CN104535977B - Radar target detection method based on GSM signal - Google Patents

Radar target detection method based on GSM signal Download PDF

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CN104535977B
CN104535977B CN201410446689.0A CN201410446689A CN104535977B CN 104535977 B CN104535977 B CN 104535977B CN 201410446689 A CN201410446689 A CN 201410446689A CN 104535977 B CN104535977 B CN 104535977B
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doppler
track
point
target
direct wave
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CN104535977A (en
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徐敏超
余洋
袁进刚
张建明
李万昌
郑志成
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Wuhan Binhu Electronic Co ltd
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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 belongs to a radar target detection method based on GSM signals, and particularly relates to a method for detecting a double (multi) base radar target based on a GSM macro base station under a distributed condition. The invention provides a radar target detection method based on GSM signals, which can be realized in engineering, and the method comprises the steps of dividing radar original data into a plurality of shorter data sections, splicing cancelled segmented echo signals into original length after carrying out segmented cancellation on direct waves, and optimizing a data filtering method and a range-Doppler correlation algorithm to realize the engineering application of detecting moving targets based on the GSM signals.

Description

Radar target detection method based on GSM signal
Technical Field
The invention belongs to a radar target detection method based on GSM signals, and particularly relates to a method for detecting a double (multi) base radar target based on a GSM macro base station under a distributed condition.
Background
The research of the double (multi) base radar target detection technology starts in the 20 th century, and in decades, with the increasing of the types of external radiation sources, the signal characteristics and the distribution characteristics of the external radiation sources are synchronously researched and utilized, so that under the advanced modern signal processing technical condition, the signal processing method corresponding to the different types of external radiation sources is established. In recent years, the successful external radiation source double (multi) base radar target detection of theoretical research and practical application can be divided into two types, namely 1) cooperative double (multi) base radar target detection. 2) Non-cooperative dual (multi) base radar target detection.
Because GSM signals are low-power, narrow-bandwidth, continuous-wave signals and have strong ground multipath reflection signals, the difficulties of real-time signal processing such as large data volume calculation and the like caused by crosstalk of reference signals and multipath signals thereof in received signals and long-time coherent accumulation need to be overcome for the requirement of remote detection of the signals, and these technologies are not solved at present.
Disclosure of Invention
The invention provides a radar target detection method based on GSM signal, which can be realized in engineering, and the method divides radar original data into a plurality of shorter data segments, and splices the segmented echo signals after the segmentation cancellation into the original length after the segmentation cancellation is carried out on the direct wave.
The technical scheme of the invention is as follows: a radar target detection method based on GSM signals sequentially comprises a main base station direct wave cancellation step, a range-Doppler processing step and a target detection processing step, and is characterized in that:
the main base station direct wave cancellation step comprises the following steps:
1.1 the substep of constructing a piecewise delay matrix of the direct wave: respectively segmenting a main base station direct wave reference signal and an echo signal received by a system in a time domain, and constructing respective direct wave segmented delay matrixes of the segmented main base station direct wave reference signal through the delay of different sampling points;
1.2 echo channel direct wave cancellation substep: converting the delay matrix into an orthogonal projection operator of a signal subspace of the direct wave, calculating to obtain a segmented echo signal after the direct wave and a multipath signal thereof are eliminated, and then restoring the segmented echo signal into an echo signal;
the range-doppler processing step, which uses coherent accumulation technique and filtering extraction to complete the range-doppler processing of data, includes the following substeps:
2.1 conjugate point multiplication sub-step;
conjugating the delay data matrix of the direct wave sample in the step 1.1; multiplying the echo signals obtained by splicing in the step 1.2 by the delay data matrix after conjugation to obtain time domain coherence matrixes Y at different delay moments;
2.2 a decimation filtering sub-step;
performing h-order filtering extraction operation on each line of Y in the step 2.1 at intervals of M points to obtain Y';
2.3 a distance doppler dimension conversion sub-step;
fast Fourier Transform (FFT) is carried out on each row of Y' in the step 2.2 to obtain a range-Doppler plane of the echo
Figure DEST_PATH_GDA0000669124030000021
Wherein:
Figure DEST_PATH_GDA0000669124030000022
a matrix of NxQ order;
the target detection processing step, which uses constant false alarm processing to complete the detection of non-zero Doppler target, and then uses the target detection algorithm based on the GSM signal frame structure characteristics to complete the detection of moving target, includes the following substeps:
3.1 constant false alarm detection (CFAR) substep;
will range Doppler plane
Figure DEST_PATH_GDA0000669124030000023
Each column is processed by N points of constant false alarm to obtain the distance unit and Doppler value of the non-zero Doppler target,
3.2 the former T frame generates a temporary track substep;
taking the non-zero Doppler target generated by the first frame data in the step 3.1 as a first point for generating a temporary track; associating the non-zero Doppler target generated by the non-first frame data in the step 3.1 with the temporary track, if the non-zero Doppler target can be associated with the temporary track, updating and reserving the non-zero Doppler target as the temporary track, and if the non-zero Doppler target cannot be associated with the temporary track, generating the non-zero Doppler target as a new temporary track head point;
a track association substep following the 3.3T frame;
if the track point updates which exceed T times exist in the temporary track in the step 3.2 before extinction, the temporary track is upgraded to a real track; and the non-zero Doppler target generated by each frame of data is associated with the real track, then associated with the temporary track and finally associated with the track in the order of the head point of a new temporary track.
