CN103852747B - Increase the method for the acquisition probability of radar signal - Google Patents
Increase the method for the acquisition probability of radar signal Download PDFInfo
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- CN103852747B CN103852747B CN201310257864.7A CN201310257864A CN103852747B CN 103852747 B CN103852747 B CN 103852747B CN 201310257864 A CN201310257864 A CN 201310257864A CN 103852747 B CN103852747 B CN 103852747B
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- 238000000034 method Methods 0.000 title claims description 21
- 230000000052 comparative effect Effects 0.000 claims abstract 2
- 238000001514 detection method Methods 0.000 claims description 17
- 238000005259 measurement Methods 0.000 claims 1
- 230000004304 visual acuity Effects 0.000 claims 1
- 230000002093 peripheral effect Effects 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 2
- 241001269238 Data Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010304 firing Methods 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
- G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Does is the present invention characterised in that, comprising: the 1st step, the ranging data (Range of input radar signal? after Data, register taking distance as index, with cell data form array data position; The 2nd step, sliding window (Sliding? Window) scan described register, specify at least more than one detecting unit (Test? Cell) do you, specify at least more than one reference unit (Reference? Cell); The 3rd step, comparator is the data value of more described detecting unit and described reference unit respectively; And the 4th step, according to the comparative result of described comparator, being judged to be target data than the large detecting unit of described reference unit data value, using being worth little detecting unit as noise treatment than described reference unit data.
Description
Technical field
The present invention relates to the method for the acquisition probability that increases radar signal, more specifically, relate toCan the CFAR at radar installations (ConstantFalseAlamRate, in constant false alarm rate,Make the target mistake of close-in target survey to realize to minimize, increase the increase radar signal of detection probabilityThe method of acquisition probability.
Background technology
Generally speaking, be applied to radar CFAR (ConstantFalseAlamRate as determine connectThe method of threshold value (Threshold) of collecting mail number, relatively peripheral distance (ReferenceCell, reference unit)And have the signal magnitude of aimless specimen distances (TestCell, detecting unit) for judgement, according to thanResult, distinguishing and receiving signal is noise or echo signal.
On the other hand, radar sends electric wave, in the signal receiving, not only comprises echo signal, alsoComprise the signal doped with noise, constantly change along with time and space doped with the signal of noise,Therefore, be the accurate detection of a target, the critical value based on CFAR detection must change.
CFAR detecting way has utilized the signal inspection of the comparison based on received signal power and critical valueRipple, critical value, by the long-pending definition of inferring power noise and proportionality constant of the signal that will compare, is multiplied byConstant determines according to the false alarm rate of predefined.
As the method for CFAR detection, exist various such as CA-CFAR, OS-CFAR etc.CFAR, use 1 but the sample (TestCell) using in CFAR detection is in the past only common.
The effect of common radar is taking target more than visual range as object, therefore, and by signal electricityPlanometer fixed to closely with remote distinguishing condition, radar application in vehicle in the situation that, byReason in Vehicle Driving Cycle characteristic, need to be the visual range water of less than 1 meter (m) to hundreds of meters (m)Put down and be used as investigative range, therefore, need to there is the condition that is different from service condition in common radar.
As correlation technique, (Radar Signal Processing fills to have domestic publication No. 2002-0069686The target acquisition calculation structure of putting) (2002.09.05).
Summary of the invention
(technical problem that will solve)
But, with regard to vehicle is used radar, as bumper, be disposed at lower position, survey identicalHeight target, be therefore easily exposed to the ground clutter that may by mistake survey, particularly because of target (,Vehicle) distance and there is different range distribution, thereby the probability that mistake is surveyed will inevitably increase.
Fig. 1 be show vehicle in the past with in radar based on closely with the photograph of remote target rangeThe figure of firing angle degree and range distribution state.
Known as shown in Figure 1, when the target vehicle with same widths (W) is in mutually different distanceFrom time, radar is for the distribution of the distance of target vehicle cognition, according to the distance of close-in target vehicle(r1, r1-1) shows differently with the distance (r2, r2-1) of distant object vehicle, by means of each nearDifference between the angle (θ 1) of distance objective vehicle and the angle (θ 2) of distant object vehicle, about closelyThe range distribution of distance objective shows widelyr than distant object.
Fig. 2 shows the figure of the range distribution deviation of the based target distance in radar for vehicle in the past.
