CN104133197A - Rain and snow clutter suppression method based on moving summation deviation and STC - Google Patents
Rain and snow clutter suppression method based on moving summation deviation and STC Download PDFInfo
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- CN104133197A CN104133197A CN201410375937.7A CN201410375937A CN104133197A CN 104133197 A CN104133197 A CN 104133197A CN 201410375937 A CN201410375937 A CN 201410375937A CN 104133197 A CN104133197 A CN 104133197A
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- echo data
- sleet
- summation
- stc
- mobile
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Classifications
-
- 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
- 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
- G01S7/2928—Random or non-synchronous interference pulse cancellers
-
- 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
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
Abstract
The invention discloses a rain and snow clutter suppression method based on a moving summation deviation and STC. The method includes the following steps that 1, rain and snow clutter suppression working parameters are determined; 2, the range resolution of echo data is obtained according to the range detected by an navigation radar target determined in the step 1; 3, the data length of the moving summation deviation is obtained according to rain and snow clutter suppression gains determined in the step 1; 4, a normalized moving summation deviation coefficient of each echo datum is calculated; 5, each echo datum is weighted through the corresponding normalized moving summation deviation coefficient obtained through calculation to obtain a new echo datum range; 6, STC weighting values corresponding to the echo data are calculated out; 7, rain and snow clutter suppression is finished through judgment and comparison. By means of the rain and snow clutter suppression method, the rain and snow clutter suppression effect can be improved, processing time is shortened, and the applicability and effectiveness of the suppression method are improved.
Description
Technical field
The present invention relates to marine navigation radar field, be specifically related to a kind of sleet disturbance restraining method based on mobile summation deviation and STC control.
Background technology
Marine navigation radar is as one of navigator of marine vessel indispensability, and it is all Radar Design personnel's focal point that radar clutter disturbs all the time.For ship-navigation radar, radar clutter mainly comprises sleet interference, wave interference, radar co-channel interference and the interference of radar internal noise etc., and these all can bring adverse effect to the detection identification of target.It is the necessary functions of marine navigation radar that sleet disturbs inhibition.It is mainly that the sleet that receives radar return data is disturbed and decomposes, weakens that sleet interference suppresses, and realizes the radar inhibition of dense sleet interference across the sea, makes sleet not affect the judgement of radar user of service to effective target.Current sleet disturbance restraining method mainly contains median filter method and STC controls.Medium filtering, by radar return is carried out to medium filtering, is rejected the interference of pulsed clutter, reduces the false-alarm probability of discrete point, reaches and suppresses the object that sleet disturbs.Another kind method is to utilize the stronger feature of sleet interference distance its reflection characteristic far away, and echo data is carried out to STC control, cuts down the amplitude that sleet disturbs, and suppresses sleet and disturbs.Median filter method has certain effect to discrete point, but detection display result and unfiltered front relatively variation are larger, and does not take into full account the characteristic that sleet disturbs, and operand is excessive simultaneously.STC controls the amplitude characteristic of the sleet interference of only considering, to sleet, interference has certain inhibition, but does not consider the distribution difference of target and clutter.
Summary of the invention
The object of the present invention is to provide a kind of sleet disturbance restraining method based on mobile summation deviation and STC control, solve current sleet disturbance restraining method and do not take into full account the characteristic that sleet disturbs, operand is excessive, or do not consider the distribution difference of target and clutter, the problem that inhibition is general.
