CN103091664B - A real-time suppression method for through-wall radar coupling signal - Google Patents
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Abstract
本发明提供一种穿墙雷达耦合信号的实时抑制方法。技术方案是对回波信号进时域8倍插值;其次,基于插值后的回波信号的最大值,归一化插值后的回波信号,即得到幅度补偿后的回波信号;然后,计算以前时刻所有幅度补偿后的回波信号的均值,作为参考信号,与当前时刻幅度补偿后的回波信号作互相关运算,搜索出互相关运算结果中最大值的位置作为时延值,对当前时刻幅度补偿后的回波信号进行时延补偿;最后,对当前时刻时延补偿后的回波信号,采用指数滑动平均背景相消方法,完成对当前时刻耦合信号的抑制。本发明降低了穿墙雷达探测近距离目标时耦合信号抑制后残留引起的虚警。
The invention provides a real-time suppression method for the coupling signal of the through-wall radar. The technical solution is to interpolate the echo signal by 8 times in the time domain; secondly, based on the maximum value of the interpolated echo signal, normalize the interpolated echo signal, that is, obtain the echo signal after amplitude compensation; then, calculate The mean value of all amplitude-compensated echo signals at the previous time is used as a reference signal, and the cross-correlation operation is performed with the echo signal after amplitude compensation at the current time. The echo signal after time amplitude compensation is subjected to time delay compensation; finally, for the echo signal after time delay compensation at the current time, the exponential moving average background cancellation method is used to complete the suppression of the coupling signal at the current time. The invention reduces the false alarm caused by the residual coupling signal suppressed when the through-wall radar detects the short-distance target.
Description
技术领域technical field
本发明属于穿墙雷达探测领域,涉及一种可用于穿墙雷达探测的耦合信号的实时抑制方法。The invention belongs to the field of through-wall radar detection, and relates to a real-time suppression method for coupling signals that can be used for through-wall radar detection.
背景技术Background technique
在穿墙雷达中,回波信号包括目标信号、杂波信号、噪声信号以及耦合信号。其中,耦合信号存在于收发天线之间,其信号幅度很强且持续时间较长,往往会覆盖掉近距离目标的回波信号。因此,穿墙雷达在探测近距离目标时,必须抑制耦合信号的干扰。通常,耦合信号被认为是稳定的来进行抑制。然而,在实际的穿墙雷达中,系统抖动是不可避免的,其持续时间往往在10~150皮秒范围内,这使得耦合信号的幅度和时延不能保持稳定。如若不考虑系统抖动而对耦合信号进行抑制,抑制后的残留足以引起虚警。因此,如何较为彻底地抑制耦合信号干扰,提高SCR(Signal-to-Clutter Ratio,信杂比),成为穿墙雷达探测近距离目标时的关键。In through-wall radar, the echo signal includes target signal, clutter signal, noise signal and coupling signal. Among them, the coupling signal exists between the transmitting and receiving antennas, and its signal amplitude is strong and lasts for a long time, which often covers the echo signal of the short-distance target. Therefore, when the through-wall radar detects close-range targets, it must suppress the interference of coupled signals. Usually, coupled signals are considered stable for suppression. However, in the actual wall-penetrating radar, the system jitter is unavoidable, and its duration is often in the range of 10-150 picoseconds, which makes the amplitude and delay of the coupled signal cannot be kept stable. If the coupling signal is suppressed without considering the system jitter, the residual after suppression is enough to cause false alarms. Therefore, how to suppress coupling signal interference more thoroughly and improve SCR (Signal-to-Clutter Ratio, signal-to-clutter ratio) has become the key to detecting short-range targets with through-wall radar.
在穿墙雷达中,常见的耦合信号抑制方法有三种:距离门方法、MTI(MovingTarget Indication运动目标指示)方法和背景相消方法。In through-wall radar, there are three common coupled signal suppression methods: range gate method, MTI (Moving Target Indication) method and background cancellation method.
