CN103959087B - 探地雷达的自适应干扰抑制 - Google Patents
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- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/347—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using more than one modulation frequency
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Abstract
基于步进频率的探地雷达和基于比较所接收的信号(1)与所述信号的经滤波的估计(4)来抑制来自其它附近发送器的干扰(2、3)的方法。如果单个频率的偏差满足给定的标准(5),则所接收的信号在该单个频率处由在所述单个频率处的相应的经滤波的信号(6、7)代替。
Description
技术领域
本发明涉及在来自步进频率探地雷达的数据的处理中抑制干扰信号的方法,以及具有实施所述方法的装置的步进频率探地雷达。
背景技术
探地雷达是将电磁波(无线电波)向下发送到地中并测量来自物体或地层的反射的一种雷达。为了实现良好的距离分辨率,探地雷达必须具有非常大的带宽。步进频率探地雷达通过发送出具有逐步增加的频率的信号来提供该带宽,并针对每个单独频率测量地响应。
从地的表面反射的信号非常弱,且因为探地雷达覆盖大的频率范围,所以来自其它源的干扰信号的概率是大的。用于移动通信的基站、广播发送器和通信电台都落在探地雷达的频率范围内,且可能因此干扰探地雷达。
在步进频率探地雷达的操作方式中一次只接收小频率范围,这将使得探地雷达只在步进频率雷达发送频率与干扰频率相对一致时被干扰。
发明内容
本发明的目的是抑制干扰信号,以便使其它附近的发送器在较小的程度上影响探地雷达。这通过利用步进频率雷达窄带接收器系统并自适应地移除干扰信号来实现。
附图说明
将参考附图更详细地解释本发明,其中:
图1示出具有根据频率给出的干扰的所接收的信号,以及同一信号的经滤波的近似,其中使用稳健估计以便滤波所述信号。
图2示出所接收的信号,其中利用用于移除干扰的方法。
图3示出雷达图像,其中来自附近发送器的干扰是清楚的。
图4示出基于与图2相同的信号的雷达图像,其中来自附近发送器的干扰明显减小。
具体实施方式
步进频率探地雷达通过在一段短时间内发送在给定频率的连续信号来工作。雷达的接收器被调节到确切地相同的频率,且因此将接收具有上述频率的信号,其为从地的不同部分所反射的所有信号的和。信号由接收器测量作为信号强度和相对相位。接着,发送器和接收器改变频率,且针对新频率重复相同的过程。这以小的频率步进重复,直到探地雷达的整个带宽被覆盖。对于所使用的每个频率,接收器现在留有针对所有频率步进的信号强度和相对相位。因为针对每个频率测量总反射信号,所以这包括如图1所示的地频率响应(1)。为了建立雷达图像,该频率响应必须例如借助于傅立叶变换来变换成时间响应。当雷达沿着地移动时,该过程重复,以便形成如图3和4所示的雷达图像。
在图1中,针对使用步进频率探地雷达所接收的信号,示出信号强度(1)。雷达的频率范围从大约100MHz到大约2900MHz,换句话说,接近3GHz的总带宽。除了从地所反射的信号以外,信号还包括来自两个其它源的干扰。干扰信号(2)位于大约900MHz处,且另一干扰信号(3)在大约2100MHz处。图3示出在具有这些干扰源的情况下的作为结果的雷达图像。步进频率雷达对干扰是基本上相对稳健的,因为干扰将只妨碍所接收的信号的小部分。尽管如此,来自两个发送器的干扰在雷达图像中无疑是明显的。干扰被显示为垂直频带。
与雷达宽的带宽比较,这些干扰信号可被认为具有相对窄的带宽。通过使用稳健频率窗,可产生所接收的信号强度和信号相位的经滤波的估计,其为没有干扰的、对信号的良好近似。图1示出经滤波的信号(4)的信号强度。值得注意的是,经滤波的信号自身不适合于产生雷达图像,因为频率响应中的所有较细微的细节消失了。
用于自适应地移除干扰的方法由下面的步骤组成:
a)确定频率的所测量的信号(1)何时由相同频率的经滤波的信号(4)代替的标准(5),其中所述标准基于被计算为在给定频率的所测量的信号(1)和经滤波的信号(4)之间的复微分的绝对值的偏差,其中所述标准(5)是下列项中的至少一个:
-偏差大于偏差的规定百分比P,或
-偏差大于中位偏差乘以因子K,其中所述中位偏差是偏差的中位数;
b)通过使探地雷达以离散的频率步进穿过期望带宽并测量所接收的信号(1)的信号强度和可选的相位来确定所测量的频率响应(1);
c)通过借助于稳健估计器滤波所测量的频率响应(1)来确定经滤波的频率响应(4);以及
d)通过对每个单独的频率实现下列操作来修改所测量的频率响应(1):计算偏差和如果满足在a)下确定的标准(5)则用相应的经滤波的信号(4)代替所测量的信号(1)。
在本发明的优选实施例中,P可具有在90-95%的范围内的值。此外,K可具有在3-5的范围内的值。
稳健估计器可包括滑动中值滤波器。该滑动中值滤波器可优选地具有在50-100MHz的范围内的带宽。
根据本发明的方法此外可包括通过将所修改的频率响应从频域变换到时域来计算时间响应。从频域到时域的所述变换可例如通过傅立叶逆变换来实现。
本发明还涉及步进频率探地雷达,其包括天线系统、数据处理设备和其它装置,其布置为实现如上所述的方法。
注释:
-如果在a)中的标准被选择为百分比P,则这意味着信号的多大一部分由经滤波的值代替的上限被设置(1-P)。
-如果在a)中的标准被选择成使得偏差大于中位偏差乘以因子K,则对于由经滤波的值代替的信号必须是多大偏差的下限被设置。