The present invention for achieving the above object, realizes by the following technical solutions: a kind of sleet disturbance restraining method based on mobile summation deviation and STC control, is characterized in that: comprise the following steps:
Step 1: determine that sleet disturbs inhibition running parameter, described running parameter comprises that the range of navar target detection, sleet disturb mode of operation, intensity and the gain suppressing;
Step 2: according to the range of navar target detection definite in step 1, draw the range resolution of echo data, the computing formula of range resolution is:
；
In formula,
represent range resolution,
represent current effect range,
represent range unit number, by front end signal, process and obtain;
Step 3: disturb and suppress gain according to sleet definite in step 1, draw mobile summation deviation data length, its computing formula is:
；
In formula,
represent mobile summation deviation data length,
represent that sleet disturbs inhibition gain,
represent that sleet disturbs inhibition strength, round () is the operational symbol that rounds up, and obtains round values;
Step 4: summation Z-factor is moved in the normalization of calculating each echo data, wherein the normalization of i echo data move summation Z-factor be D (i),
;
Step 5: utilize the normalization calculating to move summation Z-factor D (i), each echo data is weighted and obtains new echo data amplitude, wherein the weighted calculation formula of i echo data is:
；
In formula, S (i) represents the original amplitude of i echo data,
represent i the amplitude that echo data is new,
;
Step 6: calculate the STC weighted value that each echo data is corresponding, wherein the computing formula of the STC weighted value STC (i) of i data can be expressed as:
；
In formula, log10 (.) is 10 be the end logarithm operation symbols,
for maximum effect range, a is gain spacing, and b is logarithm operation multiple,
;
Step 7: judgement relatively completes sleet and disturbs inhibition.
Further, the detailed process of described step 4 is:
(41) first calculate the original amplitude summation of whole echo data:
;
In formula,
represent the original amplitude summation of echo data,
the original amplitude that represents i echo data;
(42) according to the mobile summation deviation data length of step 3
, calculate the mobile summing value of each echo data, wherein the computing formula of the mobile summing value of i echo data is:
；
Wherein,
the mobile summing value that represents i the original amplitude of echo data,
the original amplitude that represents n echo data;
(43) obtain the mobile summation Z-factor of each echo data, wherein the mobile summation Z-factor of i echo data is
, its computing formula is:
；
(44) the more mobile summation Z-factor of each echo data is normalized, obtains normalization and move summation Z-factor, wherein to move the Z-factor of suing for peace be D (i) in the normalization of i echo data, and its computing formula is:
；
Wherein,
, by the vector that summation Z-factor forms that moves of each echo data, max () is maximum operator, represents amount of orientation
in maximal value.
Further, the detailed process of described step 7 is:
(71) utilize new echo data amplitude vector
carry out the detection of CFAR algorithm (
), obtain the detection threshold of each echo data, wherein the detection threshold of i echo data be T (i) (
), its formula can be expressed as:
；
Wherein, Z (i) is the decision value of i definite data of CFAR detection algorithm,
for the caling factort that corresponding detection algorithm false-alarm probability forms, concrete numerical value determine method can reference book < < radar handbook > > and < < radar automatically detect with CFAR and process > >;
(72) utilize the STC weighted value that step 6 obtains to be weighted the detection threshold of each echo data, wherein the weighted calculation formula of the detection threshold T of i echo data (i) is:
；
(73) finally by newer the range value S_new (i) of echo data and the weighted value T_new (i) of detection threshold, complete sleet and disturb the relatively judgement suppressing, wherein the judgement comparison formula of i new echo data amplitude is:
；
The court verdict that wherein Res (i) is i data.
The present invention compared with prior art, has the following advantages and beneficial effect:
(1) the present invention takes full advantage of ulotrichy distribution character and the distance that sleet disturbs and far disturbs more serious amplitude characteristic, by the movement deviation processing echo data of suing for peace, to sleet, disturb floccose distribution character to suppress, the amplitude distribution characteristic of simultaneously utilizing STC curve controlled to disturb sleet suppresses, make mobile summation deviation and the effective combination of STC curve controlled, finally reach and suppress the object that sleet disturbs.Mobile summation deviation processing and STC curve controlled regulate parameter various, by regulating parameter effectively to suppress sleet, disturb, and make the loss of target less, a little less than generally first selecting sleet to disturb inhibition strength, then regulate to disturb and suppress gain, if can not meet inhibition requirement, heighten again interference inhibition strength, adjust to disturb simultaneously and suppress gain, until the target in precipitation clutter interference is manifested, reach clutter and suppress object.