The beneficial effects are as follows: in the direct wave cancellation substeps 1.1 and 1.2, because the radar system needs long-time coherent accumulation, the calculation amount of matrix X multiplication is too large (the fast time dimension length of X is generally more than 10 ten thousand points), and the difficulty is high in real-time signal processing implementation. Therefore, the X-ray can be divided into a plurality of matrixes with shorter lengths along the fast time dimension, and after the direct wave is subjected to sectional cancellation, sectional echo signals after the cancellation are spliced into the original length.
The radar target detection method described above is characterized in that:
the filtering and extracting operation method in the step 2.2 comprises the following steps: and calculating the position of the point to be extracted, and then obtaining the point by filtering, wherein the rest points can be processed without any treatment.
The beneficial effects are as follows: because the fast time dimension length of Y' is generally over 10 ten thousand points, if a common filtering-then-extracting method is used, the calculation amount is large, and the difficulty is large when real-time signal processing is realized. Because the required bandwidth of the system after the GSM signal coherent accumulation is reduced from 200KHz to 2KHz, most points in Y' are abandoned in the extraction process, the points to be extracted can be calculated firstly, then the points are obtained by filtering, and the rest points can be processed without treatment, thereby greatly reducing the calculated amount.
The radar target detection method described above is characterized in that: the step 3.2 and the step 3.3 adopt a distance moving and Doppler correlation algorithm to reduce the false alarm rate. The beneficial effects are as follows: due to the correlation of the frame structure of the GSM signal, a false target with non-zero doppler is generated after CFAR on the range-doppler plane. Although the false target is characterized by moving targets in a single frame or a few frames, the distance change and Doppler change characteristics of the false target are different from those of a real target in the multi-frame accumulation process. Therefore, such a large number of generated false objects can be filtered out using the methods described in step 3.2 and step 3.3.
Drawings
FIG. 1 is a block flow diagram of the present invention;
FIG. 2 is a diagram of decimation filtering;
FIG. 3 is a schematic diagram of a CFAR;
FIG. 4 is a schematic diagram of a track association process;
FIG. 5 is a range-Doppler plot of a civil aircraft detected;
FIG. 6 is a time-distance plot of a detected civil aircraft.
Fig. 7 is a schematic diagram of a transceiver bistatic.
Detailed Description
The noun explains: dual (multi) base radar systems: the transmitting system and the receiving system are not radar systems in the same geographical location, see fig. 7.
Angle between bistatic systems: angle between transmitting station-receiving station-target
Figure DEST_PATH_GDA0000669124030000041
See fig. 7.
The invention is further described below with reference to the accompanying drawings.
The invention provides a radar target detection method based on GSM signals, which realizes the purpose of detecting low-altitude moving targets by utilizing the existing base station signals.
If the power detection is required, the requirements on the input signal are:
1. the signal-to-interference-and-noise ratio of the main base station reference signal received by the direct wave antenna is as large as possible. The main base station refers to a base station for selecting reference signal transmission required by a sounding method. Broadcast traffic channel signals transmitted by different base stations may be selected as reference signals in different sounding directions.
