CN104535977A - GSM signal based radar target detection method - Google Patents
GSM signal based radar target detection method Download PDFInfo
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- CN104535977A CN104535977A CN201410446689.0A CN201410446689A CN104535977A CN 104535977 A CN104535977 A CN 104535977A CN 201410446689 A CN201410446689 A CN 201410446689A CN 104535977 A CN104535977 A CN 104535977A
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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
-
- 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
- G01S13/003—Bistatic radar systems; Multistatic radar systems
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a GSM signal based radar target detection method, especially to a double/multi-base radar object detection method based on GSM macro-base-station distribution. The GSM signal based radar target detection method in engineering comprises that original radar data is divided into shorter data segments, segmental cancellation is carried out on direct waves, and segmented echo signals after cancellation are spliced to an original length. Data filter method and the distance Doppler association algorithm are optimized to realize engineering application of GSM signal based moving target detection.
Description
Technical field
The invention belongs to the radar target acquisition method based on GSM signal, particularly relate to a kind of method based on two (many) the base radar target acquisitions under GSM macro base station distribution occasion.
Background technology
Two (many) base radar target acquisition technical research start from the twenties in 20th century, in decades, along with being on the increase of external sort algorithm kind, the signal characteristic of external sort algorithm and distribution characteristics are also synchronous to be studied and is being utilized, under the modern signal processing technical conditions of advanced person, thus set up the signal processing method of corresponding different classes of external sort algorithm.Theoretical research in recent years and two (many) the base radar target acquisitions of the more successful external sort algorithm of practical application can be divided into following two classes: 1) two (many) base radar target acquisitions of cooperative.2) two (many) base radar target acquisitions of non-cooperative.
Because GSM signal is low-power, narrow bandwidth, continuous wave signal, and there is stronger ground multipath return, therefore for the requirement of this signal long-range detection, need to overcome the difficulty of the real time signal processings such as the big data quantity calculating that the crosstalk of reference signal and multipath signal thereof in Received signal strength and long-time coherent integration bring, these technology not yet solve at present.
Summary of the invention
For the deficiency of background technology, the present invention proposes a kind of attainable radar target acquisition method based on GSM signal in engineering, this method is by being divided into some shorter data segments by radar raw data, direct wave is being carried out after segmentation offsets, segmentation echoed signal after disappearing mutually is spliced into raw footage, and the present invention also optimizes the through engineering approaches that the method for data filtering and range Doppler association algorithm achieve based on GSM acquisition of signal moving-target and applies.
Technical scheme of the present invention is: a kind of radar target acquisition method based on GSM signal, and order comprises dominant base direct path cancellation step, range Doppler treatment step and object detection process step, it is characterized in that:
Described dominant base direct path cancellation step comprises:
1.1 the segment delay matrix sub-step of structure direct wave: by system acceptance to dominant base direct wave reference signal and echoed signal carry out in time domain segmentation respectively, the dominant base direct wave reference signal after segmentation is built respective direct wave segment delay matrix by the delay of different sampled point;
1.2 echo channel direct path cancellation sub-steps: orthogonal project operator delay matrixing being become the signal subspace of direct wave, and calculate the segmentation echoed signal after eliminating direct wave and multipath signal thereof, be then reduced to echoed signal;
Described range Doppler treatment step, uses coherent accumulation technology and filtering extraction to complete the range Doppler process of data, comprises following sub-step:
2.1 conjugate points multiplier steps;
The delayed data matrix of the direct wave sample in step 1.1 is got conjugation; The delayed data matrix multiple after the echoed signal and conjugation that obtain will be spliced in step 1.2, obtain the different time-domain coherence matrix Y postponing the moment;
2.2 filtering extraction sub-steps;
Each row of Y in step 2.1 to be carried out be separated by the h rank filtering extraction computing of M point, obtain Y';
2.3 range Doppler dimension varitron steps;
Each row of Y' in step 2.2 is carried out Fast Fourier Transform (FFT) (FFT), obtains the range Doppler plane of echo
wherein:
for the matrix on N × Q rank;
Described object detection process step, uses CFAR process to complete the detection of non-zero Doppler target, and the algorithm of target detection re-used based on GSM signal frame structure feature completes the detection of moving-target, comprises following sub-step:
3.1 CFAR detection (CFAR) sub-step;
By range Doppler plane
each row carries out the CFAR process of N point, obtains range unit and the doppler values at non-zero Doppler target place,
Before 3.2, T frame generates interim flight path sub-step;
The non-zero Doppler target produced by first frame data in step 3.1 is as the first point generating interim flight path; By non-zero Doppler target and interim track association that first frame data non-in step 3.1 produce, if on associate, as interim flight path renewal reservation, if can not associate, as a new interim flight path first point generation;
Track association sub-step after 3.3T frame;
If certain in step 3.2 interim flight path exists the total track points more than T time and upgrades before extinction, upgrade to true flight path; The non-zero Doppler target that each frame data produces according to first and true track association, then with interim track association, the order finally having the first point of a new interim flight path of one's own carries out track association.
