CN106054165B - A method of realizing distributed passive radar target detection - Google Patents
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- 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
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Abstract
The invention discloses a kind of method for realizing distributed passive radar target detection, this method belongs to passive radar target detection technique field.Existing target detection is to each bistatic to individually carrying out related and crossing threshold processing completion target detection, it recycles estimation to obtain bistatic distance and the doppler information development target positioning of target, causes subsequently to need to solve the problems, such as complicated location ambiguity during realizing that target is accurately positioned.For this purpose, present invention introduces target location and velocity vector, a kind of centralized target detection statistic is constructed so that also achieve the positioning to target while realizing target detection, target location ambiguity problem need not be reprocessed.In addition, this method before detection receives multiple transmittings can improve target detection probability to carrying out non-inherent accumulation to obtain space diversity gain, more stable target detection performance is obtained, to realize that the continuous-stable tracking to target provides the foundation.
Description
Technical Field
The invention belongs to the technical field of passive radar target detection, and particularly relates to a method for realizing distributed passive radar target detection.
Background
The passive radar system adopts signals emitted by a third-party radiation source, such as FM broadcast, DAB, DVB-T, GPS signals and signals emitted by various mobile communication base stations, to irradiate targets so as to realize the detection and positioning of empty small and medium-sized targets and empty flying targets, and is also called as an external radiation source radar. Over the last decade, the target detection and localization performance of passive radar systems has steadily improved. However, in terms of system architecture, the passive radar system disclosed in recent years is mainly based on a single-transmitting single-receiving bistatic geometric architecture, and the target detection performance is greatly affected by the geometric position and attitude change of the target, so that the passive radar system is insufficient in target detection stability and tracking continuity. In order to make up the gap of the passive radar in practical application and further promote the combat application of the passive radar, research on the distributed passive radar technology based on the multi-transmission and multi-reception system of the radiation source of FM, DAB and DVB-T signals has been carried out by many research institutions in Europe and the United states.
The classical target detection process of distributed passive radar is to utilize each transmitter-target-receiver bistatic pair to acquire a target echo signal by directing an antenna to a transmitter and an area where a target is expected to appear, and then calculate a cross-ambiguity function or a generalized cross-correlation between signals received by a reference channel and a monitoring channel to realize target detection. The target detection process is distributed target detection because it is performed separately in each bistatic transmit-receive pair. In addition, the target detection and positioning processing of the distributed passive radar system adopting the multi-transmitting and multi-receiving geometric architecture are carried out in two steps, namely, firstly, each bistatic transmitter and receiver pair is independently subjected to correlation and threshold-crossing processing to complete target detection, then bistatic distance and Doppler information of a target are obtained by utilizing the obtained bistatic distance Doppler image estimation, and then, the accurate positioning of the target is further realized by adopting the ideas of cross positioning and multi-step iteration. The biggest defects of the traditional processing method are that the multi-step iterative processing is long in time consumption, and the positioning fuzzy problem existing in the positioning process, namely the target ghost point, needs complex ghost point removing logic and is removed through subsequent further processing. In practical application, because a plurality of receiver stations are influenced by a complex terrain environment, a positioning ambiguity problem which is difficult to solve between different receiver arrays exists.
Disclosure of Invention
The invention aims to provide a method for realizing target detection of a distributed passive radar, which can be used for solving the problem of target detection of a distributed passive radar system under a multi-sending and multi-receiving geometric architecture, wherein the technical problem to be solved comprises the following steps:
(1) establishing an implementation process of a direct wave signal component and a target echo signal component of a distributed passive radar under a multi-sending and multi-receiving geometric framework;
(2) under a multi-sending and multi-receiving geometric framework, a distributed passive radar is constructed to realize the implementation process of centralized target detection statistics and target detection.