As shown in Figure 2, with regard to closely with remote target vehicle with regard to, close-in target vehicle withDistant object vehicle is compared, and the angle of the diagonal distance at central air line distance and edge relativelyGreatly, the range distribution of simple target shows widelyr, the wide ranging data (Range that means of range distributionOr in register (Register), occur with the corresponding signal of target of multiple unit large Data).
So CFAR detecting way was limited for target being carried out to the unit number of detection in the past, because ofThis, such as in-plant have in multiple unit echo signal distribute in the situation that, be not only targetDistance, the signal of peripheral distance also increases, and possibility that cannot the detection of a target is high, if at multiple listsUnit has echo signal and distributes, and so, the critical value of comparison other increases, and occurs echo signalBy the problem of the phenomenon of noise.
Therefore, the present invention forms in order to improve described problem in the past just, and its object is to carryFor a kind of method of the acquisition probability that increases radar signal, in the CFAR detection that utilizes radar,Utilize close-in target to be allocated in multiple unit, make the size of detecting unit increase and average, makeThe unit scope of peripheral distance and detecting unit isolation, reduce the target closely having wide distributionMistake detection probability.
(means of dealing with problems)
According to the method for the acquisition probability of the increase radar signal of one aspect of the invention, its featureBe, comprise: alignment step, after the ranging data (RangeData) of input radar signal, depositDevice taking distance as index, with cell data form array data position; Given step, sliding window (SlidingWindow scans described register, specifies at least more than one detecting unit (TestCell), specifiesAt least more than one reference unit (ReferenceCell); Comparison step, comparator compares respectively instituteState the data value of detecting unit and described reference unit; And treatment step, according to described comparatorComparative result, being judged to be target data than the large described detecting unit of described reference unit data value,Using being worth little described detecting unit as noise treatment than described reference unit data.
In the present invention, it is characterized in that, the step of described designated reference unit comprises: detecting unitTo handle averagely step, detecting unit equalization device carries out at least more than one described detecting unitTo handle averagely; And reference unit to handle averagely step, reference unit equalization device is at least oneIndividual above described reference unit averages processing.
In the present invention, it is characterized in that, in the step of described designated reference unit, described slipWindow is appointed as the 1st ginseng the cell data of unit scope before at least more than one described detecting unitExamine unit, the cell data of unit scope after at least more than one described detecting unit is appointed asThe 2nd reference unit; The step of described designated reference unit also comprises: the 1st and the 2nd reference unit is flatHomogenizing treatment step, the 1st and the 2nd reference unit equalization device is to described the 1st reference of undertaking separatelyUnit and the 2nd reference unit average respectively processing; Sameization treatment step, subtracter is to instituteState the 1st reference unit and the 2nd reference unit carries out subtraction, carry out with described at least more than oneThe sameization processing of detecting unit number; And multiplying treatment step, proportionality constant is appliedIn the reference unit of described sameization processing, carry out multiplying processing.
In the present invention, it is characterized in that, in the step of described designated reference unit, described slipWindow determines the number of described detecting unit according to " (range distribution deviation/range resolution+1 ".
In the present invention, it is characterized in that, in the step of described designated reference unit, described distanceResolving power defines according to " light beam/(the 2* frequency bandwidth) of radar signal ".
(effect of invention)
According to the present invention as constructed as above, in radar, utilize close-in target to be allocated in multiple unit,The size of detecting unit is increased and equalization, make the unit scope of peripheral distance and detecting unit everyFrom, can reduce the mistake detection probability to the wide target that distributes, thereby can adjust the distance by applicationAdaptability CFAR, the mistake alarm probability of minimizing close-in target, the performance of raising radar, is not onlyCA-CFAR, OS-CFAR, and the CFAR of other form, also can be with identical performance in additionApplication.
Brief description of the drawings
Fig. 1 be show vehicle in the past with in radar based on closely with the photograph of remote target rangeThe figure of firing angle degree and range distribution state.
Fig. 2 shows the figure of the range distribution deviation of the based target distance in radar for vehicle in the past.
The acquisition probability of the increase radar signal of one embodiment of the invention that Fig. 3 is display applicationMethod radar signal target detection unit form figure.
Fig. 4 is the acquisition probability that is presented at the increase radar signal of one embodiment of the inventionIn method, according to the figure of the state of range distribution deviation and target range decision detecting unit number.
