CN104215951A - System and method for detecting low-speed small target under sea cluster background - Google Patents
System and method for detecting low-speed small target under sea cluster background Download PDFInfo
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- CN104215951A CN104215951A CN201410412033.7A CN201410412033A CN104215951A CN 104215951 A CN104215951 A CN 104215951A CN 201410412033 A CN201410412033 A CN 201410412033A CN 104215951 A CN104215951 A CN 104215951A
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
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Abstract
The invention discloses a system and a method for detecting a low-speed small target under a sea cluster background. The method includes that S1, a radar transceiving unit acquires signals of the low-speed moving small target under the sea cluster background; S2, the radar transceiving unit sends received signals to a radar echo processing unit to be processed to generate radar echo data and sends the radar echo data to a detection unit; S3, the detection unit processes multiple continuous radar echoes and establishes corresponding time frequency domain two-dimension planar graphs to effectively eliminate false-alarm targets in different areas. The system and the method are suitable for detection of dim and small targets moving at low speed under sea cluster background interference during downward-looking detection of sea-surface targets through radar. By the system and the method, the problem of radar downward-looking detection of the low-speed moving small target under the sea cluster background can be solved; time frequency domain CFAR (constant false alarm rate) processing technology is adopted to decompose target echoes and sea cluster data to a time frequency domain two-dimension plane for processing.
Description
Technical field
The present invention relates to Radar Targets'Detection technology, be specifically related to a kind of under sea clutter background the detection system of Small object and detection method thereof at a slow speed.
Background technology
Existing radar system has more ripe detection method to high-speed motion Small object under Sea background.The difference on frequency domain according to high-speed motion Small object echo Doppler and sea clutter Doppler, realize target is in the detection of frequency domain dimension without clutter district.And the radar return Doppler of Weak target and sea clutter Doppler are all close to 0 at a slow speed, Small object echo will " be flooded " in sea clutter, affect the correct detection of radar system.
Wherein, one of prior art proposes a kind of BOS-CFAR object detection method, target under adopting biparametric detection mode to detect sea clutter background, be mainly used in rejecting sea stationary body (as oil well, steel tower etc.) interference, but do not prove that the method is to whether small target deteection is effective at a slow speed.This technology has only carried out simulation study to this CFAR detection (Constant False Alarm Rate is called for short CFAR) method in addition, does not carry out actual examination.
Wherein, two of prior art only compares K theoretically and distributes these two kinds of CFAR algorithms of CFAR and desirable CFAR to the detectability of Small object, and has only carried out simulation study, does not carry out actual verification.
Wherein, prior art three by the dopplerbroadening of echo and size discrimination sea clutter and Small object, need target to have movement velocity faster, for small target deteection is limited in one's ability at a slow speed.
Wherein, four of prior art adopts moving target detect (Moving Targets Detection, be called for short MTD) and frequency domain clutter map CFAR process resist sea clutter, require that detected target is rapid movement, be tie up from Doppler to distinguish target and clutter in essence, cannot correctly detect for Small object at a slow speed.
Wherein, five of prior art is being set up in time-frequency domain two-dimensional detection plane base, the average period of the sequence of calculation, according to the Weak target under target and the Difference test Sea background of sea clutter average period.The method needs target area to observe for a long time, and to obtain the prior imformations such as sea clutter average period, real-time is not good.
Summary of the invention
The object of the present invention is to provide a kind of under sea clutter background the detection system of Small object and detection method thereof at a slow speed, be applicable to radar under look detection sea-surface target time, to the Dim targets detection of the lower microinching of sea clutter background interference.The application looks the microinching Small object problem under detection sea clutter background under can solving radar, adopt time-frequency domain subregion CFAR treatment technology, target echo and sea clutter data decomposition are processed to time-frequency domain two dimensional surface.Radar system, according to the difference of object and background echo in time domain peacekeeping frequency domain dimension, adopts corresponding CFAR processing mode, realizes the detection of microinching Small object under sea clutter background.The present invention, on the basis of time frequency analysis, completes time-frequency subregion CFAR detection algorithm, flies helicopter follow-up check slowly under have passed outfield Sea background.
