CN105204017B - A kind of high resolution radar angle tracking method based on canonical optimization - Google Patents

A kind of high resolution radar angle tracking method based on canonical optimization Download PDF

Info

Publication number
CN105204017B
CN105204017B CN201510552223.3A CN201510552223A CN105204017B CN 105204017 B CN105204017 B CN 105204017B CN 201510552223 A CN201510552223 A CN 201510552223A CN 105204017 B CN105204017 B CN 105204017B
Authority
CN
China
Prior art keywords
angle
signal
high resolution
value
resolution radar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201510552223.3A
Other languages
Chinese (zh)
Other versions
CN105204017A (en
Inventor
陈新亮
周超
曾涛
李阳
龙腾
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN201510552223.3A priority Critical patent/CN105204017B/en
Publication of CN105204017A publication Critical patent/CN105204017A/en
Application granted granted Critical
Publication of CN105204017B publication Critical patent/CN105204017B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
    • 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
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing

Abstract

The present invention provides a kind of high resolution radar angle tracking method based on canonical optimization, optimal angle measurement value can be scanned for using canonical optimization method, reduces angle error, is of great significance to high resolution radar short range angle tracking.Step 1: carry out pulse compression to the echo of high resolution radar and/poor channel reception, and pair and channel pulse pressure after signal carry out target detection, range cell where record target scattering point；Step 2: Monopulse estimation is carried out to the range cell detected；Step 3: the angle measurement value to current period carries out canonical optimization；Each possible angle value is substituted into cost function, selects the angle that C (θ) is enabled to obtain minimum value as output.