(2) the whole algorithm of the present invention can complete to disturb with simple calculations by tabling look-up and suppress, avoided complicated mathematical operation (logarithm operation), can on digital signal processor, realize fast, and during relevant control parameter constant, can control curve without double counting STC, further save the processing time, improved applicability and the validity of inhibition method.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention;
Fig. 2 is that sleet disturbs the detection figure before suppressing;
Fig. 3 is that sleet disturbs the detection figure after suppressing.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment:
As shown in Figure 1, a kind of sleet disturbance restraining method of controlling based on mobile summation deviation and STC described in the present embodiment, is characterized in that: comprise the following steps:
Step 1: determine that sleet disturbs inhibition running parameter, described running parameter comprises that the range of navar target detection, sleet disturb mode of operation, intensity and the gain suppressing, and sleet interference suppresses mode of operation and is divided into: manual, automatic two grades; Intensity is divided into: strong, in, weak third gear; Gain represents that clutter suppresses the degree of depth; During automatic mode, gaining non-adjustable, is a fixed value, for example 50, during manual mode, gain adjustable; When gain is 0, do not carry out sleet and disturb inhibition;
Step 2: according to the range of navar target detection definite in step 1, draw the range resolution of echo data, the computing formula of range resolution is:
；
In formula,
represent range resolution,
represent current effect range,
represent range unit number, so-called range unit number, is the echo quantity in this operating distance, and because range resolution and current effect range all can be read by radar equipment, their numerical value can be used as knownly, can show that thus range unit counts N
ran;
Step 3: disturb and suppress gain according to sleet definite in step 1, draw mobile summation deviation data length, its computing formula is:
；
In formula,
represent mobile summation deviation data length,
represent that sleet disturbs inhibition gain,
represent that sleet disturbs inhibition strength, round () is the operational symbol that rounds up, and obtains round values, due to Gain, Deep, N
ranbe known or indirectly can obtain, so this step can be obtained mobile summation deviation data length;
Step 4: summation Z-factor D (i) is moved in the normalization of calculating each echo data, first calculates the original amplitude summation of whole echo data:
;
In formula,
represent the original amplitude summation of echo data,
the original amplitude that represents i echo data, N
ranrepresent range unit number;
Then, according to the mobile summation deviation data length of step 3
, calculate the mobile summing value of each echo data, wherein the computing formula of the mobile summing value of i echo data is:
；
Wherein,
the mobile summing value that represents i the original amplitude of echo data,
the original amplitude that represents n echo data,
large I by radar equipment, directly read;
Next obtains the mobile summation Z-factor of each echo data, and wherein the mobile summation Z-factor of i echo data is
, its computing formula is:
；
The mobile summation Z-factor of each echo data is normalized again, obtains normalization and move summation Z-factor D (i), wherein to move the Z-factor of suing for peace be D (i) in the normalization of i echo data, and its computing formula is:
；
Wherein,
, by the vector that summation Z-factor forms that moves of each echo data, max () is maximum operator, represents amount of orientation
in maximal value.
Step 5: utilize the normalization calculating to move summation Z-factor D (i), each echo data is weighted and obtains new echo data amplitude, wherein the weighted calculation formula of i echo data is:
；
In formula, S (i) represents the original amplitude of i echo data,
represent i the amplitude that echo data is new,
;
Step 6: calculate the STC weighted value that each echo data is corresponding, wherein the computing formula of the STC weighted value STC (i) of i data can be expressed as:
In formula, log10 (.) is 10 be the end logarithm operation symbols,
for maximum effect range,
be 0 to arrive
between a certain numerical value, a for gain spacing, b is logarithm operation multiple; A, b disturb inhibition strength and common adjusting of testing result to determine according to different sleet, total definite mode is that a, b disturb the increase of inhibition strength to increase, occurrence disturbs inhibition situation to determine by radar actual measurement to sleet, once be one group of fixed value after determining, and for example, when to disturb inhibition strength be weak a=1, b=1, a=2 when interference inhibition strength is middle, b=2, a=3 when interference inhibition strength is strong, b=3, is applicable to all scenes; When STC weighted value computational engineering is realized, log10 (i) can obtain by tabling look-up, log10 (Resolution) and log10 (R
max) be fixed value, can reduce operand.