Its beneficial effect is: in described direct path cancellation sub-step 1.1 and 1.2, because radar system needs long-time coherent integration, the calculated amount that matrix X is multiplied too huge (the fast time dimension length of X is generally more than 100,000), when real time signal processing realizes, difficulty is larger.Therefore X can be divided into the matrix of some shorter length along fast time dimension, carry out direct wave after segmentation offsets, the segmentation echoed signal after disappearing mutually being spliced into raw footage.
Radar target acquisition method as above, is characterized in that:
In described step 2.2, filtering extraction operational method is: will need the some position calculation of extraction out, then this some filtering obtained, all the other points can process.
Its beneficial effect is: because the fast time dimension length of Y' is generally more than 100,000, if the mode calculated amount extracted after using common first filtering is comparatively large, when real time signal processing realizes, difficulty is larger.Needed for system is after the accumulation of GSM signal coherence, bandwidth is reduced to 2KHz by 200KHz, most point in Y' is rejected in extraction process, therefore first can will need the some position calculation of extraction out, again this some filtering is obtained, all the other points can process, thus greatly reduce calculated amount.
As above
radar target acquisition method, it is characterized in that:described step 3.2 and step 3.3 adopt distance to move and Doppler's association algorithm reduces false alarm rate.Its beneficial effect is: due to the correlativity of GSM signal frame structure, makes the false target that can produce non-zero Doppler in range Doppler plane after CFAR.Although this false target shows as moving-target characteristic in single frames or less frame, in Frame accumulation process, its distance change is different with real goal from Doppler's variation characteristic.Therefore, method described in step 3.2 and step 3.3 can be utilized the false target filtering of so a large amount of generation.
Accompanying drawing explanation
Fig. 1 is FB(flow block) of the present invention;
Peek schematic diagram when Fig. 2 is filtering extraction;
Fig. 3 is the schematic diagram of CFAR;
Fig. 4 is track association schematic flow sheet;
Fig. 5 is the range Doppler figure of the frame aircarrier aircraft detected;
Fig. 6 is the time space diagram of the frame aircarrier aircraft detected.
Fig. 7 is the bistatic schematic diagram of transmitting-receiving.
Embodiment
Explanation of nouns: two (many) bases radar system: emission coefficient and receiving system are not in the radar system in same geographic position, see Fig. 7.
Bistatic angle: cell site---receiving station---angle between target
see Fig. 7.
Below in conjunction with accompanying drawing, the present invention is described further.
The invention provides a kind of radar target acquisition method based on GSM signal, realize utilizing existing base station signal to detect the object of low latitude moving target.
If require to put forward detection power, then to the requirement of input signal as far as possible:
1. the Signal to Interference plus Noise Ratio of the dominant base reference signal of direct wave antenna reception is as far as possible large.Dominant base refers to selects the base station that needed for detection method, reference signal is launched.The broadcast traffic channel signal of different Base Transmitter can be selected as reference signal at different detection directions.