Description

A kind of high resolution radar angle tracking method based on canonical optimization
Technical field
The invention belongs to high resolution radar technical fields, and in particular to it is a kind of based on canonical optimization high resolution radar angle with Track method.
Background technology
In radar short range angle tracking, angle scintillations are one of main sources of tracking error, and in the extreme circumstances, it is even Wave beam may be guided except target zone, be lost so as to cause target.According to current research, angle scintillations are mainly by same The phase of multiple scattering points, which is overlapped mutually, in resolution cell causes.The amplitude that the relative motion of these scattering points exacerbates echo rises Volt, so as to increase angle error.Meanwhile these angle errors are unsatisfactory for Gaussian Profile, cause largely to make an uproar based on Gaussian Profile The performance of filter of sound design is decreased obviously；On the other hand, for wave filter, higher noise suppressed performance is often adjoint The longer response time.Therefore, in practical applications, wave filter is relied solely on often to be difficult to obtain satisfactory effect.
Another measure that reducing angle scintillations influences is to use high resolution radar.Target can be distinguished as by high resolution radar Multiple scattering points, therefore echo wavefront attenuation caused by avoiding multiple scattering point Phase Stackings namely reduce and angle occurs dodge Bright possibility.But high resolution radar cannot unlimitedly resolution target, therefore it can only reduce and angle cannot be avoided to dodge completely It is bright.On the other hand, a target is distinguished as multiple scattering points by high resolution radar, this reduces each scattering to a certain extent The signal-to-noise ratio of point, it is possible to introduce new angle error.For the problem, engineering staff mostly using be maximized, multi-point average, The methods of weighted average, these methods can reduce angle error to a certain extent, but in the case where signal-to-noise ratio is relatively low Still it is difficult to meet practical application needs.
Invention content
It in view of this, can the object of the present invention is to provide a kind of high resolution radar angle tracking method based on canonical optimization To be scanned for using canonical optimization method to optimal angle measurement value, reduce angle error, have to the angle tracking of high resolution radar short range It is significant.
The high resolution radar angle tracking method based on canonical optimization, includes the following steps：
Step 1: carry out pulse compression to the echo of high resolution radar and/poor channel reception, and pair and channel pulse pressure after Signal carries out target detection, range cell where record target scattering point；
Step 2: Monopulse estimation is carried out to the range cell detected；
According to testing result, i.e., the amplitude of range cell serial number i where target, taking-up and/difference channel respective distance unit siAnd di, and calculate the angle value of each scattering point
Wherein k is pulse difference slope；
Step 3: the angle measurement value to current period carries out canonical optimization；
The angle value of all scattering points is calculated according to formula (1), then enables σiFor the amplitude of each scattering point, θ0It is upper one week The output angle of phase optimizes solution to following cost functions (2)；Beam let width is θw, then possible value ranges of θ For-θw/ 2~θw/ 2, discretization is carried out to the value range, λ is adjustable parameter, between current information and in the past information Tradeoff, each possible angle value is substituted into following cost function, the angle for select to enable C (θ) acquirement minimum values is as defeated Go out：
The present invention has the advantages that：
A kind of high resolution radar angle tracking method based on canonical optimization of the present invention realizes high score using canonical optimization Distinguish radar short range angle tracking, the more traditional maximum value process of the angle tracking method, multi-point average method, weighted mean method equally accurate are more Height, more traditional filtering method response time is shorter, and therefore, method of the invention has more application advantage.
Description of the drawings
Fig. 1 is target scattering point position relationship.
Fig. 2 is the pulse compression result with channel echo.
Fig. 3 is angle tracking method in the present invention and amplitude weighting average angle tracking simulation result.
Fig. 4 is the step response of weighted mean method.
Fig. 5 is the step response of the method for the present invention.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Without loss of generality, only consider orientation angle tracking.It can be then expressed as with the reception signal of/difference channel：
Wherein：nsAnd ndRespectively and the noise in/poor channel；stAnd dtRespectively and the target echo of/poor channel, it Ratio and azimuth of target θtBetween be approximately linear relationship, i.e.,：
Wherein：K is defined as pulse difference slope.
Similarly, scAnd dcIt is respectively and the clutter echo in/poor channel, the azimuth of their ratio and clutter unit Also there is identical linear relationship：
According to formula (3), when only existing a scattering point and higher signal to noise ratio, target bearing can be calculated in we The estimated value at angle is：
And when signal to noise ratio is relatively low, and is calculated in a resolution cell there are during multiple scattering points using above formula Azimuth of target will be very unstable, and the input in this, as tracking system is possible to lead to BREAK TRACK.
And for high resolution radar, a target is distinguished as multiple scattering points by it, therefore for each scattering point, I May be by formula (4) an angle measurement value be calculatedSimultaneously, it is assumed that：
It is mean value that 1. the angle measurement result of current period, which obeys an above period angle measurement result predicted value,Gauss for variance Distribution.
2. the angle measurement value of all scattering points of current period is obeyed using real angle as mean value,Gaussian Profile for variance.
I.e.：
Then according to bayesian theory, we can obtain the posterior probability density function (PDF) at true bearing angle：
Wherein：Vector for all scattering point angle measurement result compositions of current period.
In formula (6),It is not related with amount to be estimated, therefore above formula can be reduced to：
It takes the logarithm, can be obtained simultaneously to formula (7) both sides：
Wherein：
Then according to maximum likelihood theory, when formula (8) obtains maximum value, corresponding target angleFor an optimal estimation. And formula (8) obtains maximum and is equivalent to：
Obtain minimum.For this purpose, we are to define cost function：
Wherein：λ is an adjustable parameter, for the tradeoff between current information and in the past information.Then current period Top optimization direction angular estimation is given by：
Therefore, the present invention provides a kind of high resolution radar short range angle tracking method based on canonical optimization, including as follows Step.
Step 1, carries out the echo of high resolution radar and/poor channel reception pulse compression, and pair and channel pulse pressure after Signal carries out target detection, range cell where record target scattering point.By with channel pulse pressure and detection for, specific steps It is as follows：
1) reference signal is constructed, the docking collection of letters number carries out a pulse compression：
S (t)=ifft (fft (s (t)) * conj (fft (sref))) (13)
Wherein：Fft () and ifft () represents Fourier transformation and inverse Fourier transform respectively, and conj () expressions take Conjugate operation.S (t) represents the compressed signal of pulse, and s (t) is and channel receiving signal SrefFor reference signal, believe in transmitting It number can be expressed as under the premise of linear FM signal, to receive signal and reference signal：
sref=rect (t, Tp)exp(jπKrt2)
Wherein：Rect () represents rectangular envelope, TpRepresent pulse width, KrRepresent linear frequency modulation rate, R represents that target arrives The distance of radar, C represent the light velocity, and λ represents wavelength.
2) target detection is carried out to the signal after pulse pressure, the signal after pulse pressure is compared with a thresholding, if the width of signal Degree is more than thresholding, then judges there are target, and record the serial number i of the range cell.Without loss of generality, used here as most simple Fixed threshold detection, threshold value is：
Wherein：PfaRepresent false alarm rate.
Step 2 carries out Monopulse estimation to the range cell detected.
According to testing result, i.e., the amplitude of range cell serial number i where target, taking-up and/difference channel respective distance unit siAnd di, and according to the angle value of each scattering point of formula (4) calculating
Step 3, the angle measurement value based on canonical optimal estimating current period.
The angle value of all scattering points is substituted into formula (11), and enable σiFor the amplitude of each scattering point, θ0For a upper period Then output angle optimizes cost function solution.The solution procedure can use least square method, simplex method etc. Some constrained optimization methods simply use traversal search.And the angle output area certain restrictions of current period is in wave beam In the range of, it is assumed that beam angle θw, then the possible value ranges of θ are-θw/ 2~θw/ 2, discretization is carried out to the value range, Each possible angle value is substituted into formula (11), selects the angle that C (θ) is enabled to obtain minimum value as output.
Embodiment：
In this example, relevant parameter is as follows：
1 simulation parameter of table
The scatter times of target are as shown in Figure 1, the radar echo signal of (14) formula of utilization construction target, pulse pressure result As shown in Figure 2.
Using a kind of high resolution radar short range angle tracking method based on canonical optimization of the present invention, the parameter is completed Under tracking emulation, idiographic flow is as follows：
Step 1, pair and the reception echo of/poor channel carry out pulse compression.
Step 2 carries out target detection to pulse compression result, and records range cell where target scattering point, wherein examining Thresholding is surveyed to be provided by formula (15).
Step 3, for the target scattering point detected, extraction is accordingly and the signal amplitude progress of channel and poor channel is single Pulse angle measurement, i.e. formula (4).
Step 4 by all angle measurement values, substitutes into formula (11), and combined the output angle in a upper period, in beam angle In the range of the optimal angle of current period is scanned for, when C (θ) obtain minimum when obtain optimal output angle.
Comparison using this method tracking acquired results and amplitude weighting method of average acquired results is as shown in Figure 3.It is wherein grey Color curve is tracking result of the present invention, and standard deviation is about 0.013；And black curve is weighted mean method tracking result, mark Quasi- difference about 0.027.It can be seen that the present invention can substantially reduce tracking error.
Meanwhile the step response of weighted mean method and the method for the present invention difference is as shown in Figure 4 and Figure 5.There it can be seen that There is overshoot and vibrate in the step response of weighted mean method, under this simulation parameter, 9.5s is needed to can be only achieved stable state；And this The method for inventing proposition is more stable, and the response time only has 2.5s.
By simulation result it can be seen that utilizing the effective of this high resolution radar angle tracking method based on canonical optimization Property.The accurate target tracking of high resolution radar can be realized using this method.
In conclusion the foregoing is merely a prefered embodiment of the invention, it is not intended to limit the scope of the present invention. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's Within protection domain.