In order to achieve the above object, the present invention is achieved through the following technical solutions:
A detection system for Small object at a slow speed under sea clutter background, be characterized in, this detection system comprises:
Radar transmit-receive unit, detects and microinching Small object signal under obtaining sea clutter background;
Radar return processing unit, is connected with described radar transmit-receive unit output terminal;
Detecting unit, is connected with described radar return processing unit output terminal.
A detection method for Small object at a slow speed under sea clutter background, be characterized in, the method comprises following steps:
S1, radar transmit-receive unit obtains the microinching Small object signal under sea clutter background.
Preferably, described step S1 comprises following steps:
S1.1, described radar transmit-receive unit adopts the linear FM signal detection of a target, receives the LFM Echo signal of target reflection.
S2, Received signal strength is sent to radar return processing unit and carries out process generation radar return data by described radar transmit-receive unit, and radar return data are sent to detecting unit.
Preferably, described step S2 comprises following steps:
S2.1, described radar return processing unit receives the LFM Echo signal of the target reflection that described radar transmit-receive unit sends;
S2.2, the ideal linearity FM signal matched filtering in the LFM Echo signal that target reflects by this radar return processing unit and this radar return processing unit forms the pulse compression radar echo data with peaked shapes.
S3, the continuous multiple radar return data of described detecting unit process, and set up corresponding time-frequency domain 2 d plane picture, reject the false-alarm targets under zones of different, obtain the microinching Small object under sea clutter background.
Preferably, described step S3 comprises following steps:
S3.1, described detecting unit receives continuous multiple pulse compression radar echo datas that described radar return processing unit sends.
S3.2, described detecting unit adopts correlative accumulation technology multiple pulse compression radar echo data to be carried out radar return data after Fast Fourier Transform (FFT) process formation processing.
S3.3, described detecting unit sets up time-frequency domain two dimensional surface; And radar return data after described process are arranged in this time-frequency domain two dimensional surface.
S3.4, described time-frequency domain two dimensional surface is divided into low-speed detection region, high speed detection region by described detecting unit.
Preferably, described step S3.4 comprises following steps:
S3.4.1, according to described radar transmit-receive cell operation repetition frequency f
n, it is 0-f that described detecting unit sets described time-frequency domain two dimensional surface frequency domain scope
n.
S3.4.2, described detecting unit sets described time-frequency domain two dimensional surface frequency domain fibrillar center fc.
S3.4.3, described detecting unit, according to concrete sea situation, sets surveyed area border respectively, described time-frequency domain two dimensional surface is divided into low-speed detection region, high speed detection region.
In described step S3.4.3, when surveyed marine site is low sea situation, set high low speed surveyed area border f ＇ respectively
1, f ＇
2, then described time-frequency domain two dimensional surface is divided into low-speed detection region (0-f ＇ by detecting unit
1), (f ＇
2-f
n), high speed detection region (f ＇
1-f ＇
2);
In described step S3.4.3, when surveyed marine site is high sea situation, set high low speed surveyed area border f ＂ respectively
1, f ＂
2, then described time-frequency domain two dimensional surface is divided into low-speed detection region (0-f ＂ by detecting unit
1), (f ＂
2-f
n), high speed detection region (f ＂
1-f ＂
2).
S3.5, radar return data after described process are carried out the one-dimensional distance CFAR detection in low-speed detection region, the one dimension speed CFAR detection in high speed detection region by described detecting unit respectively, to judge after this process objectives position in described time-frequency domain two dimensional surface in radar return data.
