echo;
Fig. 9 shows according to offseting with wave chaotic dynamics prediction of the embodiment of the invention and offsets accordingly the result behind the extra large clutter;
Figure 10 shows actual radar system echoed signal fractal dimension change curve after pretreatment; And
Figure 11 shows real system flight path result.
Embodiment
It is reported in order to implement different parts of the present invention, below describing provides many different embodiment or example.The specific example of element and layout is below described to simplify the present invention.Certainly these only are that example does not plan to limit.Moreover, first component is formed on and can comprises on the second component that wherein the first and second parts are with the embodiment of direct contact formation in below describing, and can comprise that also wherein extra parts form the embodiment that is inserted in the first and second parts, so that not directly contact of the first and second parts.With clear, can at random draw various parts with different sizes for the sake of simplicity.
The present invention seeks to for high-frequency ground wave radar weak target detection tracking problem under the strong sea clutter background, weak target detection tracking method based on high frequency radio sea echo nonlinear dynamic characteristic is provided, comprises mainly that the high frequency radio sea echo obtains, the extraction of the Wave Information on the dobla time domain, sea echo Nonlinear Dynamical Characteristics and follow the tracks of based on the weak target detection of high frequency radio sea echo nonlinear dynamic characteristic.Core one of the present invention is how to reject impulsive disturbance and first-order spectrum Wave Information on the dobla territory; The 2nd, how to use high frequency radio sea echo nonlinear dynamic characteristic and set up the wave forecast model, target detection under the strong sea clutter background is followed the tracks of the detection tracking problem that is converted under the weak clutter background, thereby realize the weak target detection tracking of high-frequency ground wave radar.
Theoretical foundation of the present invention has 2 points: the one, and high frequency radio sea echo data have chaos characteristic after pretreatment, thereby can predict extra large clutter, and then can offset extra large clutter (being Wave Information) according to the wave forecast model in echoed signal; The 2nd, the sea belongs to complicated uneven surface, and its surface is at the ripple of the approximate periodic wave stack small scale of large scale, has large scale and is correlated with and the similar fractal property of small scale, thereby can utilize the fractal dimension feature of echoed signal to carry out target detection.Ultimate principle of the present invention is at first used the topological characteristic rejecting abnormalities signal (such as sudden change, impact) of signal on different wavelet scales, reject the first-order spectrum signal with the track matrix method of reconstruct attractor, and with front and back to the disallowable part of fallout predictor method quasi-complement.This step is converted into stationary signal to non-stationary signal, then sets up the model of different components for the different structure time series, and offsets strong sea clutter in the echoed signal with this model, finally realizes that the weak target detection under general clutter background follows the tracks of.Fig. 1 has represented ultimate principle framework of the present invention.
The acquisition process of described high frequency radio sea echo data as shown in Figure 2.Wherein t11-t1m represents the time-domain sampling data of first frequency sweep cycle, whole recording process one total n frequency sweep cycle, and each frequency sweep cycle is arranged in chronological order and is consisted of a two-dimensional array.Every through an accumulation cycle, to the data of each range gate velocity process that tries again.Every data line is done range conversion, and then every delegation of array becomes range unit, and each column data is the dobla time domain data on the respective distances unit.At this moment velocity spectrum is corresponding with the Doppler frequency of echoed signal.The dobla time domain data that namely obtains is exactly the high-frequency ground wave radar sea echo data that the data after 2 dimension FFT signals are processed obtain behind rejecting impulsive disturbance and first-order spectrum Wave Information again.