Claims (3)

  1. A kind of 1. high resolution radar short range angle tracking method based on canonical optimization, which is characterized in that include the following steps：
    Step 1: carry out pulse compression to the echo of high resolution radar and/poor channel reception, and pair and channel pulse pressure after signal Carry out target detection, range cell where record target scattering point；
    Step 2: Monopulse estimation is carried out to the range cell detected；
    According to testing result, i.e., the amplitude s of range cell serial number i where target, taking-up and/difference channel respective distance unitiWith di, and calculate the angle value of each scattering point
    Wherein k is pulse difference slope；
    Step 3: the angle measurement value to current period carries out canonical optimization；
    The angle value of all scattering points is calculated according to formula (1), then enables σiFor the amplitude of each scattering point, θ0For a upper period Output angle optimizes solution to following cost functions (2)；Beam let width is θw, then the possible value ranges of θ are-θw/2 ~θw/ 2, discretization is carried out to the value range, λ is adjustable parameter, in current information and the tradeoff between information in the past, Each possible angle value is substituted into following cost function, selects the angle that C (θ) is enabled to obtain minimum value as output；
  2. 2. a kind of high resolution radar short range angle tracking method based on canonical optimization as described in claim 1, which is characterized in that With for channel pulse pressure and detection, to be as follows in step 2：
    1) reference signal is constructed, the docking collection of letters number carries out a pulse compression：
    S (t)=ifft (fft (s (t)) * conj (fft (sref)))
    Wherein：Fft () and ifft () represents Fourier transformation and inverse Fourier transform respectively, and conj () expressions take conjugation Operation；S (t) represents the compressed signal of pulse, and s (t) is and channel receiving signal SrefFor reference signal, it is in transmitting signal Under the premise of linear FM signal, receive signal and reference signal is expressed as：
    sref=rect (t, Tp)exp(jπKrt2)
    Wherein：Rect () represents rectangular envelope, TpRepresent pulse width, KrRepresent linear frequency modulation rate, R represents target to radar Distance, C represent the light velocity, λ represent wavelength；
    2) target detection is carried out to the signal after pulse pressure, the signal after pulse pressure is compared with a thresholding, if the amplitude of signal is big In thresholding, then judge there are target, and record the serial number i of the range cell, detected using simplest fixed threshold, door Limit value is：
    Wherein：PfaRepresent false alarm rate.
  3. 3. a kind of high resolution radar short range angle tracking method based on canonical optimization as claimed in claim 1 or 2, feature exist In the solution procedure uses the constrained optimization method of least square method or simplex method or uses traversal search.
CN201510552223.3A 2015-09-01 2015-09-01 A kind of high resolution radar angle tracking method based on canonical optimization Active CN105204017B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510552223.3A CN105204017B (en) 2015-09-01 2015-09-01 A kind of high resolution radar angle tracking method based on canonical optimization