2. radar target passage antenna needs direction, sensing spatial domain.
As shown in Figure 1, the present invention's order comprises dominant base direct path cancellation step, range Doppler treatment step and object detection process step, and wherein dominant base direct path cancellation step comprises segment delay matrix sub-step, the echo channel direct path cancellation sub-step of structure direct wave; Range Doppler treatment step comprises conjugate points multiplier step, filtering extraction sub-step and range Doppler dimension varitron step; Object detection process step comprises CFAR detection (CFAR) sub-step, front T frame generates track association sub-step after interim flight path sub-step and T frame.
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
A specific embodiment of the present invention:
One. dominant base direct path cancellation step:
The segment delay matrix sub-step of 1.1 structure direct waves;
By system acceptance to dominant base direct wave reference signal and echoed signal carry out in time domain segmentation respectively, the dominant base direct wave reference signal after segmentation is built respective direct wave segment delay matrix by the delay of different sampled point.
The present embodiment adopts the data point of 200KHz sampling rate 0.5s time to process as a frame signal; Direct wave in one frame data and each 100K of an echoed signal data point are divided 10 sections respectively, every section of 10K point; According to the resolution ρ (when bistatic angle is 0 ° ρ ≈ 1.8km, the ρ ≈ 2.1km when bistatic angle is 60 °) of GSM signal, the bistatic detection distance R (R=r of radar need
r+ r
t=110km), see Fig. 7, determine the direct wave sample S received by direct wave antenna
dirdelay exponent number N, N=R/ ρ (N=110/1.8 ≈ 62), forms the direct wave data matrix X after segmentation
i(X
ifor 10K*62 rank matrix, i=1,2,3 ..., 10).Matrix X
idelay formation method be peek strong point N to N+10000 as not postponing, N-1 to N-1+10000 as first-order lag, N-2 to N-2+10000 as scond-order lag, by that analogy, N be delay exponent number.
Wherein, C is the light velocity, and B is GSM signal bandwidth,
for bistatic angle.
1.2 echo channel direct path cancellation sub-steps;
To by the delay matrix X in step 1.1
ifollowing formula is used to form the orthogonal project operator of the signal subspace of direct wave
In formula, I is unit battle array, <X
i, X
i> is matrix X
iauto-correlation computation, ()
-1for inversion operation, ()
hfor conjugate transpose operation,
for the matrix on 10K*10K rank, i=1,2,3 ..., 10.
By the echo channel signal S after segmentation
suriuse the orthogonal project operator of corresponding segments label i
calculate the segmentation echoed signal S' after eliminating direct wave and multipath signal thereof
suri:
In formula,
for orthogonal project operator, I is unit battle array, X
ifor direct wave segment delay matrix, S
surifor the echo channel signal after segmentation, i=1,2,3 ..., 10.
In above-mentioned matrix operation, suitably can use the law of association of matrix computations, thus reduce the storage dimension of intermediate variable.Echoed signal S' after segmentation is offseted
surisplice successively according to a point segment labeling i, be reduced to the echoed signal S' that length is 100K point
sur.
Two. range Doppler treatment step, uses coherent accumulation technology and filtering extraction to complete the range Doppler process of data, comprises following sub-step:
2.1 conjugate points multiplier steps;
By the 100K point direct wave sample S in step 1.1
dirdelayed data matrix X (X is 62*100K rank matrixes) get conjugation; The 100K point echoed signal S' obtained will be spliced in step 1.2
surbe multiplied with the X after conjugation, obtain the different time-domain coherence matrix Y postponing the moment, order performs following sub-step 2.2, sub-step 2.3.
Y(i:,)＝conj(X(i:,)).*S'
sur
In formula, conj () represents that conjugation calculates, and Y is the matrix on N × P rank, and P is that coherent accumulation is counted (P=100K), and N is delay exponent number N=R/ ρ (N=62), i=1,2,3 ..., N.