Described high frequency radio sea echo Nonlinear Dynamical Characteristics extracting method, because high-frequency ground wave radar electromagnetic environment background is very complicated, except target echo and sea echo, also comprise the impulsive disturbances such as atmospheric noise and thunder and lightning, this just need to carry out sorting and pre-service to data.The present invention at first rejects impulsive disturbance with the spline wavelets filtering method.On the other hand, single order harmonic components determinacy is very strong in the high-frequency ground wave radar sea echo, and be the principal ingredient of sea echo, present a kind of cyclophysis of similar sine, thereby cover the nonlinear characteristic of echo, so reject again the extra large noise signal of the first-order spectrum of sea echo with the track matrix method of reconstruct attractor, thereby obtain to reject the high-frequency ground wave radar sea echo of impulsive disturbance and single order ocean wave spectrum information, and disallowable data segment filled up with the front and back extrapolated data of original echoed signals, deliver at last the Nonlinear Dynamical Characteristics extraction module.Concrete grammar is at first according to determining the reconstruction delay time time delay of first smallest point of interactive information, adopt the fast algorithm compute associations dimension of P.Grassberger, then with embed dimension and time delay phase space reconstruction, adopt at last the Jacobian method to calculate the Lyapunov exponential sum predictability tolerance of extra large clutter.If the reconstruct attractor has the dimension about 6.01～8.12,0.104 about maximum LYapunov index, 1.24 about the Kaplan-York dimension, and it is measurable to have short-term, illustrate that then the extraction of high frequency radio sea echo chaos Nonlinear Dynamical Characteristics is correct, otherwise illustrate that rejecting first-order spectrum and impulsive disturbance method are incorrect, need to re-start first-order spectrum and impulsive disturbance and reject.
Described extra large clutter based on high frequency radio sea echo Nonlinear Dynamical Characteristics offsets, and is based upon the offseting of extra large clutter of sea echo Forecasting Model of Chaos Dynamics.The present invention uses the theory building chaos time sequence model of phase space reconfiguration.The basic thought of this phase space reconfiguration is: the evolution of the arbitrary component in the system all is to be determined by other component that is interacting with it.Therefore the information of these correlated components just lies in the evolution of arbitrary component, state space for reconstruct one " equivalence ", only need to investigate one-component, and it is postponed measurement on point (before such as a second, before two seconds etc.) as new dimension processing in some regular time, namely length of delay is seen as new coordinate.They determined on some multi-dimension space a bit.And then use other method to check these points whether to be present on the chaotic attractor.Because the method for wave chaotic dynamics modeling and forecasting of the present invention is to finish modeling from the angle of phase space, different for the precision of prediction of extra large clutter and sinusoidal signal by a small margin, so the signal to noise ratio (S/N ratio) of small-signal can improve in the predicated error.But the improvement of little target signal to noise ratio is along with the position relationship of the amplitude of target and target and other signals is different and different.Technique for Doppler Frequency when the first-order spectrum, target signal to noise ratio be improved significantly.
If x (k)=s (k)+n (k), s (k) is echo signal, and n (k) is extra large clutter.If n (k) is chaotic process, satisfy such as drag:
n(k+mτ)＝f
0(n(k)，n(k+τ)，..，n(k+(m-1)τ))(1)
Wherein, m is for embedding dimension, and τ is time delay.
Then have
s(k+mτ)＝x(k+mτ)-n(k+mτ)＝x(k+mτ)-f
0(N(k))(2)
Wherein, N (k)=(n (k) ..., n (k+ (m-1) τ))
If can obtain f
0Approach for
Then
Be error signal.Wherein, X (k)=(x (k) ..., x (k+ (m-1) τ)).
Fig. 3 represents to offset evolution process.Wherein, x (n) is measured data, and c (n) is potential chaos dynamic process f
0An observation process,
For at f
0Approximate model
The predicted value of lower x (n).
Described weak target detection tracking method based on high frequency radio sea echo Nonlinear Dynamical Characteristics, as shown in Figure 4.This Caspian Sea Clutter Classification model comprises the chaotic signal fallout predictor behind rejecting impulsive disturbance and the wave first-order spectrum signal.Obtain new detection background after actual sea echo signal and prediction signal are subtracted each other, namely the target detection under the strong sea clutter background is followed the tracks of the target detection tracking problem that is converted under the weak clutter background, thereby can realize weak target detection tracking.On the other hand, except following the tracks of based on the weak target detection of chaotic prediction model, the present invention has also enabled based on the weak target detection of echoed signal fractal characteristic and has followed the tracks of.About the extraction of echoed signal fractal characteristic, based on following two brass tacks: the one, the sea can be divided into satisfying respectively to be supposed and has FRACTAL SURFACES M of identical fractal characteristic, each curved surface satisfies the condition that adopts Kirchhoff solution to analyze its electromagnetic scattering; The 2nd, the fluctuating of each FRACTAL SURFACES all side is highly less, can ignore the inner Multiple Scattering of curved surface and occlusion effect, and the distance and bearing angle of each point incident angle, observation point is identical in the curved surface.The present invention detects and follows the tracks of weak target according to the difference of the fractal dimension of echoed signal.The present invention carries out weak target detection by echoed signal fractal dimension variation characteristic and follows the tracks of.