Fig. 5 is the method for the acquisition probability of the increase radar signal of explanation one embodiment of the inventionThe flow chart of action.
(label declaration)
10: ranging data acceptance division 20: register
30: sliding window 40: detecting unit equalization device
42,44: reference unit equalization device 50: subtracter
60: multiplier 70: proportionality constant generator
80: comparator 90: destination register
Detailed description of the invention
With reference to the accompanying drawings, the present invention is as constructed as above elaborated.
In this process, for clear property and the convenience of explanation, the thickness of the line that picture in picture shows or structureThe size of one-tenth key element etc. may illustrate turgidly. In addition, term described later is as considering in the present inventionFunction and the term that defines, it can be different because of user, fortune user's intention or convention. Therefore,Ying Yiben description in the whole text content is basis, and these terms are given a definition.
The acquisition probability of the increase radar signal of one embodiment of the invention that Fig. 3 is display applicationMethod radar signal target detection unit form figure.
As shown in Figure 3, apply the thunder of the method for the acquisition probability of increase radar signal of the present inventionReach the target detection unit of signal, comprise ranging data acceptance division 10, register 20, sliding window(SlidingWindow) 30, detecting unit equalization device the 40, the 1st and the 2nd reference unit equalizationDevice 42,44, subtracter 50, multiplier 60, proportionality constant generator 70, comparator 80, targetRegister 90.
Described register 20 is according to the index of giving according to distance, and interim storage connects by ranging dataThe ranging data that receipts portion 10 inputs, carries out positional alignment as cell data.
Described sliding window 30 is by the sliding window scanning of described register 20, what distinguish by each indexIn multiple cell datas, multiple cell datas are appointed as to detecting unit (TestCell) (t0～tn), therebyDetermine the number of detecting unit, the data of unit scope before described detecting unit (t0～tn) are specifiedFor multiple the 1st reference units (ReferenceCell) (v0～vn), determine the 1st reference unit number,After described detecting unit (t0～tn), the data of unit scope are appointed as multiple the 2nd reference units(w0～wn), determines the 2nd reference unit number.
Described detecting unit equalization device 40 determines the sliding window scanning by described sliding window 30The data of the detecting unit of number (t0～tn) average.
Described the 1st reference unit equalization device 42 is to passing through the sliding window of described sliding window 30 to scanThe data that determined the 1st reference unit (v0～vn) of number average, and the described the 2nd with reference to singleUnit's equalization device 44 has determined the 2nd ginseng of number to the sliding window scanning by described sliding window 30The data of examining unit (w0～wn) average.
Described subtracter 50 is to obtaining equalization by described the 1st reference unit equalization device 42The 1st reference unit (v0～vn) data, put down by described the 2nd reference unit equalization device (44)The 2nd reference unit (w0～wn) data of homogenizing are carried out respectively subtraction process, the number of reference unitNumber with respect to described detecting unit carry out sameization.
Described multiplier 60 is the number of reference that obtains sameization processing by described subtracter 50According to, the proportionality constant occurring with described proportionality constant generator 70 multiplies each other and exports.
Wherein, the proportionality constant that described proportionality constant generator 70 occurs is by the order based on setting in advanceThe false alarm rate that mark mistake is surveyed determines.
Described comparator 80 is obtaining the multiple of equalization by described detecting unit equalization device 40Detecting unit (t0～tn), with the reference of carrying out multiplying processing output by described multiplier 60Unit compares respectively, the cell data of output based on there being aimless result of determination.
Described destination register 90 is accepted to be judged to be target by the comparison of described comparator 80Cell data and storage.
Wherein, described sliding window 30 is applied to determine the mode of detecting unit number according to distance,For determining detecting unit number, should determine the range resolution of radar and the size of target.
The range resolution of radar is with " δ R=c/ (2* Δ is f) " definition, and wherein, " c " is light beam, with" c=3x10^8m/s " definition, " Δ f " represents frequency bandwidth, when " Δ f " is 200MHz and 500When MHz, be respectively 0.75m and 0.3m as " the δ R " of range resolution.
Fig. 4 is the acquisition probability that is presented at the increase radar signal of one embodiment of the inventionIn method, according to the figure of the state of range distribution deviation and target range decision detecting unit number.