Preferably, in described step S3.5, when radar return data after described detecting unit is by described process carry out the one-dimensional distance CFAR detection in low-speed detection region, described low-speed detection region is equidistantly divided into multiple frequency band region by described detecting unit, and radar return Data Placement after described process is M Range resolution unit x by described detecting unit
k(k=1,2 ... M);
As the resolution element x that adjusts the distance
kwhen processing, described detecting unit removes and x
kthe Range resolution unit x of adjacent both sides
k-1, x
k+1;
Described detecting unit forms two reference unit (x
1-x
k-1), (x
k+1, x
m), single to two references respectively
Unit carries out amplitude read group total:
Described detecting unit calculates detection threshold A according to formula
3:
A
3=D
0max (A
1, A
2); D
0--the CFAR detection thresholding of detecting unit setting;
Described detecting unit compares A
3with A (x
k) size, as A (x
k) be greater than A
3time, judge current detection unit x
kfor detecting target, detection of end; As A (x
k) be less than A
3time, judge current detection unit x
knon-detection target, judge other Range resolution unit of radar return data after described process, if when after described detecting unit judges all process, the Range resolution unit of radar return data is non-detection target, radar return data after described process are carried out the one dimension speed CFAR detection in high speed detection region by described detecting unit.
Preferably, in described step S3.5, when radar return data after described detecting unit is by described process carry out the one dimension speed CFAR detection in high speed detection region, described high speed detection region is equidistantly divided into multiple time period region by described detecting unit, and radar return Data Placement after described process is S speed resolution element y by described detecting unit
k(k=1,2 ... S);
When to speed resolution element y
kwhen processing, described detecting unit removes and y
kthe speed resolution element y of adjacent both sides
k-1, y
k+1;
Described detecting unit forms two reference unit (y
1-y
k-1), (y
k+1, y
s), respectively amplitude read group total is carried out to two reference units:
Described detecting unit calculates detection threshold A according to formula
3:
A
3=D
0max (A
1, A
2); D
0--the CFAR detection thresholding of detecting unit setting;
Described detecting unit compares A
3with A (y
k) size, as A (y
k) be greater than A
3time, judge current detection unit y
kfor detecting target, detection of end; As A (y
k) be less than A
3time, judge current detection unit y
knon-detection target, judge other speed resolution elements of radar return data after described process, if when after described detecting unit judges all process, the speed resolution element of radar return data is non-detection target, radar return data after described process are carried out the one-dimensional distance CFAR detection in low-speed detection region by described detecting unit.
The present invention compared with prior art has the following advantages:
The present invention can solve the detection problem of radar system to microinching object under sea clutter, effectively suppresses sea clutter false-alarm, improves Dim targets detection probability at a slow speed, expands the range of application of radar system.This invention has been successfully applied in certain model radar system, and under have passed Sea background, the outfield of slower flight Helicopter Target, with flying checking, has engineering realizability.
Accompanying drawing explanation
Fig. 1 is the overall flow figure of a kind of detection method of Small object at a slow speed under sea clutter background of the present invention.
Fig. 2 is one of the embodiment schematic diagram of a kind of detection method of Small object at a slow speed under sea clutter background of the present invention.
Fig. 3 a is the embodiment schematic diagram two of a kind of detection method of Small object at a slow speed under sea clutter background of the present invention.
Fig. 3 b is the embodiment schematic diagram three of a kind of detection method of Small object at a slow speed under sea clutter background of the present invention.
Fig. 4 is the embodiment schematic diagram four of a kind of detection method of Small object at a slow speed under sea clutter background of the present invention.
Fig. 5 is the embodiment schematic diagram five of a kind of detection method of Small object at a slow speed under sea clutter background of the present invention.
Fig. 6 is the embodiment schematic diagram six of a kind of detection method of Small object at a slow speed under sea clutter background of the present invention.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
A detection system for Small object at a slow speed under sea clutter background, this detection system comprises: for detecting and the radar transmit-receive unit of microinching Small object signal under obtaining sea clutter background; The radar return processing unit be connected with radar transmit-receive unit output terminal; The detecting unit be connected with radar return processing unit output terminal.