一、距离门方法。1. The distance gate method.
距离门方法基于耦合信号往往出现在较近距离单元上的事实,选取合适的包含耦合信号的距离门,将距离门内的回波信号直接去除或者置零,实现对耦合信号的抑制。如文献:Attiya,A.M.,A.Bayram,A.Safaai-Jazi,and S.M.Riad,UWB applications for through-wall detection.IEEE Antennas and PropagationSociety International Symposium,2004。The range gate method is based on the fact that the coupling signal often appears on the closer unit, selects the appropriate range gate containing the coupling signal, directly removes or sets the echo signal in the range gate to zero, and realizes the suppression of the coupling signal. Such as literature: Attiya, A.M., A.Bayram, A.Safaai-Jazi, and S.M.Riad, UWB applications for through-wall detection. IEEE Antennas and Propagation Society International Symposium, 2004.
在探测近距离目标时,这种方法是不可取的。在穿墙雷达中,雷达发射信号的拖尾持续时间越长,耦合信号覆盖的范围越大,往往可达3米。距离门方法在去除耦合信号的同时,也将近距离目标的回波信号一并去除,造成穿墙雷达产生探测盲区,限制了穿墙雷达的探测距离。This method is not advisable when detecting close-range targets. In wall-penetrating radar, the longer the trailing duration of the radar transmitted signal, the larger the range covered by the coupled signal, often up to 3 meters. While removing the coupling signal, the range gate method also removes the echo signal of the close-range target, which causes the detection blind area of the through-wall radar and limits the detection distance of the through-wall radar.
二、MTI方法。Second, the MTI method.
MTI方法假定耦合信号的时延和幅度保持稳定,把耦合信号当作一种杂波信号进行抑制处理。如文献:Lazaro,A.,D.Girbau,and R.Villarino,Analysis ofvital signs monitoring using an IR-UWB radar.Progress In ElectromagneticsResearch-Pier,Vol.100,265-284,2010。上述文献利用二脉冲对消器对耦合信号进行抑制。二脉冲对消器结构简单,只需将当前时刻脉冲回波信号减去前一个时刻的脉冲回波信号,不需乘法运算,运行效率高。通过级联二脉冲对消器,可以扩展到N脉冲对消器。如文献:Richards,M.A.,Fundamentals of radar signalprocessing,McGraw-Hill,New York,2005。The MTI method assumes that the time delay and amplitude of the coupled signal remain stable, and treats the coupled signal as a clutter signal for suppression. Such as literature: Lazaro, A., D. Girbau, and R. Villarino, Analysis of vital signs monitoring using an IR-UWB radar. Progress In Electromagnetics Research-Pier, Vol.100, 265-284, 2010. The above literature uses a two-pulse canceller to suppress the coupling signal. The structure of the two-pulse canceller is simple. It only needs to subtract the pulse-echo signal at the previous time from the pulse-echo signal at the current time, without multiplication operation, and has high operating efficiency. By cascading two-pulse cancellers, it can be extended to N-pulse cancellers. Such as literature: Richards, M.A., Fundamentals of radar signal processing, McGraw-Hill, New York, 2005.
MTI方法由于未考虑耦合信号的不稳定性,相对于微弱的目标回波信号而言,耦合信号抑制后的残留依旧很高;同时由于静止目标回波和杂波信号混叠在一起,MTI方法会把二者一并滤除。Because the MTI method does not consider the instability of the coupling signal, compared with the weak target echo signal, the residual after the coupling signal suppression is still high; Both are filtered out.
三、背景相消方法。3. Background cancellation method.