2.2 filtering extraction sub-steps;
Every for Y in step 2.1 a line (altogether N capable) to be carried out be separated by the h rank filtering extraction computing of M point.Fig. 2 is that wherein a line of Y is carried out being separated by the schematic diagram of h rank filtering extraction computing of M point.The interval of counting that when the M point of being separated by is extraction, required wave filter exports; Get with kM+1 (k=0,1,2,3 ...) and point for starting point continuous print h point enter h rank wave filter obtain extraction an output point.Y obtains Y' after such filtering extraction, and Y' is the matrix on N × Q rank, and Q=floor [(P-h)/M], floor [] expression rounds downwards.For M=100, h=128, P=100K, Q=998.
2.3 range Doppler dimension varitron steps;
Every for Y' in step 2.2 a line (N is capable altogether) is mended 0 to nearest
data length after, carry out Fast Fourier Transform (FFT) (FFT), obtain the range Doppler plane of echo
Wherein:
for
the matrix on rank, ceil [] represents and rounds up, Y'(i :) represent the i-th row of Y' matrix,
represent
i-th row of matrix, FFT [] represents Fast Fourier Transform (FFT).
Three. object detection process step, uses CFAR process to complete the detection of non-zero Doppler target, and the algorithm of target detection re-used based on GSM signal frame structure feature completes the detection of moving-target, comprises following sub-step:
3.1 CFAR detection (CFAR) sub-step;
By in step 2.3
each row (altogether
) row) carry out the CFAR process of N point, as shown in Figure 3.The method of operating of CFAR be by
a certain row in the range value of all range units be averaging and maximal value wherein, the difference of the two is compared with the thresholding of CFAR, thus determined whether the target of thresholding.If there is no the target of thresholding, then carried out
next column CFAR calculate; If there is the target of thresholding, the information such as the range unit value at this target place, doppler cells value were retained, then by this target place
the value zero setting of adjacent 9 around coordinate position in plane.CFAR computing during these row operated after zero setting carry out steps 3.1 again.Obtain all non-zero Doppler targets in a frame signal range unit and doppler values after, order perform following sub-step 3.2, sub-step 3.3;
Before 3.2, T frame generates interim flight path sub-step;
As shown in Figure 4, the non-zero Doppler target produced by the first frame data in step 3.1 is as the first point generating interim flight path for the flow process of track association, and the initial Distance geometry Doppler using the Distance geometry Doppler of this check point as this flight path.By non-zero Doppler target and interim track association that first frame data non-in step 3.1 produce, if on associate, as interim flight path renewal reservation, if can not associate, as a new interim flight path first point generation.Both thought on check point and this track association when the criterion of track association is by differentiating that the impact point difference of check point and original certain flight path is no more than certain scope.When the kth available point that check point is the most contiguous with original certain flight path time differ in distance be no more than two unit (k=1,2 ..., T, T=5), and Doppler meets following relation:
Namely think on check point and original track association.In formula, d is the doppler values of non-zero Doppler target detection point, and R is the range unit value of non-zero Doppler target detection point, d
kfor the doppler values of the point of kth on original flight path, R
kfor the range unit value of the point of kth on original flight path, S
dfor hypothesis two frame targets between maximum Doppler interval, sign () is sign function, and C is the light velocity, and fs is sampling rate.
Track association sub-step after 3.3 T frames;
If certain in step 3.2 interim flight path exists the total track points more than T time and upgrades before extinction, upgrade to true flight path; The non-zero Doppler target that each frame data produces according to first and true track association, then with interim track association, the order finally having the first point of a new interim flight path of one's own carries out track association.In above-mentioned association order, if complete association in certain check point step wherein, then stop the subsequent association of this impact point to operate, and the next check point jumped in these frame data carry out track association.True flight path once be formed and need export immediately, and continues to carry out flight path renewal and display.No matter truly flight path and interim flight path are once continuous S frame data upgrade without new flight path, need carry out flight path extinction.