The invention relates to a method for realizing target detection of a distributed passive radar, which comprises the following steps:
(1) establishing a direct wave signal component and a target echo signal component of a distributed passive radar under a multi-transmitting and multi-receiving geometric architecture, wherein the specific implementation process comprises the following steps:
A1. under the construction of a multi-transmitting multi-receiving geometric framework, a signal transmitted by an ith radiation source in the distributed passive radar system is received by an nth array element of a jth receiver array and is subjected to baseband processing to obtain a direct wave signal component
A2. When a target is constructed to move, a signal emitted by an ith radiation source in the distributed passive radar system is reflected by the target, then is received by an nth array element of a jth receiver array, and is subjected to baseband processing to obtain a target echo signal component
A3. For the ij bistatic pair, the signal formed by the sum of the direct wave, the target echo and the noise of the receiver and received by the nth array element of the jth receiverPerforming quantitative sampling, expressing the discrete form by adopting a time delay Doppler operator, and giving out a target echo signal after beam formingSum direct wave reference signal
A4. Utilizing N in a distributed passive radar systemrReceived by an array of receivers and NtSampling all direct waves and target echo signals corresponding to the non-cooperative radar radiation sources, and constructing a matrix s consisting of the direct waves and the target echo signals;
(2) the implementation step of the distributed passive radar for carrying out centralized target detection under the multi-transmitting and multi-receiving geometric architecture specifically comprises the following substeps:
B1. introducing position and speed information of a target to be detected as a target detection unit, and constructing a binary alternative hypothesis test by using an echo signal matrix s;
B2. the generalized log-likelihood ratio is deduced by using the constructed hypothesis test to obtain the centralized detection statistic ξ of the distributed passive radar target detectionrs；
B3. From the actual samples of all signals in the distributed passive radar system, a target detection statistic ξ is calculatedrsBy comparing the detection statistics ξrsAnd a threshold krsAnd then judging whether the target exists or not, and finishing target detection.
Preferably, each receiver array in the step (1) receives the direct wave signal and the target echo signal at the same time, and then obtains a direct wave signal component and a target echo signal component respectively through a beam forming algorithm;
preferably, the different receiver arrays in step (1) are non-coherent, and no phase synchronization process needs to be performed between the different receiver arrays in the target detection process.
Compared with a classical method for detecting a distributed passive radar target, the method introduces the target position and the velocity vector when constructing a centralized target detector, so that the target detection is realized, the positioning of the target is indirectly realized, the additional positioning and deblurring processing is not needed, and the positioning time is saved; the space diversity gain is obtained in the target detection process, the target detection probability is improved, more stable target detection performance is obtained, and a foundation is provided for realizing continuous and stable tracking of the target. In addition, the invention adopts the receiver array antenna to simultaneously receive the direct wave signal and the target echo signal, and then the direct wave signal component and the target echo signal component are respectively obtained through beam forming, two independent antennas are not needed to respectively receive the direct wave signal and the target echo signal, different receiver arrays are not coherent in the process of carrying out target detection, and phase synchronization processing is not needed to be carried out among different receiver arrays.
Drawings
Fig. 1 is a schematic of the topology of the distributed passive radar of the present invention.
Fig. 2 is a diagram of the geometry of the ij th pair of transmitter-target-receiver of the distributed passive radar of the present invention.
Figure 3 is a schematic diagram of the beam forming of the ijth bistatic of the present invention for the corresponding direct wave and target echo signal.
Fig. 4 is a flow chart of an implementation of the distributed passive radar target detection method of the present invention.
FIG. 5 is a diagram illustrating computer simulation results according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings.