In the present embodiment, model is adopted to be that the data processor of ADSP-TS201 is as radar return processing unit, detecting unit respectively.
As shown in Figure 1, a kind of detection method of Small object at a slow speed under sea clutter background, the method comprises following steps:
S1, radar transmit-receive unit obtains the microinching Small object signal under sea clutter background.
Preferably, step S1 comprises following steps:
S1.1, radar transmit-receive unit adopts the linear FM signal detection of a target, receives the LFM Echo signal of target reflection.In the present invention, when looking detection sea-surface target under radar transmit-receive unit, broadband emission will be adopted to receive treatment technology, higher time domain resolution characteristic can be had.Sea clutter area can be effectively reduced, reduce clutter energy to the impact of target detection.Broadband emission receives wide-bandwidth product acquisition of signal target when process need adopt large, and typical signal form is linear frequency modulation (Linear Frequency Modulation is called for short LFM) signal.Be broad pulse during transmitting, possess comparatively macro-energy, improve radar transmit-receive unit operating distance.
S2, Received signal strength is sent to radar return processing unit and carries out process generation radar return data by radar transmit-receive unit, and radar return data are sent to detecting unit.
Preferably, step S2 comprises following steps:
S2.1, the LFM Echo signal of the target reflection that radar return processing unit receiving radar sends.
S2.2, the ideal linearity FM signal matched filtering in the LFM Echo signal that target reflects by this radar return processing unit and this radar return processing unit forms the pulse compression radar echo data with peaked shapes.
As shown in Figure 2, after the LFM echoed signal that the target received reflects by radar return processing unit, by the LFM Signal Matching filtering with radar system middle ideal, by broad pulse boil down to burst pulse, be also the pulse compression waveform of peaked shapes; While making to obtain high resolution range signal, improve the signal to noise ratio of echo.
S3, the continuous multiple radar return data of detecting unit process, and set up corresponding time-frequency domain 2 d plane picture, reject the false-alarm targets under zones of different, obtain the microinching Small object under sea clutter background.This step S3 comprises following steps:
S3.1, continuous multiple pulse compression radar echo datas that detecting unit receiving radar echo data processing unit sends.
S3.2, detecting unit adopts correlative accumulation technology multiple pulse compression radar echo data to be carried out radar return data after Fast Fourier Transform (FFT) process formation processing.
As shown in Figure 3 a, process of pulse-compression is carried out to continuous Z pulse compression radar echo data, obtain Z spike waveform.After being alignd in the forward position of above multiple pulse, pulse compression radar echo data in units of the time, is divided into multiple Range resolution unit of equal time section by detecting unit.Z point quick Fourier conversion process is done to the Z point data in each Range resolution unit, sets up time-frequency domain two-dimensional detection plane, realize the correlative accumulation of Z pulse, improve echo signal to noise ratio further, and radar return data after formation processing.
S3.3, detecting unit sets up time-frequency domain two dimensional surface; And radar return data after process are arranged in this time-frequency domain two dimensional surface.
As shown in Figure 3 b, radar return data after process are arranged in time-frequency domain two dimensional surface by detecting unit.
S3.4, time-frequency domain two dimensional surface is divided into low-speed detection region, high speed detection region by detecting unit.
Preferably, step S3.4 comprises following steps:
S3.4.1, according to radar work repetition frequency f
n, detecting unit setting time-frequency domain two dimensional surface frequency domain scope is 0-f
n.
S3.4.2, detecting unit setting time-frequency domain two dimensional surface frequency domain fibrillar center fc.
S3.4.3, detecting unit, according to concrete sea situation, sets surveyed area border respectively, time-frequency domain two dimensional surface is divided into low-speed detection region, high speed detection region.
In step S3.4.3, when surveyed marine site is low sea situation, set high low speed surveyed area border f ＇ respectively
1, f ＇
2, then described time-frequency domain two dimensional surface is divided into low-speed detection region (0-f ＇ by detecting unit
1), (f ＇
2-f
n), high speed detection region (f ＇
1-f ＇
2).