The flight path information of the Live Flying target that system is detected by the method that what Fig. 5 represented is.This figure indicates the variation tendency of the Distance geometry Doppler of target within a period of time clearly.What Fig. 6 represented is the bistatic distance of this airbound target and the relation of time.This figure shows the change along with the time clearly, and the bistatic distance of target is in reduction, and explanation is to station flight, corresponding with the positive doppler values in Fig. 5.
Claims (3)
1., based on a radar target acquisition method for GSM signal, order comprises dominant base direct path cancellation step, range Doppler treatment step and object detection process step, it is characterized in that:
Described dominant base direct path cancellation step comprises:
1.1 the segment delay matrix sub-step of structure direct wave: by system acceptance to dominant base direct wave reference signal and echoed signal carry out in time domain segmentation respectively, the dominant base direct wave reference signal after segmentation is built respective direct wave segment delay matrix by the delay of different sampled point;
1.2 echo channel direct path cancellation sub-steps: orthogonal project operator delay matrixing being become the signal subspace of direct wave, and calculate the segmentation echoed signal after eliminating direct wave and multipath signal thereof, be then reduced to echoed signal;
Described range Doppler treatment step, uses coherent accumulation technology and filtering extraction to complete the range Doppler process of data, comprises following sub-step:
2.1 conjugate points multiplier steps;
The delayed data matrix of the direct wave sample in step 1.1 is got conjugation; The delayed data matrix multiple after the echoed signal and conjugation that obtain will be spliced in step 1.2, obtain the different time-domain coherence matrix Y postponing the moment;
2.2 filtering extraction sub-steps;
Each row of Y in step 2.1 to be carried out be separated by the h rank filtering extraction computing of M point, obtain Y';
2.3 range Doppler dimension varitron steps;
Each row of Y' in step 2.2 is carried out Fast Fourier Transform (FFT) (FFT), obtains the range Doppler plane of echo
wherein:
for the matrix on N × Q rank;
Described object detection process step, uses CFAR process to complete the detection of non-zero Doppler target, and the algorithm of target detection re-used based on GSM signal frame structure feature completes the detection of moving-target, comprises following sub-step:
3.1 CFAR detection (CFAR) sub-step;
By range Doppler plane
each row carries out the CFAR process of N point, obtains range unit and the doppler values at non-zero Doppler target place,
Before 3.2, T frame generates interim flight path sub-step;
The non-zero Doppler target produced by first frame data in step 3.1 is as the first point generating interim flight path; By non-zero Doppler target and interim track association that first frame data non-in step 3.1 produce, if on associate, as interim flight path renewal reservation, if can not associate, as a new interim flight path first point generation;
Track association sub-step after 3.3T frame;
If certain in step 3.2 interim flight path exists the total track points more than T time and upgrades before extinction, upgrade to true flight path; The non-zero Doppler target that each frame data produces according to first and true track association, then with interim track association, the order finally having the first point of a new interim flight path of one's own carries out track association.
2. radar target acquisition method as claimed in claim 1, is characterized in that: in described step 2.2, filtering extraction operational method is: this some filtering out, then obtains by the some position calculation extracted by needs, and all the other points can process.
3. as claimed in claim 1 or 2
radar target acquisition method, it is characterized in that:described step 3.2 and step 3.3 adopt distance to move and Doppler's association algorithm reduces false alarm rate.
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| CN109633574A (en) * | 2018-10-25 | 2019-04-16 | 上海无线电设备研究所 | A kind of wide-range high-accuracy Doppler measurement method for deep space exploration |
| CN113759362A (en) * | 2021-07-28 | 2021-12-07 | 西安电子科技大学 | Radar target data association method, device, equipment and storage medium |
| CN113759362B (en) * | 2021-07-28 | 2024-02-23 | 西安电子科技大学 | Method, device, equipment and storage medium for radar target data association |
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