As shown in FIG. 1, the distributed passive radar system includes NtA transmitter, also called non-cooperative radiation source in the field of passive radar, NrAn array of receivers, 1 target, where Nt≥2，Nr≥2。
As shown in fig. 2, the ijth transmitter-target-receiver pair in the distributed passive radar system is also called ijth bistatic pair, and the position and speed of the ith transmitter are respectively denoted as diAndi＝1,…,Ntthe position and velocity of the jth receiver array are denoted as rjAndj＝1,…,Nrand the position and velocity of the target are denoted as t andwherein d isi、rj、t、Are all functions of time. Typically, the transmitter and receiver, and the target, are moving. The distance from the ith transmitter to the jth receiver isIn a similar manner to that described above,andrespectively representing the distance from the ith transmitter to the target and the distance from the target to the jth receiver. The jth receiving antenna isAn array of individual array elements, each array element having a plurality of array elements,1≤j≤Nrthe position of the nth array element isWhereinIs the position of the reference array element,is the nth arrayThe pointing offset vector of the element relative to the reference array element, andthe array elements of the receiving antenna array are all the same, i.e.j＝1,…,Nr. The unit direction vector from the nth array element of the jth receiver to the position x isNamely, it isIn the far field, for a given x,i.e. the unit pointing vectors from the array elements to a position in the far field are approximately equal.
As shown in fig. 3, in the distributed passive radar system under the multi-transmit multi-receive geometric architecture, all passive receivers adopt array antennas, and a reference channel and a target monitoring channel are respectively formed by a beam forming method, so as to realize the respective reception of direct wave signals and target echo signals.
The signal emitted by the ith radiation source is
Wherein,is the carrier frequency, T is the signal duration,for signals corresponding to the ith transmitter, ui(t) is the corresponding complex envelope, the frequency domain is Ui(ω) bandwidth BiAnd is andwhen | ω | is greater than π BiWhile, Ui(ω)≈0，There is no overlap in the frequency domain.
The signal propagates to the jth receiver along the direct path and the target path channel, and the signal received by the nth array element of the jth receiver arrayIs the sum of the direct wave signal and the target echo from all in-band receivers and the receiver noise, i.e.
Wherein,andamplitude coefficients for the direct path and target path channels, respectively, αijFor the complex bistatic reflection coefficient of the corresponding target with the ijth bistatic pair,andrespectively corresponding to the propagation delays of the direct path and the target path channel,is a power spectral density ofHas a bandwidth of BjCarrier frequency ofChannel coefficientAndconsidering the effects of transmission, propagation and direct path and target path channels, respectivelyWherein,the effective radiated power directed to x for the ith transmitter,the wavelength of the signal transmitted by the ith transmitter, c the speed of light,at [0, T]In the interior of said container body,andwill not vary significantly and, therefore,andsignalAfter down-conversion and frequency domain channelization, extracting the complex baseband signal of each transmitting signal, and recording the complex baseband signal of the ith channel asBy the formulae (1) and(2) the signal received by the nth array element of the jth receiver is
Wherein, thetajThe unknown phase of the local oscillator during the down-conversion processing of the jth receiver shows that different receivers are non-coherent, and phase synchronization processing does not need to be carried out among different receiver arrays.
As shown in fig. 4, the present invention provides a method for implementing target detection and positioning of a distributed passive radar, and the specific implementation manner includes the following steps:
A1. under the construction of a multi-transmitting multi-receiving geometric framework, a transmitting signal of an ith radiation source in the distributed passive radar system is received by an nth array element of a jth receiver array and is subjected to baseband processing to obtain a direct wave signal componentThe specific process is as follows:
wherein, the distance from the ith transmitter to the nth array element of the jth receiver array is further expressed as the distance between the ith transmitter and the jth receiver array after considering the array element spacing
Complex exponential termOnly with respect to the number of array elements n. Order toIs the phase of the complex exponential term and,
wherein,by performing a narrow-band approximation of equation (5), i.e., the complex envelope of the signal is approximately constant throughout the array, then
Then useSubstitution (7)
Wherein,in order to be a time scale factor,the Doppler frequency caused by relative motion between the non-cooperative radiation source and the receiver array is defined as
The component of the baseband-processed direct wave signal received by the nth array element of the jth receiver and emitted by the ith radiation source is
In the formula, (a) is an amplitude scale factor, (b) is an unknown local oscillator phase, (c) is a phase difference of a direct wave signal received by an nth array element relative to a reference array element, (d) is a phase difference introduced by reference carrier frequency delay, (e) is a complex baseband signal after delay, and (f) is a Doppler modulation factor.