The present invention carries out at system for high-frequency earth wave radar.High-frequency ground wave radar is application of Doppler radar, and major part comprises: logarithm period emitting antenna, SSB short wave transmitter, receiving antenna array, receiver, excitation set, digital signal processor, data processor, the FMICW signal of emission pseudo-random code amplitude modulation.
The first step: the intermediate frequency data real time record of echoed signal
Construction data recording unit at first.The data recording subsystem can use the fpga10k data acquisition board, finishes the collection of hyperchannel intermediate frequency data.Data buffer storage after the collection is in the internal memory of the processor that data acquisition board is equipped with.
Second step: the first-order spectrum that offsets impulsive disturbance and sea echo
After the data of admission are carried out range conversion and velocity transformation, reject impulsive disturbance at the speed spectral domain with the spline wavelets wave filter, reject the first-order spectrum data of sea echo with the track matrix method of reconstruct attractor.Disallowable data segment is filled up with the front and back echo data.
If matrix X=[X
1, X
2..., X
N] for the track matrix of reconstruct attractor.Then the covariance matrix of X is
θ＝XX
T (1)
Have
Wherein,
Be the eigenwert of θ, c
iProper vector for θ.
Will
Be arranged with from big to small:
{ c
iOne group of orthonormal basis of formation.We get larger eigenwert characteristic of correspondence vector, the i.e. corresponding proper vector of signal.Such as
Characteristic of correspondence vector matrix: C
1=[c
1..., c
m], m＜d wherein.The projection of the number of winning the confidence X on these several proper vectors,
Resulting new track vector y then
1..., y
NSignal to noise ratio (S/N ratio) increases, and reaches the effect of rejecting first-order spectrum.
The 3rd step: Forecasting Model of Chaos Dynamics offsets sea echo
Build the sea echo Forecasting Model of Chaos Dynamics from the angle of phase space, offset sea echo.At first one group of given data is carried out phase space reconfiguration.For predicting next value, find out the point the most close with last point, and the more lower value of closest approach as predicted value.
The 4th step: target detection is followed the tracks of
Owing to the target detection under the strong sea clutter background followed the tracks of the target detection tracking problem that is converted under the weak clutter background by preceding step, therefore can carry out weak target detection with traditional detection method and follow the tracks of.For remedying the deficiency of classic method, carry out following the tracks of based on the weak target detection of echoed signal fractal dimension feature simultaneously.If a certain frequency sweep cycle has M range gate (R
1, R
2..., R
M), in each range gate, calculate a minute dimension D
1, D
2... D
M, with minute dimension D that obtains
iBe linked in sequence by range gate and form a curve, if the local minimum point of curve or its consecutive point are put in adjacent 2 more at least fractal dimension value from this and differed and be not less than a certain thresholding (different data threshold is different), then judging in this range gate has moving-target.
The weak target detection of high-frequency ground wave radar of the present invention is followed the tracks of very effective.The below provides high-frequency ground wave radar echo data result.
Fig. 5 represents to offset the echoed signal frequency spectrum (horizontal ordinate is frequency (Hz), and ordinate is decibel (dB)) behind the impulsive disturbance.As seen from Figure 5, obviously reduce at the bottom of the Data Base after processing, the main signal substrate reduces about 20dB, the highest 30dB that reduces of sideband signals.