2. The radar target echo channel antenna needs to point to the detection airspace direction.
As shown in fig. 1, the present invention sequentially includes a main base station direct wave cancellation step, a range-doppler processing step and a target detection processing step, wherein the main base station direct wave cancellation step includes a step of constructing a piecewise delay matrix of a direct wave, and a step of echo channel direct wave cancellation; the range-doppler processing step includes a conjugate point multiplication sub-step, a decimation filtering sub-step, and a range-doppler dimension conversion sub-step; the target detection processing step comprises a constant false alarm detection (CFAR) sub-step, a previous T frame generation temporary track sub-step and a track association sub-step after the T frame.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
One embodiment of the invention:
the main base station direct wave cancellation step:
1.1 a substep of constructing a piecewise delay matrix of the direct wave;
and respectively segmenting the main base station direct wave reference signal and the echo signal received by the system in the time domain, and constructing respective direct wave segmented delay matrixes of the segmented main base station direct wave reference signal through the delay of different sampling points.
In the embodiment, a data point with a sampling rate of 200KHz and a time of 0.5s is used as a frame signal for processing; dividing 100K data points of a direct wave and an echo signal in a frame of data into 10 segments respectively, wherein each segment is 10K points; according to the resolution ratio rho (rho is approximately equal to 1.8km when the bistatic included angle is 0 degrees, and rho is approximately equal to 2.1km when the bistatic included angle is 60 degrees) of the GSM signal, the bistatic detection distance R (R is R) required by the radarR+rT110km), see fig. 7, determines the direct wave samples S received by the direct wave antennadirThe delay order N, N ═ R/ρ (N ═ 110/1.8 ≈ 62) forms a segmented direct wave data matrix Xi(XiIs a 10K by 62 step matrix, i 1,2, 3. Matrix XiThe delay forming method is to take data points N to N +10000 as non-delay, N-1 to N-1+10000 as first-order delay, N-2 to N-2+10000 as second-order delay, and so on, wherein N is the delay order.
Figure DEST_PATH_GDA0000669124030000051
Where C is the speed of light, B is the GSM signal bandwidth,
Figure DEST_PATH_GDA0000669124030000052
is an included angle of the bistatic.
1.2 echo channel direct wave cancellation substep;
for the delay matrix X in step 1.1iOrthogonal projection operator for forming signal subspace of direct wave by using the following formula
Figure DEST_PATH_GDA0000669124030000061
Figure DEST_PATH_GDA0000669124030000062
In the formula, I is a unit array,<Xi,Xi>is a matrix XiIs calculated by autocorrelation of-1For inversion operation, (.)HIn order to perform the conjugate transpose operation,
Figure DEST_PATH_GDA0000669124030000063
is a matrix of 10K x 10K steps, i 1,2, 3.
The segmented echo channel signal SsuriOrthographic projection operator using corresponding segment index i
Figure DEST_PATH_GDA0000669124030000064
Calculating to obtain a segmented echo signal S 'after direct wave and multipath signals thereof are eliminated'suri：
Figure DEST_PATH_GDA0000669124030000065
In the formula (I), the compound is shown in the specification,
Figure DEST_PATH_GDA0000669124030000066
for orthogonal projection operators, I is a unit matrix, XiFor the direct wave, the delay matrix is segmented, SsuriFor the segmented echo channel signals, i is 1,2, 3.
In the matrix operation described above, the combination law of matrix calculation can be appropriately used, thereby reducing the storage dimension of the intermediate variables. Echo signal S after sectional cancellation'suriSequentially spliced according to the segment labels i and restored to echo signals S 'with the length of 100K points'sur。
The range-doppler processing step, which uses coherent accumulation technique and filtering extraction to complete the range-doppler processing of the data, includes the following sub-steps:
2.1 conjugate point multiplication sub-step;
sampling the 100K point direct wave samples S in step 1.1dirTaking the conjugate of the delayed data matrix X (X is a 62X 100K order matrix); splicing the echo signals S 'of the 100K points obtained in the step 1.2'surMultiplying the conjugate X to obtain time domain coherence matrix Y of different delay time, and sequentially executing the following substep 2.2 and substep 2.3.
Y(i:,)＝conj(X(i:,)).*S'sur
In the formula, conj (·) represents conjugate calculation, Y is a matrix of N × P, P is a coherent integration point number (P ═ 100K), N is a delay order N ═ R/ρ (N ═ 62), and i ═ 1,2, 3.