As shown in Figure 4, in the situation that being considered as target vehicle width and being 3m, range distribution deviation existsDuring apart from 1m, start with 0.8m, distance more increases, and range distribution deviation more reduces, detecting unitNumber and the increase of distance reduce inversely.
On the other hand, the number of described detecting unit can be according to " (range distribution deviation/Range resolutionPower)+1 " calculate and determine, determine as removing the number below decimal point, minimum detection unitNumber be 1, maximum number because of range resolution and target and distance different.
Next,, with reference to the flow chart of Fig. 5, describe increase radar of the present invention as constructed as above in detailThe action of the method for the acquisition probability of signal.
Fig. 5 is the method for the acquisition probability of the increase radar signal of explanation one embodiment of the inventionThe flow chart of action.
First, by ranging data acceptance division 10, from radar transmission range data (S10), according toThe index determining according to distance, is arranged in the ranging data of inputting described ranging data acceptance division 10Register 20 (S11).
Under this state, sliding window 30 is by the sliding window scanning of described register 20, according to correspondingThe index of register 20 determines the number (S12) for the detecting unit (t0～tn) of target detection, detectsCell-average device 40 averages processing (S13) to described multiple detecting units (t0～tn).
Meanwhile, described sliding window 30 is by the sliding window scanning of described register 20, according to phaseAnswer the index of register 20, the data of unit scope before described detecting unit are appointed as to the 1st ginsengExamine unit (v0～vn), determine the number of the 1st reference unit, meanwhile, after described detecting unitThe data of unit scope are appointed as the 2nd reference unit (w0～wn), determine the number of the 2nd reference unit(S14)。
In addition, 42,44 pairs of described the 1st reference units (v0～vn) of the 1st and the 2nd reference unit equalization deviceData, described the 2nd reference unit (w0～wn) data average respectively processing (S15), subtracter50 pairs of the 1st reference units and the 2nd from the described the 1st and the 2nd reference unit equalization device 42,44Reference unit carries out subtraction processing, carries out the sameization place with described detecting unit (t0～tn) numberReason (S16).
Then, 60 of multipliers obtain the reference unit of sameization processing by described subtracter 50,With multiply each other from the proportionality constant of proportionality constant generator 70 and export (S17).
On the other hand, comparator 80 is the multiple inspections that obtain to handle averagely in described S13 stepMeasurement unit and obtains multiplying processing by described multiplier 60 in described S17 stepReference unit compares respectively (S18).
Under this state, described comparator 80, by the comparison of data, judges that described detection is singleMetadata values, whether than reference unit large (S19), compares reference unit if be judged as described detecting unitGreatly, determination processing is target data (S20), and described detecting unit data are stored as target dataIn destination register 90 (S21).
On the contrary, the judged result of described S19 step, if be judged as the data value of described detecting unitThere is the value less than reference unit, using described detecting unit data as noise treatment (S22).
On the other hand, in the present invention as constructed as above, according to distance respectively differently application detect singleThe number of unit, is not confined to closely, but and range-independence, as long as can guarantee homogeneousDetection performance.
In addition, the present invention not only can be applied to CA-CFAR, OS-CFAR, can also be applied toThere are all CFAR of complex function or the improved variform of performance.
The present invention is illustrated taking embodiment shown in the drawings as reference, but this is example, underThose skilled in the art will be understood that, can produce thus various deformation and other impartial enforcementExample. Therefore, technical protection scope of the present invention should be determined by following claims.
Claims (4)
1. a method that increases the acquisition probability of radar signal, is characterized in that, comprising:
Alignment step, after the ranging data (RangeData) of input radar signal, register is with distanceFor index, with cell data form array data position;
Given step, sliding window (SlidingWindow) scans described register, specify at least one withOn detecting unit (TestCell), specify at least more than one reference unit (ReferenceCell);
Comparison step, comparator is the data value of more described detecting unit and described reference unit respectively;And
Treatment step, according to the comparative result of described comparator, larger than described reference unit data valueDescribed detecting unit be judged to be target data, being worth little described detection than described reference unit dataUnit is as noise treatment;
In the step of described designated reference unit, described sliding window is according to " (range distribution deviation/distanceFrom resolving power)+1 " number of described detecting unit determined; Described range distribution deviation refers to from radarTill the difference between the distance of target's center and the distance from radar to object edge.