Thus, the direct wave signal component is constructed as
Wherein,is the ijth direct path channel propagation coefficient,
A2. constructing target motion and different target anisotropism scattering, wherein a signal emitted by an ith radiation source is reflected by a target, received by an nth array element of a jth receiver array and subjected to baseband processing to obtain a target echo signal componentThe specific process is as follows:
is further shown as
Wherein (a) is amplitude scale factor, (b) is unknown local oscillator phase, (c) is phase difference of target echo signal received by nth array element relative to reference array element, (d) reference carrier frequency phase factor, (e) time delay complex baseband signal, (f) Doppler frequency factor, andfor bistatic time delay from the ith transmitter to the target to the jth receiver, i.e.
For the nth array element, receiving the phase difference of the target echo signal relative to the reference array element, i.e.
Bistatic doppler frequency shift for targets
Therefore, the signal emitted by the ith radiation source is reflected by the target and then received by the nth array element of the jth receiver array, and the target echo signal component after baseband processing is constructed as
Wherein,is the ijth target path channel coefficient,
A3. for the ij bistatic pair, the signal formed by the sum of the direct wave, the target echo and the noise of the receiver and received by the nth array element of the jth receiverPerforming quantitative sampling, expressing the discrete form by adopting a time delay Doppler operator, and giving out a target echo signal after beam formingSum direct wave reference signalThe specific process is as follows:
to be provided withIs quantized sampled at the sampling frequency ofObtaining a discrete signal form of
Wherein,is the total number of sampling points, direct waveAnd target echoAre respectively in the form of
Wherein,respectively, the normalized doppler frequency, in radians,respectively, normalized time delay for each sample. Note the book Noise sampling sequenceσ2＝N0BiIn order to average out the power of the noise,δnis a Kronecker symbol.For transmitting the waveform, the first element is
Definition of
DL(x)＝diag([ej(0)x,ej(1)x,…,ej(L-1)x]) (21)
Wherein, diag (x) middle diagonal elementIs a L.times.L square matrix, thus [ diag (x)]n,n＝[x]n. Finally, letIs a unitary discrete Fourier transform matrix with (m, n) -th elements of
Wherein, m is 0, …, L-1, n is 0, …, L-1
Defining delay doppler operatorsIs composed of
Due to the fact thatHence delay-doppler operatorIs unitary operatorI.e. byWhereinIs Li×LiThe identity matrix of (2).
Thus, the discrete forms of the components of the direct wave and the target echo signal are respectively
Since the direct wave signal and the target echo signal are received by the same receiver array, the discrete form of the signal received by the nth array element of the jth receiver array is
Wherein, is of length LiZero vector of (2).
Thus, target echo signals respectively obtained by beamformingSum direct wave reference signalIs composed of
A beam former for the target monitoring channel and the direct wave reference channel respectively.
A4. Utilizing N in a distributed passive radar systemrReceived by an array of receivers and NtSampling all direct waves and target echo signals corresponding to each non-cooperative radar radiation source, and constructing a matrix s consisting of the direct waves and the target echo signals, wherein the specific process is as follows:
order toFor spatial orientation vector in x-directionNote the bookThen all N of the jth receiver arrayeSignal vector received by each array element and corresponding to ith radiation sourceIs composed of
Wherein,variance is σ2Matrix ofAndare respectively as Representing the Kronecker product, delay-doppler operatorAndare respectively as
Thus, all NrSamples s received by an array of receivers corresponding to the ith radiation sourceiComprises the following steps:
and with all NtA non-cooperative radiation source and NrThe matrix formed by all the samples corresponding to each receiver array is
I.e. s is all NtEach non-cooperative radiation source corresponds to siA matrix of components.