背景相消方法选取一定数量的历史回波信号估计背景,然后与当前时刻回波信号相减,完成耦合信号的抑制。如文献:Zetik,R.,S.Crabbeb,J.Krajnakc,P.Peyerld,J.Sachsa,and R.Detection and localization of persons behindobstacles using M-sequence through-the-wall radar,Proceedings of SPIE onConference on Sensors,and Command,Control,Communications,and Intelligence(C31)Technologies for Homeland Security and Homeland Defense V,2006。依据背景估计方法的不同,背景相消法可分为:全局平均背景相消、滑动平均背景相消和指数滑动平均背景相消。全局平均背景相消方法将全部历史回波信号加以平均,估计背景;滑动平均背景相消方法则选取滑动窗内回波信号的均值作为背景;指数滑动平均背景相消方法兼容了前两种方法之所长,对于历史回波信号赋予逐渐收敛为零的权值,估计背景,如文献:陈洁,超宽带雷达信号处理及成像方法研究,博士学位论文,中国科学院研究生院(电子学研究所),2007。The background cancellation method selects a certain number of historical echo signals to estimate the background, and then subtracts them from the current echo signals to complete the suppression of coupling signals. Such as literature: Zetik, R., S. Crabbeb, J. Krajnakc, P. Peyerld, J. Sachsa, and R. Detection and localization of persons behind obstacles using M-sequence through-the-wall radar, Proceedings of SPIE onConference on Sensors, and Command, Control, Communications, and Intelligence (C31) Technologies for Homeland Security and Homeland Defense V, 2006. According to different background estimation methods, background cancellation methods can be divided into: global average background cancellation, moving average background cancellation and exponential moving average background cancellation. The global average background cancellation method averages all historical echo signals to estimate the background; the moving average background cancellation method selects the mean value of the echo signals in the sliding window as the background; the exponential moving average background cancellation method is compatible with the first two methods The director, for the weight of the historical echo signal that gradually converges to zero, estimates the background, such as the literature: Chen Jie, ultra-wideband radar signal processing and imaging method research, doctoral dissertation, Graduate School of Chinese Academy of Sciences (Institute of Electronics ), 2007.
背景相消方法虽然对于不同运动状态的目标有良好的适应性,但在抑制耦合信号时,同样未考虑耦合信号的不稳定性,耦合信号抑制后的残留依旧很强。Although the background cancellation method has good adaptability to targets in different motion states, it also does not consider the instability of the coupled signal when suppressing the coupled signal, and the residual after the coupled signal is suppressed is still very strong.
发明内容Contents of the invention
发明目的:本发明提供一种抑制耦合信号的实时有效方法,改善SCR,降低穿墙雷达在探测近距离目标时耦合信号抑制后的残留虚警。Purpose of the invention: The present invention provides a real-time and effective method for suppressing coupling signals, improves SCR, and reduces residual false alarms after coupling signal suppression when through-wall radar detects short-distance targets.
技术方案:对于利用穿墙雷达进行穿墙探测时获得的N时刻回波信号,进行下述处理:Technical solution: For the echo signal at time N obtained when using the through-wall radar for through-wall detection, perform the following processing:
当N=1时,对该时刻的回波信号进行时域8倍插值,基于插值后的回波信号的最大值,归一化该时刻插值后的回波信号,即得到该时刻的幅度补偿后的回波信号,上述归一化处理即是对插值后的回波信号进行幅度补偿。When N=1, perform time-domain 8-fold interpolation on the echo signal at this time, and normalize the interpolated echo signal at this time based on the maximum value of the interpolated echo signal, that is, obtain the amplitude compensation at this time The above normalization process is to perform amplitude compensation on the echo signal after interpolation.
