CN104931946A - Outer radiation source radar Doppler-time delay two-dimension double-threshold object detection method - Google Patents

Outer radiation source radar Doppler-time delay two-dimension double-threshold object detection method Download PDF

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Publication number
CN104931946A
CN104931946A CN201510245319.5A CN201510245319A CN104931946A CN 104931946 A CN104931946 A CN 104931946A CN 201510245319 A CN201510245319 A CN 201510245319A CN 104931946 A CN104931946 A CN 104931946A
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time delay
doppler
pro
signal
object detection
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王海涛
杜自成
王伟
符渭波
田斌
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Xian Electronic Engineering Research Institute
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Xian Electronic Engineering Research Institute
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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
    • 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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures

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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 an outer radiation source radar Doppler-time delay two-dimension double-threshold object detection method comprising the following steps: firstly, a reference antenna and an echo antenna respectively receive base station emitted a direct wave signal and a motion object echo signal; then, carrying out interference cancellation and coherent accumulation processing in sequence for the echo signal received by the echo antenna; finally, using a Doppler-time delay two-dimension double-threshold false alarm algorithm to carry out object detection. The method mainly solves object detection high missed alarm and false alarm problems under a strong interference residual environment, can realize object detection under the strong interference residual condition, and is low in missed alarm probability and false alarm probability.