In the present embodiment, under low sea situation, f ＇
1=250Hz, f ＇
2=3750Hz, f
n=4000Hz.Wherein, f
nsize relevant with radar work repetition frequency, with concrete sea situation have nothing to do.Under low sea situation, f ＇
1close to 0 frequency, f ＇
2from f
nclosely.
In described step S3.4.3, when surveyed marine site is high sea situation, set high low speed surveyed area border f ＂ respectively
1, f ＂
2, then described time-frequency domain two dimensional surface is divided into low-speed detection region (0-f ＂ by detecting unit
1), (f ＂
2-f
n), high speed detection region (f ＂
1-f ＂
2).
In the present embodiment, under high sea situation, f ＂
1=1250Hz, f ＂
2=2750Hz, f
n=4000Hz.Wherein, f
nsize relevant with radar work repetition frequency, with concrete sea situation have nothing to do.Under high sea situation, f ＂
1away from 0 frequency, f ＂
2from f
nfar.
In the present embodiment, f ＇
1, f ＇
2, f ＂
1, f ＂
2after the test of research of radar stage obtains, can be solidificated in detecting unit.
As shown in Figure 3 b, time-frequency domain two dimensional surface is divided into low speed and high speed two regions by detecting unit.According to Fast Fourier Transform (FFT) characteristic, divide border centered by frequency domain fibrillar center frequency f c, both sides are symmetrical, and in figure, low-speed region comprises (0 ~ f
1) and (f
2~ f
n) between region, high-speed region comprises (f
1~ f
2) between region.
As shown in Figure 4, be one embodiment of the present of invention, concrete radar transmit-receive unit receives the microinching Small object signal under sea clutter background, after radar return processing unit, detecting unit process, and concrete condition in time-frequency domain two dimensional surface.
S3.5, radar return data after process are carried out the one-dimensional distance CFAR detection in low-speed detection region, the one dimension speed CFAR detection in high speed detection region by detecting unit respectively, to judge after this process objectives position in time-frequency domain two dimensional surface in radar return data.
As shown in Figure 5, in step S3.5, when after detecting unit is by process, radar return data carry out the one-dimensional distance CFAR detection in low-speed detection region, low-speed detection region is equidistantly divided into multiple frequency band region by detecting unit, and radar return Data Placement after process is M Range resolution unit x by detecting unit
k(k=1,2 ... M).
M Range resolution unit x in each frequency band region
kthere is identical frequency coordinate, different time coordinates.
As the resolution element x that adjusts the distance
kwhen processing, detecting unit removes and x
kthe Range resolution unit x of adjacent both sides
k-1, x
k+1.
Detecting unit forms two reference unit (x
1-x
k-1), (x
k+1, x
m), respectively amplitude read group total is carried out to two reference units:
Detecting unit calculates detection threshold A according to formula
3:
A
3=D
0max (A
1, A
2); D
0--the CFAR detection thresholding of detecting unit setting;
Detecting unit compares A
3with A (x
k) size, as A (x
k) be greater than A
3time, judge current detection unit x
kfor detecting target, detection of end; As A (x
k) be less than A
3time, judge current detection unit x
knon-detection target, judge other Range resolution unit of the rear radar return data of process, if when after detecting unit judges all process, the Range resolution unit of radar return data is non-detection target, radar return data after process are carried out the one dimension speed CFAR detection in high speed detection region by detecting unit.
In the present invention, M Range resolution unit x
kunit has after judging and only has one or zero Range resolution unit x after testing
kfor detecting target.
As shown in Figure 6, in step S3.5, when after detecting unit is by process, radar return data carry out the one dimension speed CFAR detection in high speed detection region, high speed detection region is equidistantly divided into multiple time period region by detecting unit, and radar return Data Placement after process is S speed resolution element y by detecting unit
k(k=1,2 ... S).