当N≥2时,首先对N时刻的回波信号进时域8倍插值;其次,基于插值后的N时刻回波信号的最大值,归一化N时刻插值后的回波信号,即得到N时刻的幅度补偿后的回波信号,上述归一化处理即是对插值后的回波信号进行幅度补偿;然后,计算时刻1到时刻N-1之间所有幅度补偿后的回波信号的均值,作为参考信号,与N时刻幅度补偿后的回波信号作互相关运算,搜索出互相关运算结果中最大值的位置作为时延值,对N时刻幅度补偿后的回波信号进行时延补偿;最后,对N时刻时延补偿后的回波信号,采用指数滑动平均背景相消方法,完成对N时刻耦合信号的抑制。When N≥2, the echo signal at time N is interpolated by 8 times in the time domain; secondly, based on the maximum value of the echo signal at time N after interpolation, the echo signal after interpolation at time N is normalized, that is, For the amplitude-compensated echo signal at time N, the above normalization process is to perform amplitude compensation on the interpolated echo signal; then, calculate the The mean value, as a reference signal, performs a cross-correlation operation with the echo signal after amplitude compensation at time N, searches for the position of the maximum value in the cross-correlation operation result as the delay value, and performs time delay on the echo signal after amplitude compensation at time N Compensation; Finally, for the echo signal after delay compensation at time N, the exponential moving average background cancellation method is used to suppress the coupling signal at time N.
有益效果:本发明通过对耦合信号的幅度和相位进行补偿,消除了系统抖动对耦合信号稳定性的影响,结合指数滑动平均背景相消,进而成功地解决了常规背景相消方法抑制耦合信号时残留较大的问题,降低了穿墙雷达探测近距离目标时耦合信号抑制后残留引起的虚警。Beneficial effects: the present invention eliminates the influence of system jitter on the stability of the coupled signal by compensating the amplitude and phase of the coupled signal, combined with the background cancellation of the exponential moving average, and then successfully solves the problem of suppressing the coupling signal by the conventional background cancellation method. The problem of large residues reduces the false alarm caused by the residues after the coupling signal is suppressed when the through-wall radar detects close-range targets.
附图说明Description of drawings
图1是本发明耦合信号抑制流程图;Fig. 1 is a coupling signal suppression flowchart of the present invention;
图2是在穿墙探测近距离人体目标时未经耦合信号抑制处理的实验结果;Figure 2 is the experimental result without coupled signal suppression processing when detecting close-range human targets through walls;
图3是指数滑动平均背景相消法在穿墙探测近距离人体目标时耦合抑制处理实验结果;Fig. 3 is the experimental result of coupling suppression processing when the exponential moving average background cancellation method is used to detect close-range human targets through walls;
图4是本发明在穿墙探测近距离人体目标时耦合抑制处理实验结果;Fig. 4 is the experimental result of the coupling suppression processing when the present invention detects short-distance human targets through walls;
图5是本发明中雷达参数。Fig. 5 is the radar parameters in the present invention.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明作进一步详细的解释。The present invention will be further explained in detail below in conjunction with the accompanying drawings and specific embodiments.
本发明中穿墙雷达工作在贴墙模式下,天线保持静止不动,应用本发明所阐述的耦合信号抑制法对耦合信号进行抑制。In the present invention, the through-wall radar works in the wall-attached mode, the antenna remains stationary, and the coupling signal suppression method described in the present invention is applied to suppress the coupling signal.
本发明提出的耦合信号抑制法通过上述穿墙雷达进行了实验验证,实验结果证明了本发明的有效性。该穿墙雷达参数如图5所示。The coupling signal suppression method proposed by the present invention is verified by experiments through the above-mentioned through-wall radar, and the experimental results prove the effectiveness of the present invention. The parameters of the through-wall radar are shown in Fig. 5 .
选取厚度为30厘米的砖墙,在墙壁一侧离墙1.5米处,静止站立一个身高1.75米的人体目标。穿墙雷达贴墙放置在墙壁另外一侧。A brick wall with a thickness of 30 cm is selected, and a human target with a height of 1.75 meters stands still on one side of the wall at a distance of 1.5 meters from the wall. The through-wall radar is attached to the wall and placed on the other side of the wall.