Fig. 6-Fig. 8 shows certain range gate chaotic signal feature of rejecting wave first-order spectrum and impulsive disturbance back echo.A large amount of test data analyzers as can be known, ANTENNA OF HF SEA clutter reconstruct attractor has the dimension about 6.01～8.12,0.104 left and right sides maximum Lyapunov exponent, 1.24 about the Kaplan-York dimension, and it is measurable to have short-term, long-term unpredictable characteristic has obvious chaos nonlinear characteristic simultaneously.
Fig. 9 has provided to offset with wave chaotic dynamics prediction and has offseted accordingly the result behind the extra large clutter.Solid line represents input signal spectrum figure among the figure, and dotted line represents the predictive error signal spectrogram.
Figure 10 provides actual radar system echoed signal fractal dimension change curve after pretreatment.As seen from Figure 6, a target is arranged in the range gate 5, its signal to noise ratio (S/N ratio) is-8.6dB; In the range gate 12 target is arranged, its signal to noise ratio (S/N ratio) is-5dB.These two targets can't detect in traditional detection method at all, because the traditional detection algorithm requires more than the signal to noise ratio (S/N ratio) 10dB.
Figure 11 represents real system flight path result.As seen from Figure 7, the present invention has realized weak target detection tracking preferably, thereby has formed more stable flight path (the mark length of navigating is long).
The above has discussed the parts of some embodiment, so that those of ordinary skills' various aspects that the present invention may be better understood.It will be understood by those skilled in the art that and can be at an easy rate design or change other are used for reaching with the embodiment that introduces of institute is identical purpose and/or processing and the structure of realization same advantage here as the basis with the present invention.Those of ordinary skills should be appreciated that also this equivalent constructions does not deviate from the spirit and scope of the present invention, and in the situation that do not deviate from the spirit and scope of the present invention, can carry out multiple variation, replacement and change.
Claims (9)
1. the weak target detection tracking method of high-frequency ground wave radar is characterized in that, may further comprise the steps:
The intermediate frequency data of real time record echoed signal;
Offset the wave first-order spectrum data of impulsive disturbance and described echo;
Set up the wave Forecasting Model of Chaos Dynamics of described echo; And
Carry out weak target detection and follow the tracks of,
Wherein, the described step that offsets comprises: described intermediate frequency data is carried out range conversion and velocity transformation, reject impulsive disturbance at the speed spectral domain with the spline wavelets wave filter, and reject strong sea clutter in the described echoed signal with the track matrix-style of reconstruct attractor.
2. method according to claim 1 is characterized in that, fills up by the data of described rejecting with the front and back echo data.
3. method according to claim 1 is characterized in that, described real time record is by using the fpga10k data acquisition board to finish.
4. method according to claim 1 is characterized in that, the step of described foundation comprises: set up the wave Forecasting Model of Chaos Dynamics of described echo from the angle of phase space, offset sea echo.
5. method according to claim 1 is characterized in that, the step that the weak target detection of described execution is followed the tracks of comprises: carry out based on the weak target detection of echoed signal fractal dimension feature and follow the tracks of.
6. method according to claim 1 is characterized in that, described reconstruct attractor is more than or equal to approximately 6.01 and be less than or equal to approximately 8.12 dimension.
7. the weak target detection tracking means of higher-frequency radar is characterized in that, comprising:
Logging modle is for the intermediate frequency data of real time record echoed signal;
Offset module, be used for offseting the strong sea clutter of impulsive disturbance and described echo;
Model building module is for the wave Forecasting Model of Chaos Dynamics of setting up described echo; And
Execution module is used for carrying out weak target detection and follows the tracks of,
Wherein, the described module that offsets is used for described intermediate frequency data is carried out range conversion and velocity transformation, rejects impulsive disturbance at the speed spectral domain with the spline wavelets wave filter, and rejects the strong sea clutter of described echo with the track matrix-style of reconstruct attractor.
8. device according to claim 7 is characterized in that, fills up by the data of described rejecting with the front and back echo data.
9. device according to claim 7 is characterized in that, described real time record is by using the fpga10k data acquisition board to finish.
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