图2示出在具有最大偏差的数据点由经滤波的值(6、7)代替之后的所接收的信号。图4再现在信号根据该方法被滤波之后的图。垂直频带消失了,但没有明显影响重要的细节。在这些图中,使用在c)中提议的标准的组合。
Claims (8)
1.一种用于步进频率探地雷达的自适应地抑制干扰的方法,其中所述方法包括下面的步骤:
a)确定频率的所测量的信号(1)何时由相同频率的经滤波的信号(4)代替的标准(5),其中所述标准是基于被计算为在给定频率的所测量的信号(1)和经滤波的信号(4)之间的复微分的绝对值的偏差的,其中所述标准(5)是下列项中的至少一个:
-所述偏差大于偏差的规定百分比P,或
-所述偏差大于中位偏差乘以因子K,其中所述中位偏差是偏差的中位数;
b)通过使探地雷达以离散的频率步进穿过期望带宽并测量所接收的信号的信号强度和可选的相位来确定所测量的频率响应;
c)通过借助于稳健估计器滤波所测量的频率响应来确定经滤波的频率响应;以及
d)通过对每个单独的频率实现下列操作来修改所测量的频率响应:计算所述偏差和如果满足在a)下确定的所述标准(5)则用相应的经滤波的信号(4)代替所测量的信号(1)。
2.如权利要求1所述的方法,其中P具有在90%-95%的范围内的值。
3.如上述权利要求1或2所述的方法,其中K具有在3-5的范围内的值。
4.如上述权利要求1或2所述的方法,其中稳健估计器包括滑动中值滤波器。
5.如权利要求4所述的方法,其中所述滑动中值滤波器具有在50-100MHz的范围内的带宽。
6.如上述权利要求1或2所述的方法,包括通过将所修改的频率响应从频域变换到时域来计算时间响应。
7.如权利要求6所述的方法,其中从频域到时域的所述变换通过傅立叶逆变换来实现。
8.一种步进频率探地雷达,包括天线系统、数据处理设备和其他装置,其中
所述数据处理设备和其他装置被配置为确定频率的所测量的信号(1)何时由相同频率的经滤波的信号(4)代替的标准(5),其中所述标准是基于被计算为在给定频率的所测量的信号(1)和经滤波的信号(4)之间的复微分的绝对值的偏差的,其中所述标准(5)是下列项中的至少一个:
-所述偏差大于偏差的规定百分比P,或
-所述偏差大于中位偏差乘以因子K,其中所述中位偏差是偏差的中位数;
所述数据处理设备和其他装置被配置为通过使探地雷达以离散的频率步进穿过期望带宽并测量所接收的信号的信号强度和可选的相位来确定所测量的频率响应;
所述数据处理设备和其他装置还被配置为通过借助于稳健估计器滤波所测量的频率响应来确定经滤波的频率响应;以及
所述数据处理设备和其他装置被配置为通过对每个单独的频率实现下列操作来修改所测量的频率响应:计算所述偏差和如果满足所述标准(5)则用相应的经滤波的信号(4)代替所测量的信号(1)。
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NO20111362A NO335171B1 (no) | 2011-10-07 | 2011-10-07 | Adaptiv interferensundertrykkelse for georadar |
NO20111362 | 2011-10-07 | ||
PCT/NO2012/050192 WO2013051944A1 (en) | 2011-10-07 | 2012-10-04 | Adaptive interference suppression for georadar |
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DE102012202975B4 (de) * | 2012-02-28 | 2024-02-08 | Robert Bosch Gmbh | Verfahren zur Umfelderkennung sowie Fahrassistenzsystem |
DE102014114110A1 (de) * | 2014-09-29 | 2016-03-31 | Hella Kgaa Hueck & Co. | Radarsensor |
CN104678368B (zh) * | 2015-02-16 | 2017-03-22 | 零八一电子集团有限公司 | 一维相扫三坐标雷达空域自适应干扰抑制方法 |
CN105116388A (zh) * | 2015-08-12 | 2015-12-02 | 西安电子科技大学 | 基于鲁棒主成分分析的天波超视距雷达瞬态干扰抑制方法 |
KR101783776B1 (ko) * | 2016-04-12 | 2017-10-10 | 국방과학연구소 | 초광대역 지면 투과 레이더 기반 지뢰 탐지 정보추출용 영상 가시화 변환 방법 |
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CN103959087A (zh) | 2014-07-30 |
NO20111362A1 (no) | 2013-04-08 |
EP2764379A1 (en) | 2014-08-13 |
AU2012319273A1 (en) | 2014-03-06 |
JP5926389B2 (ja) | 2016-05-25 |
JP2014531603A (ja) | 2014-11-27 |
AU2012319273B2 (en) | 2016-12-15 |
EP2764379A4 (en) | 2015-05-27 |
NO335171B1 (no) | 2014-10-13 |
WO2013051944A1 (en) | 2013-04-11 |
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