2. the method for the acquisition probability of increase radar signal according to claim 1, its spyLevy and be,
The step of described designated reference unit comprises:
Detecting unit to handle averagely step, detecting unit equalization device is to described at least more than oneDetecting unit averages processing; And
Reference unit to handle averagely step, reference unit equalization device is to described at least more than oneReference unit averages processing.
3. the method for the acquisition probability of increase radar signal according to claim 2, its spyLevy and be,
In the step of described designated reference unit, described sliding window is at least more than one described inspectionThe cell data of unit scope is appointed as the 1st reference unit before measurement unit, at least more than oneAfter described detecting unit, the cell data of unit scope is appointed as the 2nd reference unit;
The step of described designated reference unit also comprises:
The the 1st and the 2nd reference unit to handle averagely step, the 1st and the 2nd reference unit equalization deviceDescribed the 1st reference unit and the 2nd reference unit undertaken are separately averaged respectively to processing;
Sameization treatment step, subtracter subtracts described the 1st reference unit and the 2nd reference unitMethod computing, carries out and described at least more than one the sameization processing of detecting unit number; And
Multiplying treatment step, is applied to the reference list through described sameization processing proportionality constantUnit, carries out multiplying processing.
4. the method for the acquisition probability of increase radar signal according to claim 1, its spyLevy and be,
In the step of described designated reference unit, described range resolution is according to " the light of radar signalBundle/(2* frequency bandwidth) " define.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2012-0139877 | 2012-12-04 | ||
| KR1020120139877A KR20140071828A (en) | 2012-12-04 | 2012-12-04 | Method for Increasing Target Detection Ratio of Radar Signal |
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| CN103852747A CN103852747A (en) | 2014-06-11 |
| CN103852747B true CN103852747B (en) | 2016-05-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104765035A (en) * | 2015-03-23 | 2015-07-08 | 王方圆 | Car anti-collision radar signal processing device |
| KR102074373B1 (en) * | 2018-01-29 | 2020-02-06 | (주)스마트레이더시스템 | Method and Apparatus for Radar Signal Processing Using Recurrent Neural Network |
| KR101975462B1 (en) * | 2018-06-14 | 2019-05-07 | 엘아이지넥스원 주식회사 | Method and Apparatus for Processing Radar Received Signal Based on Multi-Pulse Compression |
| US11852750B2 (en) | 2019-06-28 | 2023-12-26 | Smart Radar System, Inc. | Method and apparatus for radar signal processing using recurrent neural network |
| CN113836029A (en) * | 2021-09-29 | 2021-12-24 | 中汽创智科技有限公司 | Method and device for testing performance of millimeter wave radar, storage medium and terminal |
| CN115877342B (en) * | 2023-01-09 | 2023-08-18 | 江苏途索海洋技术服务有限公司 | Target object determination method, device and equipment |
| CN116643248B (en) * | 2023-07-26 | 2023-11-14 | 成都航空职业技术学院 | Constant false alarm detection method, storage medium and equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4213127A (en) * | 1979-01-31 | 1980-07-15 | The United States Of America As Represented By The Secretary Of The Air Force | Doubly adaptive CFAR apparatus |
| CN101833084A (en) * | 2010-05-05 | 2010-09-15 | 北京航空航天大学 | DSP-based high speed constant false alarm rate detector and detection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60144678A (en) * | 1984-01-09 | 1985-07-31 | Mitsubishi Electric Corp | Signal detector |
| KR101135982B1 (en) * | 2010-04-14 | 2012-04-17 | 국방과학연구소 | Synchronization method of radar systems for the rejection of interference in FMCW radars |
| KR101109150B1 (en) * | 2010-07-26 | 2012-02-24 | 재단법인대구경북과학기술원 | Os-cfar detection method which stimulated computational complexity |
-
2012
- 2012-12-04 KR KR1020120139877A patent/KR20140071828A/en not_active Application Discontinuation
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4213127A (en) * | 1979-01-31 | 1980-07-15 | The United States Of America As Represented By The Secretary Of The Air Force | Doubly adaptive CFAR apparatus |
| CN101833084A (en) * | 2010-05-05 | 2010-09-15 | 北京航空航天大学 | DSP-based high speed constant false alarm rate detector and detection method thereof |
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| KR20140071828A (en) | 2014-06-12 |
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