2.2 a decimation filtering sub-step;
and (3) performing h-order filtering extraction operation at intervals of M points on each line (N lines in total) of Y in the step 2.1. Fig. 2 is a schematic diagram of h-order decimation operations performed at M-point intervals in one row of Y. M points at intervals are the point number intervals of the required filter output in the extraction process; taking h points which are continuous with a point of kM +1(k is 0,1,2, 3.) as a starting point, entering an h-order filter to obtain an output point which is extracted. After such decimation filtering, Y' is a matrix of N × Q orders, Q ═ floor [ (P-h)/M ], floor · representing the downward rounding. For example, M ═ 100, h ═ 128, and P ═ 100K, Q ═ 998.
2.3 a distance doppler dimension conversion sub-step;
each row (N rows in total) of Y' in step 2.2 is complemented by 0 to the nearest
Figure DEST_PATH_GDA00006691240300000712
After the data length of (2), a Fast Fourier Transform (FFT) is performed to obtain a range-Doppler plane of the echo
Figure DEST_PATH_GDA0000669124030000071
Figure DEST_PATH_GDA0000669124030000072
Wherein:
Figure DEST_PATH_GDA0000669124030000073
is composed of
Figure DEST_PATH_GDA0000669124030000074
Matrix of order ceil [ ·]Indicating rounding up, Y '(i,: indicating the ith row of the Y' matrix,
Figure DEST_PATH_GDA0000669124030000075
to represent
Figure DEST_PATH_GDA0000669124030000076
Row i of the matrix, FFT [ ·]Representing a fast fourier transform.
The target detection processing step, which uses constant false alarm processing to complete the detection of non-zero Doppler target, and then uses the target detection algorithm based on the GSM signal frame structure characteristics to complete the detection of moving target, includes the following substeps:
3.1 constant false alarm detection (CFAR) substep;
subjecting step 2.3 to
Figure DEST_PATH_GDA0000669124030000077
Each column (in total)
Figure DEST_PATH_GDA0000669124030000078
) Column) was subjected to N-point constant false alarm processing as shown in fig. 3. The operation method of the CFAR is to
Figure DEST_PATH_GDA0000669124030000079
The amplitude values of all range cells in a certain column of the CFAR are averaged and the maximum value thereof is compared with the threshold of the CFAR, thereby determining whether there is an object that has passed the threshold. If the target does not pass the threshold, the operation is carried out
Figure DEST_PATH_GDA00006691240300000710
The next column of CFAR calculations; if the target passing the threshold exists, the information of the distance unit value, the Doppler unit value and the like of the target is reserved, and then the target is positioned
Figure DEST_PATH_GDA00006691240300000711
The values of the adjacent 9 points around the coordinate position on the plane are set to zero. This column of post-zero operations is again subjected to the CFAR operation in step 3.1. After obtaining the range units and doppler values of all non-zero doppler targets in a frame of signal, sequentially performing the following substep 3.2 and substep 3.3;
3.2 the former T frame generates a temporary track substep;
the process of track association is shown in fig. 4, where the non-zero doppler target generated from the first frame data in step 3.1 is used as the first point for generating the temporary track, and the distance and doppler at the detected point are used as the starting distance and doppler of the track. And (3) associating the non-zero Doppler target generated by the non-first frame data in the step (3.1) with the temporary track, if the non-zero Doppler target can be associated with the temporary track, updating and reserving the temporary track, and if the non-zero Doppler target cannot be associated with the temporary track, generating a new temporary track head point. The criterion of track association is that the detection point is considered to be associated with a certain track when the difference between the detection point and the target point of the original certain track does not exceed a certain range. When the detection point and the k-th effective point which is nearest to the original certain track time are not different in distance by more than two units (k is 1, 2.. T, T is 5), and the doppler satisfies the following relation:
Figure DEST_PATH_GDA0000669124030000081
namely, the detection point is considered to be associated with the original track. Wherein d is the Doppler value of the non-zero Doppler target detection point, R is the distance unit value of the non-zero Doppler target detection point, dkIs the Doppler value, R, of the kth point on the original trackkIs the distance unit value of the kth point on the original track, SdFor the assumed maximum doppler separation between two frame targets, sign () is the sign function, C is the speed of light, and fs is the sampling rate.
A track association substep following the 3.3T frame;
if the track point updates which exceed T times exist in the temporary track in the step 3.2 before extinction, the temporary track is upgraded to a real track; and the non-zero Doppler target generated by each frame of data is associated with the real track, then associated with the temporary track and finally associated with the track in the order of the head point of a new temporary track. In the above-mentioned association sequence, if a certain detection point completes association in one of the steps, the subsequent association operation of the target point is stopped, and the next detection point in the frame data is skipped to for track association. Once the real track is formed, the real track needs to be immediately output, and the track is continuously updated and displayed. Once the continuous S frame data has no new track update no matter the real track and the temporary track, track extinction is needed.