Step 7: judgement relatively completes sleet and disturbs inhibition, and its detailed process is as follows: utilize new echo data amplitude vector
carry out the detection of CFAR algorithm (
), obtain the detection threshold of each echo data, wherein the detection threshold of i echo data be T (i) (
),, its formula can be expressed as:
；
Wherein, Z (i) is the decision value of i definite data of CFAR detection algorithm,
caling factort for corresponding detection algorithm false-alarm probability formation, it is a kind of of CFAR detection that CFAR detects, the formula that this step relates to and parameter are existing method and can obtain, specifically can reference book < < radar handbook > > and < < radar automatically detect with CFAR and process > >, at this, just repeat no more;
Then utilize the STC weighted value that step 6 obtains to be weighted the detection threshold of each echo data, wherein the weighted calculation formula of the detection threshold T of i echo data (i) is:
；
Finally, by newer the range value S_new (i) of echo data and the weighted value T_new (i) of detection threshold, complete sleet and disturb the relatively judgement suppressing, wherein the judgement comparison formula of i new echo data amplitude is:
；
The court verdict that wherein Res (i) is i data.
Be respectively as shown in Figure 2 and Figure 3 sleet interference and suppress the detections of radar result after front and inhibition, by relatively can obviously finding out, after this method inhibition sleet disturbs, can effectively remove noise jamming, target is more clearly manifested.
In the present embodiment, adopt the method for mobile summation deviation to process echo data, when there is large stretch of continuously strong echo, the attenuation ratio of mobile summation Z-factor is more serious, and then continuously strong echo is weakened, the ulotrichy distribution character that can disturb sleet plays good inhibiting effect, on the other hand, STC curve controlled is less to detection threshold weighting nearby, increase along with distance, its weighted value increases gradually, for sleet interference distance more serious amplitude distribution characteristic more far away, played good inhibiting effect, effective combination of mobile summation deviation and STC curve controlled, sleet is disturbed and suppress to have obtained significant effect, can effectively make target display from precipitation clutter, in addition, the calculating that the present embodiment relates to is relatively simple, can on digital signal processor, realize fast, and, when the control parameter described in step 1 remains unchanged, can control curve without double counting STC, further save the processing time, improve applicability and the validity of inhibition method.
The above, be only preferred embodiment of the present invention, not the present invention done to any pro forma restriction, and any simple modification, equivalent variations that every foundation technical spirit of the present invention is done above embodiment, within all falling into protection scope of the present invention.
Claims (3)
1. a sleet disturbance restraining method of controlling based on mobile summation deviation and STC, is characterized in that: comprise the following steps:
Step 1: determine that sleet disturbs inhibition running parameter, described running parameter comprises that the range of navar target detection, sleet disturb mode of operation, intensity and the gain suppressing;
Step 2: according to the range of navar target detection definite in step 1, draw the range resolution of echo data, the computing formula of range resolution is:
；
In formula,
represent range resolution,
represent current effect range,
represent range unit number, by front end signal, process and obtain;
Step 3: disturb and suppress gain according to sleet definite in step 1, draw mobile summation deviation data length, its computing formula is:
；
In formula,
represent mobile summation deviation data length,
represent that sleet disturbs inhibition gain,
represent that sleet disturbs inhibition strength, round () is the operational symbol that rounds up, and obtains round values;
Step 4: summation Z-factor is moved in the normalization of calculating each echo data, wherein the normalization of i echo data move summation Z-factor be D (i),
;
Step 5: utilize the normalization calculating to move summation Z-factor each echo data is weighted and obtains new echo data amplitude, wherein the weighted calculation formula of i echo data is:
；
In formula, S (i) represents the original amplitude of i echo data,
represent i the amplitude that echo data is new,
;
Step 6: calculate the STC weighted value that each echo data is corresponding, wherein the computing formula of the STC weighted value STC (i) of i data can be expressed as:
；
In formula, log10 (.) is 10 be the end logarithm operation symbols,
for maximum effect range, a is gain spacing, and b is logarithm operation multiple,
;
Step 7: judgement relatively completes sleet and disturbs inhibition.