Description

External illuminators-based radar Doppler-time delay bidimensional double threshold object detection method
Technical field
The invention belongs to Radar Technology field, relate to a kind of external illuminators-based radar Doppler-time delay bidimensional double threshold object detection method.
Background technology
Along with the development of modern war technology, radar is faced with the threat of antiradiation missile, Stealthy Target, low latitude and the aspect such as ultra-low altitude penetration and electromagnetic interference (EMI).And traditional single base monostatic radar, because transmitting-receiving is placed in same place, itself transmit at detection process needs simultaneously, be difficult to meet the requirement of modern war " hidden self, first oppose discoverys, first oppose attack ", therefore needed to study new system radar to adapt to modern operation environment.Be different from conventional active radar system, utilize that external opportunities irradiation source detects target, localization and tracking is that external illuminators-based radar does not transmit due to itself, thus it carries out work in completely hidden mode, be difficult to be detected by enemy's electronic equipment, from the attack of antiradiation missile, very strong antijamming capability and system survivability can be had.The external irradiation source signal simultaneously used due to passive radar is generally positioned at low-frequency range, and the radar working in this frequency range to detection invisbile plane and cruise missile advantageously.Just based on existence these advantages above, external illuminators-based radar was subject to domestic and international extensive concern in recent years, was the weaponry given priority to future.
But the continuous wave radar of external illuminators-based radar owing to being a kind of bistatic system, therefore its echo antenna also will receive strong direct wave and multi-path jamming while receiving echo signal, and these interference signal amplitude are relative to target echo signal more than height 60dB.In external illuminators-based radar; for eliminating these direct waves and multi-path jamming to the impact detecting target echo; usually first direct wave and multipath interference cancellation can be carried out; but by the impact of and fractional delay impure as the direct-path signal of the benchmark that disappears mutually etc.; can not be clean by all interference cancellations, usual remaining interference may be more taller than target echo signal amplitude.Therefore be different from conventional monostatic radar and generally in noise circumstance, carry out target detection, external illuminators-based radar needs to detect target in strong direct wave and multi-path jamming residue environment, if merely the object detection method of traditional monostatic radar is transplanted in external illuminators-based radar, to the false-alarm of target detection and false dismissal be caused all very large, thus will this type radar effect in actual use be had a strong impact on.
Summary of the invention
The technical matters solved
In order to avoid the deficiencies in the prior art part, the present invention proposes a kind of external illuminators-based radar Doppler-time delay bidimensional double threshold object detection method.When the method is for existence interference residue, because the secondary lobe of interference is different at the secondary lobe of distance peacekeeping time delay dimension, more false-alarm and the problem of false dismissal may be there is when causing utilizing traditional technique in measuring, propose a kind of Doppler-time delay bidimensional double threshold CFAR detection method, can realize effectively detecting target.
Technical scheme
A kind of external illuminators-based radar Doppler-time delay bidimensional double threshold object detection method, is characterized in that step is as follows:
Step 1: signal S (n)+D (n)+Z (n) of the echo channel of external illuminators-based radar after interference cancellation is carried out coherent accumulation with base station direct-path signal R (n) that reference channel obtains:
y ( f d , t ) = Σ n = 1 N ( S ( n ) + D ( n ) + Z ( n ) ) R * ( n - t ) e j 2 π f d n / N
Wherein S (n) represents target echo signal, and D (n) represents direct wave and multi-path jamming residual signal, and Z (n) represents noise signal, f drepresent Doppler shift unit, t represents time delay elements, and N represents relevant the counting of do, and * represents conjugate transpose, and j is expressed as the square root of-1;
Step 2: the amplitude A calculating Doppler dimension Noise and Interference d:
A d = ( Σ b 1 = - B de - B pro B de + B pro y ( f d + b 1 , t ) - Σ b 2 = - B pro B pro y ( f d + b 2 , t ) ) / B de / 2
Wherein B derepresent detecting unit number, B prorepresent protected location number;
Comparison signal y (f d, t) and A damplitude, if y (f d, t)/A dbe greater than given Doppler and tie up detection threshold C d, then proceed to step 3, otherwise proceed to step 4;
Step 3: the amplitude h of calculation delay dimension Noise and Interference d:
h d = ( Σ b 1 = - B de - B pro B de + B pro y ( f d , t + b 1 ) - Σ b 2 = - B pro B pro y ( f d , t + b 2 ) ) / B de / 2
Comparison signal y (f d, t) and h damplitude, if y (f d, t)/h dbe greater than given time delay dimension detection threshold τ d, then announce at Doppler shift unit f dtarget U (f is detected with on time delay elements t d, t), detect and terminate, otherwise proceed to step 4;
Step 4: announce at Doppler shift unit f dtarget do not detected with on time delay elements t, detect and terminate.
Described Doppler ties up detection threshold C dspan is 10 ~ 15.
Described time delay dimension detection threshold τ dspan is 20 ~ 25.
Beneficial effect
A kind of external illuminators-based radar Doppler-time delay bidimensional double threshold object detection method that the present invention proposes, has following beneficial effect:
(1) reduce false alarm rate, utilize Doppler-time delay bidimensional to carry out cascade detection, the secondary lobe that can prevent some from disturbing is taken as target and detects, thus reduces target detection false alarm rate.
(2) reduce false dismissed rate, according to the ambiguity function of different radar illuminators of opportunities in the different characteristic of Doppler-time delay bidimensional secondary lobe, set different thresholdings, some Small object echo can be prevented to be missed, thus reduce the false dismissed rate of target detection.