B1. Introducing position and speed information of a target to be detected as a target detection unit, and constructing a binary alternative hypothesis test by using an echo signal matrix s, wherein the specific process is as follows:
the position and the speed of the target to be detected are corresponding toThe unit, i.e. the detection unit, wherein p,respectively, the position and velocity of the object. Constructing binary alternative hypothesis tests, i.e.
Wherein, i is 1, …, Nt，j＝1,…,Nr，Representing a spatial pointing vector in the p-directionWhileThe coefficient of the corresponding target path channel when the target position is P,is a target state ofCorresponding delay-doppler operator.
B2. The generalized log-likelihood ratio is deduced by using the constructed hypothesis test to obtain the centralized detection statistic ξ of the distributed passive radar target detectionrsThe specific process is as follows;
since the receiver noise is independent of the transmitter pathConditional probability density under assumption p1(s|γd,γpU) is
Wherein,and isThe same is given inConditional probability density under assumption p0(s|γdU). Emission signal u and channel coefficient gammadAnd gammapAre all deterministic unknown parameters. Therefore, the temperature of the molten metal is controlled,is the transmitted signal u and the channel coefficient gammad、γpFor the composite assumption of the parameters,is the transmitted signal u and the channel coefficient gammadIs a complex hypothesis of the parameters, and the unknowns in the likelihood ratio test are replaced with their maximum likelihood estimates.
Let l1(γd,γp,u|s)＝logp1(s|γd,γp,u)，l0(γd,u|s)＝logp0(s|γdU), then the generalized log-likelihood function is written as
Respectively derive to obtain l1(γd,γpU | s) and l0(γdU | s) to obtain a centralized target detection statistic ξrsIs composed of
Wherein λ is1(. cndot.) is the maximum eigenvalue of the matrix parameter;is a Gram matrix, (.)HThe result is expressed as the hermite transpose, is a target echo signal after delay-Doppler compensationNamely the monitoring channel target echo signal with time delay and Doppler frequency shift removed, is a delay-doppler compensated reference signalNamely, the direct wave channel signal without time delay and Doppler frequency shift;κrsthe detection threshold is determined by the false alarm probability of the distributed passive radar system.
B3. From the samples of all signals in the actual distributed passive radar system, a target detection statistic ξ is calculatedrsBy comparing the detection statistics ξrsAnd a thresholdκrsThen judging whether the target exists or not, and finishing the target detection, wherein the specific process is as follows:
utilizing N in a distributed passive radar systemrArray of receivers corresponding to NtAll samples of individual non-cooperative radar radiation sources are used to construct a matrix of echo signals, target detection statistic ξrsWhen ξrs≥κrsIf so, judging that the target exists and the position and speed states of the target areWhen ξrs＜κrsIf so, the target is judged to be absent.
As shown in fig. 5, a schematic diagram of a computer simulation result according to an embodiment of the present invention is shown. In the figure, the BRng contour line represents a bistatic distance contour line, and a target appears near a real target position, so that the target detection and the target positioning are realized by the method. In the context of this simulation environment, the two transmitters are located at d1＝[0.5,4]km and d2＝[-0.5,-4]km, three receivers at respective positions r1＝[-4,2]，r2＝[-4,0.5]And r3＝[-4,-2.5]km, target at t ═ 4,0]km, target moving speed ofThe carrier frequencies of the transmitter signals are respectively 8.0GHz and 8.1GHz, and the omnidirectional radiation power isThe uniform linear array consists of 6 array elements, and all the receiver antennas are uniform linear arrays with array element spacing of 1.875cm and pointing to + pxDirectional lobe pattern of each array elementThere is no phase synchronization between the receivers. Complex baseband signalSampling rate fs500kHz, coherent accumulation time T2 ms, average signal-to-noise ratio of target echo SNRavg15dB, the average signal-to-noise ratio of the direct wave is DNRavg＝15dB，ui＝exp{jθi}，Are mutually independent random phase vectors in [0,2 π]Is subject to uniform distribution, L ═ fsT1000, the target scattering cross-sectional area is 10 dBsm.