2. a kind of sleet disturbance restraining method of controlling based on mobile summation deviation and STC according to claim 1, is characterized in that: the detailed process of described step 4 is:
(41) first calculate the original amplitude summation of whole echo data:
;
In formula,
represent the original amplitude summation of echo data,
the original amplitude that represents i echo data;
(42) according to the mobile summation deviation data length of step 3
, calculate the mobile summing value of each echo data, wherein the computing formula of the mobile summing value of i echo data is:
；
Wherein,
the mobile summing value that represents i the original amplitude of echo data,
the original amplitude that represents n echo data;
(43) obtain the mobile summation Z-factor of each echo data, wherein the mobile summation Z-factor of i echo data is
, its computing formula is:
；
(44) the more mobile summation Z-factor of each echo data is normalized, obtains normalization and move summation Z-factor, wherein to move the Z-factor of suing for peace be D (i) in the normalization of i echo data, and its computing formula is:
；
Wherein,
, by the vector that summation Z-factor forms that moves of each echo data, max () is maximum operator, represents amount of orientation
in maximal value.
3. a kind of sleet disturbance restraining method of controlling based on mobile summation deviation and STC according to claim 1, is characterized in that: the detailed process of described step 7 is:
(71) utilize new echo data amplitude vector
carry out the detection of CFAR algorithm (
), obtain the detection threshold of each echo data, wherein the detection threshold of i echo data be T (i) (
), its formula can be expressed as:
；
Wherein, Z (i) is the decision value of i definite data of CFAR detection algorithm,
for the caling factort that corresponding detection algorithm false-alarm probability forms, concrete numerical value determine method can reference book < < radar handbook > > and < < radar automatically detect with CFAR and process > >;
(72) utilize the STC weighted value that step 6 obtains to be weighted the detection threshold of each echo data, wherein the weighted calculation formula of the detection threshold T of i echo data (i) is:
；
(73) finally by newer the range value S_new (i) of echo data and the weighted value T_new (i) of detection threshold, complete sleet and disturb the relatively judgement suppressing, wherein the judgement comparison formula of i new echo data amplitude is:
；
The court verdict that wherein Res (i) is i data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410375937.7A CN104133197B (en) | 2014-08-01 | A kind of sleet disturbance restraining method controlled based on mobile summation deviation and STC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410375937.7A CN104133197B (en) | 2014-08-01 | A kind of sleet disturbance restraining method controlled based on mobile summation deviation and STC |
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|---|---|
| CN104133197A true CN104133197A (en) | 2014-11-05 |
| CN104133197B CN104133197B (en) | 2016-11-30 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090264142A1 (en) * | 2007-12-04 | 2009-10-22 | Nextwave Broadband Inc. | Intercell interference mitigation |
| CN102621547A (en) * | 2012-04-01 | 2012-08-01 | 上海圆舟电子科技有限公司 | Intelligent marine radar capable of adaptively adjusting multi-dimensional information fusion parameters and method for adaptively adjusting information fusion parameters |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090264142A1 (en) * | 2007-12-04 | 2009-10-22 | Nextwave Broadband Inc. | Intercell interference mitigation |
| CN102621547A (en) * | 2012-04-01 | 2012-08-01 | 上海圆舟电子科技有限公司 | Intelligent marine radar capable of adaptively adjusting multi-dimensional information fusion parameters and method for adaptively adjusting information fusion parameters |
Non-Patent Citations (2)
| Title |
|---|
| 周超 等: "STC单片机在高速数据采集和控制系统中的应用", 《长春师范学院学报（自然科学版）》, vol. 30, no. 2, 30 April 2011 (2011-04-30), pages 61 - 66 * |
| 姚元飞 等: "降低船用连续波雷达虚警概率的海杂波抑制方法", 《电讯技术》, vol. 53, no. 5, 31 May 2013 (2013-05-31), pages 592 - 596 * |
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