S speed resolution element y in each time period region
kthere is identical time coordinate, different frequency coordinates.
When to speed resolution element y
kwhen processing, detecting unit removes and y
kthe speed resolution element y of adjacent both sides
k-1, y
k+1.
Detecting unit forms two reference unit (y
1-y
k-1), (y
k+1, y
s), respectively amplitude read group total is carried out to two reference units:
Detecting unit calculates detection threshold A according to formula
3:
A
3=D
0max (A
1, A
2); D
0--the CFAR detection thresholding of detecting unit setting;
Detecting unit compares A
3with A (y
k) size, as A (y
k) be greater than A
3time, judge current detection unit y
kfor detecting target, detection of end; As A (y
k) be less than A
3time, judge current detection unit y
knon-detection target, judge other speed resolution elements of the rear radar return data of process, if when after detecting unit judges all process, the speed resolution element of radar return data is non-detection target, radar return data after process are carried out the one-dimensional distance CFAR detection in low-speed detection region by detecting unit.
In the present invention, S speed resolution element yk after testing unit has after judging and only has one or zero speed resolution element y
kfor detecting target.
Although content of the present invention has done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. the detection system of Small object at a slow speed under sea clutter background, it is characterized in that, this detection system comprises:
Radar transmit-receive unit, detects and microinching Small object signal under obtaining sea clutter background;
Radar return processing unit, is connected with described radar transmit-receive unit output terminal;
Detecting unit, is connected with described radar return processing unit output terminal.
2. the detection method of Small object at a slow speed under sea clutter background, it is characterized in that, the method comprises following steps:
S1, radar transmit-receive unit obtains the microinching Small object signal under sea clutter background;
S2, Received signal strength is sent to radar return processing unit and carries out process generation radar return data by described radar transmit-receive unit, and radar return data are sent to detecting unit;
S3, the continuous multiple radar return data of described detecting unit process, and set up corresponding time-frequency domain 2 d plane picture, reject the false-alarm targets under zones of different, obtain the microinching Small object under sea clutter background.
3. the detection method of Small object at a slow speed under sea clutter background as claimed in claim 2, it is characterized in that, described step S1 comprises following steps:
S1.1, described radar transmit-receive unit adopts the linear FM signal detection of a target, receives the LFM Echo signal of target reflection.
4. the detection method of Small object at a slow speed under sea clutter background as claimed in claim 3, it is characterized in that, described step S2 comprises following steps:
S2.1, described radar return processing unit receives the LFM Echo signal of the target reflection that described radar transmit-receive unit sends;
S2.2, the ideal linearity FM signal matched filtering in the LFM Echo signal that target reflects by this radar return processing unit and this radar return processing unit forms the pulse compression radar echo data with peaked shapes.
5. the detection method of Small object at a slow speed under sea clutter background as claimed in claim 4, it is characterized in that, described step S3 comprises following steps:
S3.1, described detecting unit receives continuous multiple pulse compression radar echo datas that described radar return processing unit sends;
S3.2, described detecting unit adopts correlative accumulation technology multiple pulse compression radar echo data to be carried out radar return data after Fast Fourier Transform (FFT) process formation processing;
S3.3, described detecting unit sets up time-frequency domain two dimensional surface; And radar return data after described process are arranged in this time-frequency domain two dimensional surface;
S3.4, described time-frequency domain two dimensional surface is divided into low-speed detection region, high speed detection region by described detecting unit;
S3.5, radar return data after described process are carried out the one-dimensional distance CFAR detection in low-speed detection region, the one dimension speed CFAR detection in high speed detection region by described detecting unit respectively, to judge after this process objectives position in described time-frequency domain two dimensional surface in radar return data.
