CN104330791B - A kind of correlative accumulation method based on frequency domain shear - Google Patents
A kind of correlative accumulation method based on frequency domain shear Download PDFInfo
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- CN104330791B CN104330791B CN201410577050.6A CN201410577050A CN104330791B CN 104330791 B CN104330791 B CN 104330791B CN 201410577050 A CN201410577050 A CN 201410577050A CN 104330791 B CN104330791 B CN 104330791B
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/64—Velocity measuring systems using range gates
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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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to a kind of correlative accumulation method based on frequency domain shear, when target echo envelope occurs across Range cell migration in coherent processing interval, regard the track of walking about of the envelope apart from slow time dimensional signal space as image, carry out the rotation translation of certain angle again by frequency domain shear processing method, rotate translation motion each time and correlative accumulation peak value is obtained by slow time dimension fast Fourier transform；So one accumulation peak value of each anglec of rotation correspondence, obtains the slope and initial distance of corresponding target trajectory with peak-peak position, so as to obtain the movement locus of target.The present invention effectively realizes the accumulation of Range Walk Correction and target energy, it is adaptable to the detection of radar weak target signal, and radar imaging technology in Range Walk Correction, its high precision, fast operation, to be easy to Project Realization, robustness good.
Description
Technical field
It is the invention belongs to target detection and tracking technique field in radar system, more particularly to a kind of based on frequency domain shear
Correlative accumulation method.
Background technology
Conventional radar systems are constituted serious threat by the weak targets such as Stealthy Target, unmanned plane and cruise missile, and
Long-time phase-coherent accumulation technology effectively can wait weak target to detect to stealthy.But in radar signal long-time phase-coherent accumulation
In process, accumulation and detection that target energy is had a strong impact on across range walk that target motion causes.And it is accompanied by radar pair
High-resolution demand, range cell are less and less, and across range cell phenomenon is more serious.For span is asked from unit compensation
Topic, needs the accurate estimation of the parameters of target motion, and generally low signal-to-noise ratio (SNR) when, the parameters of target motion it is accurate
Estimation is difficult to.Therefore, in the case of unknown object kinematic parameter, how to carry out integration detection and improve integration detection
Performance is long-time signal integration detection subject matter to be studied.
In imaging systems, the translational compensation envelope alignment method of ISAR (ISAR), such as cross-correlation method,
- 2 method of mould -1 or mould, minimum entropy method etc., have preferable envelope alignment effect compared with Gao Shicai in echo SNR.To the parameters of target motion
The method of searching class, its time domain is shifted or addressing amount is integer, has energy accumulation to lose in non-interpolation, and operand is big.
Keystone conversion can be in the certain speed range carry out unifying compensation (referring to " Zhang Shunsheng, Zeng Tao, base across range cell
In Keystone conversion dim target detection, electronic letters, vol, 2005,33 (6):1675-1678. "), but the algorithm needs
Doppler ambiguity number is estimated, otherwise performance degradation.In image procossing, the Hough transform and Radon of straight-line detection
Conversion is applied in " tracking (TBD) before detection " technology, but as non-inherent accumulation has SNR threshold phenomenons, low SNR is accumulated
It is tired inefficient.Coherent Radon conversion detects that to weak target which adopts rotation and bilinear interpolation to realize that Radon becomes
Change and phase compensation is carried out by Doppler filter and realize that correlative accumulation (refers to " Javier C M, Javier G M, et
al.,A Coherent Radon Transform for Small Target Detection,IEEE Rader
Conference,2009:1-4. "), but there is loss and be easily caused the generation of secondary lobe in interpolation.
The content of the invention
It is an object of the invention to provide a kind of be applied to stealthy grade for weak target echo-signal, using long-time phase-coherent accumulation
The solution across range cell walk problem that technical process occurs.According to the method for present invention offer to weak target echo
Signal carries out Range Walk Correction and correlative accumulation, obtains the energy accumulation of target echo signal under low signal-to-noise ratio, while obtaining
The trace information of moving target.