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510552223.3A CN105204017B (en) 2015-09-01 2015-09-01 A kind of high resolution radar angle tracking method based on canonical optimization

Publications (2)

Publication Number Publication Date
CN105204017A CN105204017A (en) 2015-12-30
CN105204017B true CN105204017B (en) 2018-06-12

Family

ID=54951796

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510552223.3A Active CN105204017B (en) 2015-09-01 2015-09-01 A kind of high resolution radar angle tracking method based on canonical optimization

Country Status (1)

Country Link
CN (1) CN105204017B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106019250B (en) * 2016-05-16 2018-05-18 中国人民解放军国防科学技术大学 Based on angle scintillations relay type decoy discrimination method
CN109143184B (en) * 2018-10-29 2022-05-24 北京理工大学 Double-threshold detection method for scanning radar
CN111427022A (en) * 2020-05-08 2020-07-17 北京理工大学重庆创新中心 Array radar angle measurement method based on maximum likelihood estimation
CN112051563B (en) * 2020-08-29 2023-06-30 西安电子工程研究所 Single-pulse angle measurement coefficient automatic acquisition method based on direct wave
CN112198488B (en) * 2020-09-08 2021-07-20 北京理工大学 Extremely narrow pulse radar angle-associated target echo space aggregation method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6611226B1 (en) * 2000-04-20 2003-08-26 Hughes Electronics Corp Satellite surveillance system and method
CN102183755A (en) * 2010-12-22 2011-09-14 中国船舶重工集团公司第七一五研究所 Novel high-resolution orientation-estimating method based on Cauchy Gaussian model
US8970425B2 (en) * 2011-06-09 2015-03-03 Sony Corporation Radar apparatus and method
CN103616679B (en) * 2013-11-19 2016-04-27 北京航空航天大学 Based on difference beam modulation and the PD radar range finding angle-measuring method of wave form analysis

Also Published As

Publication number Publication date
CN105204017A (en) 2015-12-30

Similar Documents

Publication Publication Date Title
CN105204017B (en) A kind of high resolution radar angle tracking method based on canonical optimization
CN106842165B (en) Radar centralized asynchronous fusion method based on different distance angular resolutions
WO2021134449A1 (en) Method, apparatus, computer device, and storage medium for detection by a frequency-modulated continuous-wave (fmcw) array radar of weak signals of multiple moving targets under strong clutter,
CN106443570B (en) Wave arrival direction estimating method based on multiple signal classification algorithm vector correlation
CN105425230A (en) Range-extended target adaptive detection method under inverse Gaussian texture complex Gaussian clutter
CN107255805B (en) The prediction technique of radar target RCS based on weighted least-squares
CN107656255A (en) Ultra-wideband radar moving target two-dimensional positioning method based on multipath echoes
CN105445701A (en) Mono-pulse angle estimation method for DDMA-MIMO radar target
Yuan et al. Application research of keystone transform in weak high-speed target detection in low-PRF narrowband chirp radar
Hyun et al. Human-vehicle classification scheme using doppler spectrum distribution based on 2D range-doppler FMCW radar
US11543490B2 (en) Method and apparatus for measuring distance by means of radar
Cosoli et al. A real-time and offline quality control methodology for SeaSonde high-frequency radar currents
Zhou et al. Hough transform‐based large micro‐motion target detection and estimation in synthetic aperture radar
Zhang et al. Push the limit of millimeter-wave radar localization
Setlur et al. On a formal measure of Doppler Tolerance
CN102928826A (en) Method for detecting air mobile target based on single reconstruction and time sampling
CN105652256B (en) A kind of high-frequency ground wave radar TBD methods based on polarization information
Molchanov et al. Target classification by using pattern features extracted from bispectrum-based radar Doppler signatures
JP5508877B2 (en) Radar equipment
CN107462886A (en) A kind of moving-target CFAR detection method based on comparison of wave shape degree optimal algorithm
CN109490859B (en) Robust detector for orientation and Doppler disturbances in a partially homogeneous environment
CN111044996A (en) LFMCW radar target detection method based on dimension reduction approximate message transfer
CN105242268A (en) Automatic focusing imaging method for short-range holographic radar
CN109117698A (en) A kind of noise background estimation method based on minimum mean square error criterion
CN116027288A (en) Method and device for generating data, electronic equipment and storage medium

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CB03 Change of inventor or designer information

Inventor after: Chen Xinliang

Inventor after: Zhou Chao

Inventor after: Zeng Tao

Inventor after: Li Yang

Inventor after: Long Teng

Inventor after: Zhao Tong

Inventor after: Wang Yanhua

Inventor before: Chen Xinliang

Inventor before: Zhou Chao

Inventor before: Zeng Tao

Inventor before: Li Yang

Inventor before: Long Teng

CB03 Change of inventor or designer information