6. the detection method of Small object at a slow speed under sea clutter background as claimed in claim 5, it is characterized in that, described step S3.4 comprises following steps:
S3.4.1, according to described radar transmit-receive cell operation repetition frequency f
n, it is 0-f that described detecting unit sets described time-frequency domain two dimensional surface frequency domain scope
n;
S3.4.2, described detecting unit sets described time-frequency domain two dimensional surface frequency domain fibrillar center fc;
S3.4.3, described detecting unit, according to concrete sea situation, sets surveyed area border respectively, described time-frequency domain two dimensional surface is divided into low-speed detection region, high speed detection region.
7. the detection method of Small object at a slow speed under sea clutter background as claimed in claim 6, is characterized in that, in described step S3.4.3, when surveyed marine site is low sea situation, set high low speed surveyed area border f ＇ respectively
1, f ＇
2, then described time-frequency domain two dimensional surface is divided into low-speed detection region (0-f ＇ by detecting unit
1), (f ＇
2-f
n), high speed detection region (f ＇
1-f ＇
2);
In described step S3.4.3, when surveyed marine site is high sea situation, set high low speed surveyed area border f ＂ respectively
1, f ＂
2, then described time-frequency domain two dimensional surface is divided into low-speed detection region (0-f ＂ by detecting unit
1), (f ＂
2-f
n), high speed detection region (f ＂
1-f ＂
2).
8. the detection method of Small object at a slow speed under sea clutter background as claimed in claim 5, is characterized in that, in described step S3.5, when radar return data after described detecting unit is by described process carry out the one-dimensional distance CFAR detection in low-speed detection region,
Described low-speed detection region is equidistantly divided into multiple frequency band region by described detecting unit, and radar return Data Placement after described process is M Range resolution unit x by described detecting unit
k(k=1,2 ... M);
As the resolution element x that adjusts the distance
kwhen processing, described detecting unit removes and x
kthe Range resolution unit x of adjacent both sides
k-1, x
k+1;
Described detecting unit forms two reference unit (x
1-x
k-1), (x
k+1, x
m), respectively amplitude read group total is carried out to two reference units:
Described detecting unit calculates detection threshold amplitude A according to formula
3:
A
3=D
0max (A
1, A
2); D
0--the CFAR detection thresholding of detecting unit setting;
Described detecting unit compares A
3with A (x
k) size, as A (x
k) be greater than A
3time, judge current detection unit x
kfor detecting target, detection of end; As A (x
k) be less than A
3time, judge current detection unit x
knon-detection target, judge other Range resolution unit of radar return data after described process, if when after described detecting unit judges all process, the Range resolution unit of radar return data is non-detection target, radar return data after described process are carried out the one dimension speed CFAR detection in high speed detection region by described detecting unit.
9. the detection method of Small object at a slow speed under sea clutter background as claimed in claim 5, it is characterized in that, it is characterized in that, in described step S3.5, when radar return data after described detecting unit is by described process carry out the one dimension speed CFAR detection in high speed detection region
Described high speed detection region is equidistantly divided into multiple time period region by described detecting unit, and radar return Data Placement after described process is S speed resolution element y by described detecting unit
k(k=1,2 ... S);
When to speed resolution element y
kwhen processing, described detecting unit removes and y
kthe speed resolution element y of adjacent both sides
k-1, y
k+1;
Described detecting unit forms two reference unit (y
1-y
k-1), (y
k+1, y
s), respectively amplitude read group total is carried out to two reference units:
Described detecting unit calculates detection threshold amplitude A according to formula
3:
A
3=D
0max (A
1, A
2); D
0--the CFAR detection thresholding of detecting unit setting;
Described detecting unit compares A
3with A (y
k) size, as A (y
k) be greater than A
3time, judge current detection unit y
kfor detecting target, detection of end; As A (y
k) be less than A
3time, judge current detection unit y
knon-detection target, judge other speed resolution elements of radar return data after described process, if when after described detecting unit judges all process, the speed resolution element of radar return data is non-detection target, radar return data after described process are carried out the one-dimensional distance CFAR detection in low-speed detection region by described detecting unit.
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