To achieve these goals, the present invention provides a kind of correlative accumulation method based on frequency domain shear, wherein comprising such as
Lower step：
S1, radar docking obtain baseband signal after receiving signal processing, further obtain the envelope trajectory signal comprising target
Distance-slow time dimensional signal space；
S2, according to the determination of the velocity interval of the target angular range carried out by frequency domain shear, and determine angle searching mistake
Angle stepping in journey；
S3, to each search angle carry out frequency domain shear, carry out the search of envelope track；
S4, the doppler filtering that an angle searching result is completed along slow time dimension fast Fourier transform, obtain quick
The corresponding distance-Doppler parameter space of the angle after Fourier transformation；
Whether S5, judging distance-Doppler parameter spatial peaks are peak-peak, if peak-peak, are then returned most
Big peak and the corresponding anglec of rotation；If not peak-peak, repeat S3～S5, until search angle traversal is finished,
Output peak-peak position and its corresponding anglec of rotation；
The distance-Doppler parameter space that S6, the peak-peak to returning are located carries out CFAR detection, if moved into one's husband's household upon marriage
Limit, then export the range information of now parameter space, and the velocity information of target be worth to according to angle now；
By S1～S6, the range walk compensation in the case of range walk is completed, and obtains coherent integration result, so as to
To the movement locus of target.
In a kind of correlative accumulation method based on frequency domain shear of preferred exemplary, comprise the steps of：
(1) radar docking obtains baseband signal after receiving signal processing, further obtains the envelope trajectory signal comprising target
Distance-slow time dimensional signal space.
(2) angular range carried out by frequency domain shear is determined according to the velocity interval of target, and determines angle searching mistake
Angle stepping Δ θ in journey.
(3) to envelope track s (t, tm) carry out frequency domain shear and carry out the search of envelope track.First, initialize shear rotation
Gyration.
(4) whole shear process carries out rotation translation around the center of signal space all the time.In order to represent convenient, by f (x,
Y) envelope track s (t, t are representedm), u represents the frequency domain of distance dimension x, and v represents the frequency domain of slow time dimension y.Then row shear process table
It is shown as
Mx(x, y)=IFFTu{Q1(u,y)FFTx{f(x,y)}}
Wherein, FFTxExpression carries out fast Fourier transform to x；IFFTuExpression carries out inverse fast Fourier transform to u；Q1
(u, y) is
Wherein, θ is the shear anglec of rotation；M is the umber of pulse in coherent processing interval；N is distance dimension sampling number.
(5) enter ranks shear conversion to the signal space after row shear.I.e. to Mx(x, y) carries out the conversion of column direction：
Myx(x, y)=IFFTv{Q2(x,v)FFTy{Mx(x,y)}}
Wherein, FFTyExpression carries out fast Fourier transform to y；IFFTvExpression carries out inverse fast Fourier transform to v；Q2
(x, v) is
(6) to Myx(x, y) carries out the conversion of line direction：
Mxyx(x, y)=IFFTu{Q1(u,y)FFTx{Myx(x,y)}}
Above-mentioned (3)～(6) complete an angle shear rotation transformation.
(7) doppler filtering of an angle searching result, FFT are completed along slow time dimension fast Fourier transform (FFT)
The corresponding distance-Doppler parameter space of the angle afterwards.
(8) judging distance-Doppler parameter spatial peaks size, if maximum returns peak (distance, speed
Degree) and corresponding anglec of rotation θ now；If not peak-peak, angularly stepping updates the anglec of rotation, and repeats (4)
～(7), until search angle traversal is finished, export peak-peak position and the corresponding angle of the maximum.
(9) CFAR detection (CFAR) is carried out to the distance-Doppler parameter space that the peak-peak for returning is located, if
Thresholding is crossed, is then exported the range information of now parameter space, and the velocity information of target is worth to from angle now.
By above step, you can complete the range walk compensation in the case of range walk, and obtain coherent integration result,
So as to obtain the movement locus of target.