Accompanying drawing explanation
Fig. 1 is system chart of the present invention;
Fig. 2 is that single frames of the present invention is concerned with result figure;
Fig. 3 is single frames CFAR detection result of the present invention;
Fig. 4 is that multiframe of the present invention is concerned with result accumulation figure;
Fig. 5 is multiframe CFAR detection result accumulation figure of the present invention;
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
In the present invention, external radiation source radar system is primarily of Anneta module, receiver module, interference cancellation and several the compositions such as coherent accumulation module, CFAR detection module.Wherein:
Receiving antenna module, is divided into two parts, is called reference antenna and echo antenna.Reference antenna is narrow beam directional antenna, and in system work process, the Main Function of reference antenna utilizes main lobe to point to direction, irradiation source base station, obtains the direct-path signal of irradiation source base station.The interested target spatial domain of echo antenna direction, is mainly used in receiving target echoed signal, also can receive direct wave and the multipath interference signal of Base Transmitter simultaneously.The signal that receiving antenna receives sends receiver module to through radio-frequency cable.
Receiver module, comprise reference channel receiver A and echo channel receiver B, be mainly used in carrying out mixing and filter and amplification acquisition analog if signal to the signal that receiving antenna receives, then the change of A/D modulus is carried out to analog if signal, Direct Digital down coversion DDC obtains digital baseband signal, then digital baseband signal is given interference cancellation and coherent accumulation module.
Interference cancellation and coherent accumulation module, first the signal that direct-path signal R (n) that receives of application reference antenna and echo antenna receive carries out interference cancellation, then carrying out coherent accumulation with base station direct-path signal R (n) that reference antenna receives according to following formula by offseting later signal S (n)+D (n)+Z (n), obtaining Doppler shift unit f dwith the coherent accumulation value y (f at time delay elements t place d, t):
y ( f d , t ) = Σ n = 1 N ( S ( n ) + D ( n ) + Z ( n ) ) R * ( n - t ) e j 2 π f d n / N
Wherein S (n) represents target echo signal, and D (n) represents direct wave and multi-path jamming residual signal, and Z (n) represents noise signal, f drepresent Doppler shift unit, t represents time delay elements, and N represents relevant the counting of do, and * represents conjugate transpose, and j is expressed as the square root of-1;
CFAR detection module, to relevant later signal y (f d, t) utilize Doppler-time delay bidimensional double threshold CFAR detection algorithm to carry out single frames target detection, described Doppler-time delay bidimensional double threshold CFAR detection algorithm is carried out as follows:
(2a) given Doppler ties up detection threshold C dwith the amplitude A obtaining Doppler dimension Noise and Interference according to following formula d:
A d = ( Σ b 1 = - B de - B pro B de + B pro y ( f d + b 1 , t ) - Σ b 2 = - B pro B pro y ( f d + b 2 , t ) ) / B de / 2
Wherein B derepresent detecting unit number, B prorepresent protected location number, y (f d+ b 1, t) with y (f d+ b 2, t) be expressed as Doppler shift unit f dand the coherent accumulation value of unit near time delay elements t; Then relatively more relevant later signal y (f d, t) and A damplitude, if y (f d, t)/A dbe greater than C d, then proceed to step (2b), otherwise proceed to step (2c);
(2b) to fixed response time dimension detection threshold τ dwith the amplitude h obtaining Doppler dimension Noise and Interference according to following formula d:
h d = ( Σ b 1 = - B de - B pro B de + B pro y ( f d , t + b 1 ) - Σ b 2 = - B pro B pro y ( f d , t + b 2 ) ) / B de / 2
Then relatively more relevant later signal y (f d, t) and h damplitude, if y (f d, t)/h dbe greater than τ d, then announce at Doppler shift unit f dtarget U (f is detected with on time delay elements t d, t), detect and terminate, otherwise proceed to step (2c);
(2c) announce at Doppler shift unit f dwith time delay elements A don target do not detected, detect terminate.
Effect of the present invention further illustrates by following simulation result:
Simulated conditions:
This emulation adopts 957MHz global mobile communication signal as emissive source, data sampling rate is 200kHz, interference cancellation algorithm utilize exponent number be 30 self-adaptation to disappear mutually algorithm, tie up time delay dimension in coherent accumulation in Doppler-time delay two and get 30 unit, Doppler's dimension gets-500Hz ~ 500Hz, and Doppler ties up detection threshold C dbe taken as 12, time delay dimension detection threshold τ dbe taken as 21.
Experiment effect:
Fig. 2 be the signal of this emulation to echo antenna after disappearing mutually, then make coherent accumulation and obtain result later, as transverse axis in figure represents bistatic distance (time delay) unit, the longitudinal axis represents Doppler frequency.As can be seen from Figure 2, not only target peak is contained in figure, and contain and much remain by base station direct wave and multi-path jamming the ghost peak caused, if directly utilize traditional object detection method to process, not only may produce a lot of false-alarm, also can produce a lot of false-alarm simultaneously, target may be caused also to mask simultaneously, thus produce false-alarm.
The algorithm of target detection that Fig. 3 utilizes the present invention to carry carries out the result of CFAR detection acquisition to delay-Doppler result in Fig. 2, in figure, namely arrow logo place is the place being detected target, as can be seen from the figure utilize method of the present invention can not only all real target echo detections out, the false alarm rate simultaneously produced is also very low, can meet actual use.
Fig. 4 and Fig. 5 utilizes the correlated results of multiframe data acquisition and CFAR detection result stacking diagram of the present invention, although the flight path (as arrow indication in Fig. 4) of a target also obviously can be seen from Fig. 4, but it also comprises other ghost peak caused by residual interference, and in Fig. 5 after CFAR detection of the present invention, the ghost peak caused by residual interference is all filtered out substantially, and false-alarm is little.