根据图1,完成耦合信号的抑制需经过以下步骤:According to Figure 1, the following steps are required to complete the suppression of coupled signals:
(a)当时刻N=1时,对N时刻的回波信号进行时域8倍插值,计算N时刻插值后回波信号的最大值M1,将N时刻插值后的回波信号除以最大值M1,即得到N=1时刻幅度补偿后的回波信号;(a) When time N=1, perform time-domain 8-fold interpolation on the echo signal at time N, calculate the maximum value M 1 of the echo signal after interpolation at time N, and divide the echo signal after interpolation at time N by the maximum The value M 1 is to obtain the echo signal after amplitude compensation at time N=1;
当时刻N≥2时,进行下述(b)到(f)步骤:When the moment N≥2, the following steps (b) to (f) are performed:
(b)对N时刻的回波信号进行时域8倍插值;(b) Perform time-domain 8-fold interpolation on the echo signal at time N;
(c)计算步骤(b)所得结果的最大值MN,将步骤(b)所得结果除以最大值MN,即得到N时刻幅度补偿后的回波信号;(c) Calculate the maximum value M N of the result obtained in step (b), divide the result obtained in step (b) by the maximum value M N , and obtain the echo signal after amplitude compensation at time N;
(d)计算时刻1到时刻N-1之间所有幅度补偿后的回波信号的均值,作为参考信号,与N时刻幅度补偿后的回波信号作互相关运算,得到互相关运算结果;(d) Calculate the mean value of all amplitude-compensated echo signals between time 1 and time N-1, and use it as a reference signal for cross-correlation calculation with the amplitude-compensated echo signal at time N to obtain the cross-correlation calculation result;
(e)搜索步骤(d)所得结果中最大值的位置,作为时延值,对N时刻幅度补偿后的回波信号进行时延补偿,即得到N时刻时延补偿后的回波信号;(e) Searching for the position of the maximum value in the result obtained in step (d), as the time delay value, performing time delay compensation on the echo signal after amplitude compensation at time N, that is, obtaining the echo signal after time delay compensation at time N;
(f)对步骤(e)所得结果,采用指数滑动平均背景相消方法,完成N时刻耦合信号的抑制。(f) For the result obtained in step (e), use the exponential moving average background cancellation method to complete the suppression of the coupling signal at time N.
图2是在穿墙探测近距离人体目标时未经耦合信号抑制处理的实验结果;图3是指数滑动平均背景相消法在穿墙探测近距离人体目标时耦合抑制处理实验结果;图4是本发明在穿墙探测近距离人体目标时耦合抑制处理实验结果。图2、图3和图4中的横坐标表示处理的脉冲数,纵坐标表示探测距离。穿墙雷达探测实验结果表明,未经耦合信号抑制处理时,1.5m处的目标回波信号完全被耦合信号淹没;采用指数滑动平均背景相消法能够抑制耦合信号,但0.5m处残留的耦合信号很强;而本发明提出的耦合信号抑制方法可有效消除穿墙雷达系统抖动对耦合信号稳定性的影响,不仅成功保留了1.5m处的人体目标回波,而且有效地消除了其它距离处的耦合信号,解决了常规背景相消方法抑制耦合信号时残留较大的问题。Fig. 2 is the experimental result without coupling signal suppression processing when detecting close-range human targets through walls; Fig. 3 is the experimental results of coupling suppression processing when the exponential moving average background cancellation method detects close-range human targets through walls; Fig. 4 is The present invention couples and suppresses and processes experimental results when detecting short-distance human targets through walls. The abscissa in Fig. 2, Fig. 3 and Fig. 4 represents the number of processed pulses, and the ordinate represents the detection distance. The experimental results of through-wall radar detection show that without coupling signal suppression processing, the target echo signal at 1.5m is completely submerged by the coupling signal; the exponential moving average background cancellation method can suppress the coupling signal, but the residual coupling signal at 0.5m The signal is very strong; the coupling signal suppression method proposed by the present invention can effectively eliminate the influence of the jitter of the through-wall radar system on the stability of the coupling signal, not only successfully retaining the echo of the human target at 1.5m, but also effectively eliminating the echo at other distances. The coupling signal of the method solves the problem of large residual when the conventional background cancellation method suppresses the coupling signal.
以上所述仅是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.
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