The present invention proposes the range walk compensation based on frequency domain shear and the method for carrying out correlative accumulation using which, and existing
Technology is compared, and the innovative point and advantage of the present invention are：
1) target trajectory is found using the method for frequency domain shear；2) target is back-calculated to obtain by peak value corresponding angle
Speed, when echo envelope occur range walk when, i.e., there is certain slope in track, with regard to there is no velocity ambiguity；
3) frequency domain shear process can realize there is no velocity ambiguity, interpolation loss, therefore calculating speed is fast using FFT, while
It is easy to Project Realization；4) frequency domain carries out the correction of range walk and operates without the need for interpolation etc., is not in accumulation loss problem.
Description of the drawings
Fig. 1：Implementing procedure figure of the present invention；
Fig. 2：Distance that target envelope track is located-slow time dimensional signal space schematic diagram；
Fig. 3：The position view of envelope track after frequency domain shear；
Fig. 4：Frequency domain shear implements process.
Specific embodiment
The present invention relates to radioecho signal carries out target echo envelope in the case of range walk (envelope is walked about)
Compensation alignment, and complete the technology of backward energy correlative accumulation.
With reference to shown in Fig. 1, it is the implementing procedure figure of the correlative accumulation method based on frequency domain shear of the present invention, which is concrete
Implementation steps are as follows：
Step 1, radar receives radar return data to carry out mixing and obtains impulse radar echo-signal.
If far field, single goal echo-signal are spaced m-th echo base that (CPI) interior radar is received in a correlative accumulation
Band signal is
sr(t,tm)=Arp(t-2R(tm)/c)exp(-j4πfcR(tm)/c) (1)
Wherein, t and tmRespectively fast time and slow time (tm=mTr, and TrFor pulse recurrence interval (PRI))；fcTo carry
Wave frequency；C is the light velocity；ArFor the echo amplitude of point target；P (t) represents the baseband signal of transmitting；R(tm)=R0+v1tmWherein R0
With R (tm) it is respectively t0And tmRadial distance of the moment target relative to radar；v1For the speed of target.
Step 2, obtains the envelope trajectory signal space comprising target.
For formula (1), if transmitted waveform baseband signal p (t) is square wave, formula (1) represents the envelope track s of echo
(t,tm)=sr(t,tm).If transmitted waveform baseband signal is linear FM signal, need to carry out matching compression, then envelope
Track is expressed as
s(t,tm)=A1Bsinc[B(t-2R(tm)/c)]exp(-j4πfcv1tm/c) (2)
Wherein, A1=Arexp(-j4πfcR0/c)；B is signal bandwidth.s(t,tm) represented by distance-slow time dimensional signal
Space is as shown in Figure 2.
Step 3, to envelope track s (t, tm) carry out frequency domain shear and carry out the search of envelope track.Further include following 5
Individual little step.
Step 3.1, determines the angular range carried out by frequency domain shear according to the velocity interval of target.If the speed of target
Degree scope is vmin≤v1≤vmax, then the angular range of required search be
Wherein, Δ R is range resolution ratio.
Step 3.2, determines the angle stepping Δ θ during angle searching.By speed search interval delta v, Δ θ determines which sets
The method of putting is that distance change is less than 1 Range resolution unit within integration time, i.e., as correlative accumulation time MTr(wherein M is
Coherent processing interval in umber of pulse) determine after, speed search step-length be Δ v=Δ R/ (MTr).Therefore, angle searching process
Middle stepping is
Wherein,For present speed.
After determining angle searching scope and search stepping, frequency domain shear is carried out to each search angle.Whole shear
Process needs row shear twice and once row shear, shown in 3.3～step 3.5 of following steps.
Step 3.3, row shear conversion.During shear concept is image procossing, image is transversely or longitudinally stretched, this
In the frequency domain shear that defines, expression carries out the stretching or distortion of data space, makes envelope track be alignd in frequency domain.
Whole shear process carries out rotation translation around the center of signal space all the time.It is convenient in order to represent, by f (x, y)
Represent envelope track s (t, tm), u represents the frequency domain of distance dimension x, and v represents the frequency domain of slow time dimension y.Then row shear procedural representation
For
Mx(x, y)=IFFTu{Q1(u,y)FFTx{f(x,y)}} (5)
Wherein, FFTxExpression carries out fast Fourier transform to x；IFFTuExpression carries out inverse fast Fourier transform to u；Q1
(u, y) is
Wherein, θ is the anglec of rotation；N is distance dimension sampling number.