Claims (3)

1. external illuminators-based radar Doppler-time delay bidimensional double threshold object detection method, is characterized in that step is as follows:
Step 1: signal S (n)+D (n)+Z (n) of the echo channel of external illuminators-based radar after interference cancellation is carried out coherent accumulation with base station direct-path signal R (n) that reference channel obtains:
y ( f d , t ) = Σ n = 1 N ( S ( n ) + D ( n ) + Z ( n ) ) R * ( n - t ) e j 2 π f d n / N
Wherein S (n) represents target echo signal, and D (n) represents direct wave and multi-path jamming residual signal, and Z (n) represents noise signal, f drepresent Doppler shift unit, t represents time delay elements, and N represents relevant the counting of do, and * represents conjugate transpose, and j is expressed as the square root of-1;
Step 2: the amplitude A calculating Doppler dimension Noise and Interference d:
A d = ( Σ b 1 = - B de - B pro B de + B pro y ( f d + b 1 , t ) - Σ b 2 = - B pro B pro y ( f d + b 2 , t ) ) / B de / 2
Wherein B derepresent detecting unit number, B prorepresent protected location number;
Comparison signal y (f d, t) and A damplitude, if y (f d, t)/A dbe greater than given Doppler and tie up detection threshold C d, then proceed to step 3, otherwise proceed to step 4;
Step 3: the amplitude h of calculation delay dimension Noise and Interference d:
h d = ( Σ b 1 = - B de - B pro B de + B pro y ( f d , t + b 1 ) - Σ b 2 = - B pro B pro y ( f d , t + b 2 ) ) / B de / 2
Comparison signal y (f d, t) and h damplitude, if y (f d, t)/h dbe greater than given time delay dimension detection threshold τ d, then announce at Doppler shift unit f dtarget U (f is detected with on time delay elements t d, t), detect and terminate, otherwise proceed to step 4;
Step 4: announce at Doppler shift unit f dtarget do not detected with on time delay elements t, detect and terminate.
2. external illuminators-based radar Doppler according to claim 1-time delay bidimensional double threshold object detection method, its feature ties up detection threshold C described Doppler dspan is 10 ~ 15.
3. external illuminators-based radar Doppler according to claim 1-time delay bidimensional double threshold object detection method, its feature is at described time delay dimension detection threshold τ dspan is 20 ~ 25.
CN201510245319.5A 2015-05-14 2015-05-14 Outer radiation source radar Doppler-time delay two-dimension double-threshold object detection method Pending CN104931946A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105425225A (en) * 2016-01-14 2016-03-23 中国人民解放军国防科学技术大学 Passive radar low-altitude object detection method
CN106918804A (en) * 2016-11-27 2017-07-04 西南电子技术研究所（中国电子科技集团公司第十研究所） Radar chaff recognizes signal processing system
CN110109094A (en) * 2019-03-28 2019-08-09 西南电子技术研究所（中国电子科技集团公司第十研究所） The detection of multi-receiver station single frequency network external illuminators-based radar maneuvering target and tracking
CN111650563A (en) * 2020-06-15 2020-09-11 桂林电子科技大学 System and method for quickly estimating co-channel interference time delay and energy of external radiation source radar
CN111812630A (en) * 2020-07-23 2020-10-23 桂林电子科技大学 System and method for detecting target and estimating DOA (direction of arrival) of external radiation source radar when interference remains
CN113466804A (en) * 2021-07-02 2021-10-01 中国船舶重工集团公司第七二四研究所 CFAR threshold selection method for radar anti-interference

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
黄晓静 等: "高频天地波雷达目标信息获取方法", 《电脑知识与技术》 *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105425225A (en) * 2016-01-14 2016-03-23 中国人民解放军国防科学技术大学 Passive radar low-altitude object detection method
CN106918804A (en) * 2016-11-27 2017-07-04 西南电子技术研究所（中国电子科技集团公司第十研究所） Radar chaff recognizes signal processing system
CN106918804B (en) * 2016-11-27 2019-08-06 西南电子技术研究所（中国电子科技集团公司第十研究所） Radar chaff identification signal processing system
CN110109094A (en) * 2019-03-28 2019-08-09 西南电子技术研究所（中国电子科技集团公司第十研究所） The detection of multi-receiver station single frequency network external illuminators-based radar maneuvering target and tracking
CN111650563A (en) * 2020-06-15 2020-09-11 桂林电子科技大学 System and method for quickly estimating co-channel interference time delay and energy of external radiation source radar
CN111650563B (en) * 2020-06-15 2022-05-31 桂林电子科技大学 System and method for quickly estimating co-channel interference time delay and energy of external radiation source radar
CN111812630A (en) * 2020-07-23 2020-10-23 桂林电子科技大学 System and method for detecting target and estimating DOA (direction of arrival) of external radiation source radar when interference remains
CN111812630B (en) * 2020-07-23 2022-06-21 桂林电子科技大学 System and method for detecting target and estimating DOA (direction of arrival) of external radiation source radar when interference remains
CN113466804A (en) * 2021-07-02 2021-10-01 中国船舶重工集团公司第七二四研究所 CFAR threshold selection method for radar anti-interference

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