Claims (3)
1. A method for realizing target detection of a distributed passive radar is characterized by comprising the following steps:
(1) the implementation step of establishing a direct wave signal component and a target echo signal component of a distributed passive radar under a multi-transmitting and multi-receiving geometric architecture specifically comprises the following substeps:
A1. under the construction of a multi-transmitting multi-receiving geometric framework, a signal transmitted by an ith radiation source in the distributed passive radar system is received by an nth array element of a jth receiver array and is subjected to baseband processing to obtain a direct wave signal component
A2. When a target is constructed to move, a signal emitted by an ith radiation source in the distributed passive radar system is reflected by the target, then is received by an nth array element of a jth receiver array, and is subjected to baseband processing to obtain a target echo signal component
A3. For the ij bistatic pair, the signal formed by the sum of the direct wave, the target echo and the receiver noise received by the nth array element of the jth receiver arrayCarrying out quantitative sampling, introducing a time delay Doppler operator to express the discrete form of the time delay Doppler operator, and giving out a target echo signal after beam formingSum direct wave reference signal
A4. Utilizing N in a distributed passive radar systemrReceived by an array of receivers and NtSampling all direct waves and target echo signals corresponding to the non-cooperative radar radiation sources, and constructing a matrix s consisting of the direct waves and the target echo signals;
(2) the implementation step of the distributed passive radar for carrying out centralized target detection under the multi-transmitting and multi-receiving geometric architecture specifically comprises the following substeps:
B1. introducing the position and speed information of the target to be detected as a target detection unit, and constructing a binary alternative hypothesis test by using an echo signal matrix s, namelySuppose to beSuppose to beWherein s isijFor the jth receiver array, all NeSignal vector u received by an array element and corresponding to the i-th radiation sourceiIn order to transmit the waveform,σ2is the variance of the received signal and the received signal,is of length LiThe zero vector of (a) is,is Li×LiThe identity matrix of (1); 1, …, Nt，j＝1,…,Nr，Is the ijth direct path channel propagation coefficient,is at diThe space of directions is directed to a vector,in order to be the delay-doppler operator,which represents the product of the Kronecker reaction, spatial director in p-directionAmount ofThe coefficient of the corresponding target path channel when the target position is P,is a target state ofCorresponding delay-Doppler operator, whereinRespectively representing the position and the speed of a target to be detected;
B2. respectively deducing by using constructed hypothesis testConditional probability density under assumption p1(s|γd,γpU) andconditional probability density under assumption p0(s|γdU), a transmission signal u and a channel coefficient γdAnd gammapAll are deterministic unknown parameters, the unknown quantity in the likelihood ratio test is replaced by the maximum likelihood estimation, and then the generalized log likelihood ratio is obtained by derivationWhereinl0(γd,u|s)＝logp0(s|γd,u|)，κrsThe detection threshold is determined by the false alarm probability of the distributed passive radar system; then deducing to obtain l1(γd,γpU | s) and l0(γdU | s) and furtherConstructing a distributed passive radar target detection statistic ξrsIs composed ofWherein λ1(. cndot.) is the maximum eigenvalue of the matrix parameter;is a Gram matrix, (.)HThe result is expressed as the hermite transpose, is a monitoring channel target echo signal with time delay and Doppler frequency shift removed,is a direct wave channel signal with time delay and Doppler frequency shift removed,
B3. from the actual samples of all signals in the distributed passive radar system, a target detection statistic ξ is calculatedrsBy comparing the detection statistics ξrsAnd a threshold krsAnd then judging whether the target exists or not, and finishing target detection.
2. The method as claimed in claim 1, wherein each receiver array in step (1) receives the direct wave signal and the target echo signal at the same time, and obtains the direct wave signal component and the target echo signal component by a beam forming algorithm.
3. The method for implementing distributed passive radar target detection as claimed in claim 1, wherein in the step (1), the different receiver arrays are non-coherent, and no phase synchronization process needs to be performed between the different receiver arrays during target detection.
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