Step 3.4, row shear conversion.To Mx(x, y) carries out the conversion of column direction：
Myx(x, y)=IFFTv{Q2(x,v)FFTy{Mx(x,y)}} (7)
Wherein, FFTyExpression carries out fast Fourier transform to y；IFFTvExpression carries out inverse fast Fourier transform to v；Q2
(x, v) is
Step 3.5, row shear conversion.Finally to Myx(x, y) carries out the conversion of line direction：
Mxyx(x, y)=IFFTu{Q1(u,y)FFTx{Myx(x,y)}} (9)
The shear rotary course of an angle searching is completed from step 3.3～step 3.5, its geometrical relationship as shown in Fig. 2
Concrete frequency domain shear process is as shown in Figure 4.
Step 4, doppler filtering.An angle searching result is completed along slow time dimension fast Fourier transform (FFT)
Doppler filtering, after FFT, the corresponding distance-Doppler parameter space of the angle is
sp(r,fd)=| FFTy{Mxyx(x,y)}| (10)
Wherein, | | expression takes absolute value.
Step 5, judges.Judging distance-Doppler parameter spatial peaks size, if maximum returns peak
(distance, speed) and corresponding anglec of rotation θ now；If not peak-peak, 3～step 5 of repeat step, until search
Angle traversal is finished, and exports peak-peak position and the corresponding angle of the maximum.
Step 6, Objective extraction.CFAR inspection is carried out to the distance-Doppler parameter space that the peak-peak for returning is located
Survey (CFAR), if crossing thresholding, the range information of now parameter space, and the velocity information of target are exported from angle now
It is worth to, is expressed as follows：
By above step, you can complete the range walk compensation in the case of range walk, and obtain coherent integration result.
So as to obtain the movement locus of target.
In sum, the present invention relates to a kind of correlative accumulation method that quickly can be realized in the case of range walk, solution
Determine compensated distance and correlative accumulation problem of the radar return envelope track when there is across Range cell migration phenomenon.Which realizes step
Suddenly it is：When target echo envelope occurs across Range cell migration in coherent processing interval, will be apart from-slow time dimensional signal sky
Between envelope track of walking about regard image as, translate in the rotation that certain angle is being carried out by frequency domain shear processing method, each time
Rotation translation motion obtains correlative accumulation peak value by slow time dimension fast Fourier transform；So each anglec of rotation is corresponding
One accumulation peak value, obtains the slope and initial distance of corresponding target trajectory with peak-peak position, so as to obtain target
Movement locus.The present invention effectively realizes the accumulation of Range Walk Correction and target energy, it is adaptable to which radar weak target signal is examined
Survey, and radar imaging technology in Range Walk Correction, its high precision, fast operation, to be easy to Project Realization, robustness good.
Although present disclosure has been made to be discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
Various modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a kind of correlative accumulation method based on frequency domain shear, it is characterised in that comprising following process：
S1, radar docking receive signal processing after obtain baseband signal, further obtain comprising target envelope trajectory signal distance-
Slow time dimensional signal space；
S2, according to the determination of the velocity interval of the target angular range carried out by frequency domain shear, and during determining angle searching
Angle stepping；
S3, to each search angle carry out frequency domain shear, carry out the search of envelope track；
S4, the doppler filtering that an angle searching result is completed along slow time dimension fast Fourier transform, obtain in quick Fu
The corresponding distance-Doppler parameter space of the angle after leaf transformation；
Whether S5, judging distance-Doppler parameter spatial peaks are peak-peak, if peak-peak, then return maximum peak
Value position and the corresponding anglec of rotation；If not peak-peak, repeat S3～S5, until search angle traversal is finished, export
Peak-peak position and its corresponding anglec of rotation；
The distance-Doppler parameter space that S6, the peak-peak to returning are located carries out CFAR detection, if crossing thresholding,
The range information of now parameter space is exported, and the velocity information of target is worth to according to angle now；
By S1～S6, the range walk compensation in the case of range walk is completed, and obtains coherent integration result, so as to obtain mesh
Target movement locus.