Fig. 5 shows the flight path information of a real flight target detected by the system through the method. The figure clearly shows the trend of the range and doppler of the target over a period of time. Figure 6 shows bistatic distance versus time for the flight target. The figure clearly shows that the bistatic distance of the target is decreasing over time, illustrating flight to the station, corresponding to the positive doppler values in figure 5.

Claims (2)

1. A radar target detection method based on GSM signals sequentially comprises a main base station direct wave cancellation step, a range-Doppler processing step and a target detection processing step, and is characterized in that:
the main base station direct wave cancellation step comprises the following steps:
1.1 the substep of constructing a piecewise delay matrix of the direct wave: respectively segmenting a main base station direct wave reference signal and an echo signal received by a system in a time domain, and constructing respective direct wave segmented delay matrixes of the segmented main base station direct wave reference signal through the delay of different sampling points;
1.2 echo channel direct wave cancellation substep: converting the delay matrix into an orthogonal projection operator of a signal subspace of the direct wave, calculating to obtain a segmented echo signal after the direct wave and the multipath signal thereof are eliminated, and then restoring the segmented echo signal into an echo signal;
the range-doppler processing step, which uses coherent accumulation technique and filtering extraction to complete the range-doppler processing of data, includes the following substeps:
2.1 conjugate point multiplication sub-step;
conjugating the delay data matrix of the direct wave sample in the step 1.1; multiplying the echo signals obtained by splicing in the step 1.2 by the delay data matrix after conjugation to obtain time domain coherence matrixes Y at different delay moments;
2.2 a decimation filtering sub-step;
performing h-order filtering extraction operation on each line of Y in the step 2.1 at intervals of M points to obtain Y';
2.3 a distance doppler dimension conversion sub-step;
fast Fourier Transform (FFT) is carried out on each row of Y' in the step 2.2 to obtain a range-Doppler plane of the echo
Figure FDA0002424718940000011
Wherein:
Figure FDA0002424718940000012
is a matrix of NxQ order, and N is a delay order; q ═ floor [ (P-h)/M ═]，floor[·]The method comprises the following steps of representing downward rounding, wherein P is a coherent accumulation point number, the target detection processing step uses constant false alarm processing to finish the detection of a non-zero Doppler target, and then uses a target detection algorithm based on the structural characteristics of a GSM signal frame to finish the detection of a moving target, and the method comprises the following substeps:
3.1 constant false alarm detection (CFAR) substep;
will range Doppler plane
Figure FDA0002424718940000013
Each column is processed by N points of constant false alarm to obtain the distance unit and Doppler value of the non-zero Doppler target，
3.2 the former T frame generates a temporary track substep;
taking the non-zero Doppler target generated by the first frame data in the step 3.1 as a first point for generating a temporary track; associating the non-zero Doppler target generated by the non-first frame data in the step 3.1 with the temporary track, if the non-zero Doppler target can be associated with the temporary track, updating and reserving the non-zero Doppler target as the temporary track, and if the non-zero Doppler target cannot be associated with the temporary track, generating the non-zero Doppler target as a new temporary track head point; the criteria associated with the flight path are: when the detection point and the k-th effective point which is nearest to the original certain track time are not different in distance by more than two units (k is 1, 2.. T, T is 5), and the doppler satisfies the following relation:
Figure FDA0002424718940000021
namely, the detection point is considered to be related to the original track, wherein d is the Doppler value of the non-zero Doppler target detection point, R is the distance unit value of the non-zero Doppler target detection point, dkIs the Doppler value, R, of the kth point on the original trackkIs the distance unit value of the kth point on the original track, SdSign () is a sign function, C is the speed of light, and fs is the sampling rate for the assumed maximum Doppler interval between two frame targets;
a track association substep following the 3.3T frame;
if the track point updates which exceed T times exist in the temporary track in the step 3.2 before extinction, the temporary track is upgraded to a real track; and the non-zero Doppler target generated by each frame of data is associated with the real track, then associated with the temporary track and finally associated with the track in the order of the head point of a new temporary track.
2. The radar target detection method of claim 1, wherein: the filtering and extracting operation method in the step 2.2 comprises the following steps: and calculating the position of the point to be extracted, and then obtaining the point by filtering, wherein the rest points are not processed.
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