2. correlative accumulation method as claimed in claim 1, it is characterised in that
In the step 1, if far field, single goal echo-signal are spaced m-th time that interior radar is received in a correlative accumulation
Ripple baseband signal is
sr(t,tm)=Arp(t-2R(tm)/c)exp(-j4πfcR(tm)/c)
Wherein, t and tmRespectively fast time and slow time, tm=mTr, and TrFor pulse recurrence interval；
fcFor carrier frequency；C is the light velocity；ArFor the echo amplitude of point target；P (t) represents transmitted waveform baseband signal；R(tm)=
R0+v1tmWherein R0With R (tm) it is respectively t0And tmRadial distance of the moment target relative to radar；v1For the speed of target.
3. correlative accumulation method as claimed in claim 2, it is characterised in that
If transmitted waveform baseband signal p (t) is square wave, the envelope track of echo is expressed as
s(t,tm)=sr(t,tm)；
If transmitted waveform baseband signal is linear FM signal, envelope track is expressed as
s(t,tm)=A1Bsinc[B(t-2R(tm)/c)]exp(-j4πfcv1tm/c)
Wherein, A1=Arexp(-j4πfcR0/c)；B is signal bandwidth.
4. correlative accumulation method as claimed in claim 3, it is characterised in that
In the step 2, the velocity interval of target is vmin≤v1≤vmaxWhen, the angular range of required search is
Wherein, Δ R is range resolution ratio.
5. correlative accumulation method as claimed in claim 4, it is characterised in that
Angle stepping Δ θ in the step 2, during angle searching：
Wherein,For present speed, speed search step-length is Δ v=Δ R/ (MTr)；M is the umber of pulse in coherent processing interval.
6. the correlative accumulation method as described in claim 1 or 5, it is characterised in that
Following process is included in the S3 further：
S3-1, to envelope track s (t, tm) carry out frequency domain shear and carry out the search of envelope track；First, initialize the shear anglec of rotation
Degree；
S3-2, whole shear process carry out rotation translation around the center of signal space all the time；F (x, y) is represented into envelope track s
(t,tm), u represents the frequency domain of distance dimension x, and v represents the frequency domain of slow time dimension y；
The procedural representation for then entering every trade shear is
Mx(x, y)=IFFTu{Q1(u,y)FFTx{f(x,y)}}
Wherein, FFTxExpression carries out fast Fourier transform to x；IFFTuExpression carries out inverse fast Fourier transform to u；Q1(u,
Y) obtained by following formula：
Wherein, θ is the shear anglec of rotation；M is the umber of pulse in coherent processing interval；N is distance dimension sampling number；
S3-3, the signal space after first time row shear is entered ranks shear conversion；I.e. to Mx(x, y) carries out the change of column direction
Change：
Myx(x, y)=IFFTv{Q2(x,v)FFTy{Mx(x,y)}}
Wherein, FFTyExpression carries out fast Fourier transform to y；IFFTvExpression carries out inverse fast Fourier transform to v；Q2(x,
V) obtained by following formula：
S3-4, to Myx(x, y) carries out the conversion of line direction：
Mxyx(x, y)=IFFTu{Q1(u,y)FFTx{Myx(x,y)}}
S3-1～the S3-4 completes an angle shear rotation transformation.
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| CN106896358A (en) * | 2017-04-27 | 2017-06-27 | 电子科技大学 | A kind of high-speed target phase-coherent accumulation detection method based on position rotation transformation |
| CN107918123B (en) * | 2017-10-19 | 2021-04-02 | 上海无线电设备研究所 | Terahertz ISAR target micro-motion component separation and characteristic parameter estimation method |
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| CN109085590B (en) * | 2018-10-16 | 2020-07-10 | 中国人民解放军国防科技大学 | Broadband direct acquisition data ISAR imaging method based on ARP (Address resolution protocol) segmented coherent accumulation |
| CN110398730B (en) * | 2019-06-26 | 2021-07-06 | 中国人民解放军战略支援部队信息工程大学 | Maneuvering target coherent detection method based on coordinate rotation and non-uniform Fourier transform |
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