CN106199553B - Multiframe echo combines the optimization method of correlative accumulation detection sea Weak target - Google Patents

Multiframe echo combines the optimization method of correlative accumulation detection sea Weak target Download PDF

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CN106199553B
CN106199553B CN201610616084.0A CN201610616084A CN106199553B CN 106199553 B CN106199553 B CN 106199553B CN 201610616084 A CN201610616084 A CN 201610616084A CN 106199553 B CN106199553 B CN 106199553B
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echo data
pulse
sliding window
interception
frame
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CN106199553A (en
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陶海红
赵朗旭
柳阳
王雅
曾操
杨志伟
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Xidian University
Xian Cetc Xidian University Radar Technology Collaborative Innovation Research Institute Co Ltd
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Xian Cetc Xidian University Radar Technology Collaborative Innovation Research Institute 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

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  • Computer Networks & Wireless Communication (AREA)
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Abstract

The invention discloses a kind of optimization methods of multiframe echo joint correlative accumulation detection sea Weak target, its thinking are as follows: use sea moving-target in pulse Doppler radar mechanical scanning detection range, obtain the echo of pulse Doppler radar, and process of pulse-compression is carried out to the echo of the pulse Doppler radar, Doppler radar echo data after obtaining process of pulse-compression, and determine that the initial pulse of kth sliding window is k-th pulse, it obtains the T frame pulse after kth sliding window intercepts and compresses echo data, and then successively calculate the H column element of the pulse compression echo data and data matrix that intercept after moving-target detection processing by kth sliding window, and then obtain complete N × (N "-L+1) dimension data matrix, it is permanent empty that two dimension is carried out to the complete N × (N "-L+1) dimension data matrix Alert detection, N × (N "-L+1) dimension data matrix after obtaining two-dimentional CFAR detection; include the small and weak moving-target in sea in the echo of pulse Doppler radar if the element value that N × (N "-L+1) dimension data matrix after two-dimentional CFAR detection includes is greater than 0.

Description

Multiframe echo combines the optimization method of correlative accumulation detection sea Weak target
Technical field
The present invention relates to signal processing technology field, in particular to a kind of multiframe echo joint correlative accumulation detection sea is weak The optimization method of Small object, suitable for pulse Doppler radar to the efficient accumulation of sea Weak target, to realize that sea is weak The detection of Small object.
Background technique
For the detection of the small and weak target at a slow speed in sea, due to complicated and changeable, the factors such as fluctuating of wave of sea environment, letter Lower miscellaneous noise ratio is still to restrict radar to the principal element of extra large target detection performance.In Radar Signal Processing, it can pass through Pulse compression and correlative accumulation improve signal energy.But due to the movement of target, will lead to echo and range walk occurs, because This will do the operation that a series of correction distance is walked about before doing correlative accumulation.
Keystone transformation can be very good to solve the problems, such as range walk.This method changes up time frequency in frequency domain, by solution The coupling of rate and speed and slow time realizes the compensation of range walk, and then can carry out correlative accumulation.
Although pulse compression and correlative accumulation can effectively improve signal energy for single frames echo, however, by It is true echo in sea clutter, there is certain correlation in the short time, it equally can be by a degree of accumulation.Therefore, It is unsatisfactory to the improvement of letter miscellaneous noise ratio that pulse pressure and single frames correlative accumulation are done to the stronger sea data of clutter.Therefore it needs Using the information of multiframe echo, but multiframe echo will appear discontinuous range walk and doppler phase in Combined Treatment Problem of misalignment, both of these problems can all cause to the decline of the detection performance of target.
Summary of the invention
For above the shortcomings of the prior art, it is an object of the invention to propose a kind of multiframe echo joint coherent product The optimization method of tired detection sea Weak target, the optimization side of this kind of multiframe echo joint correlative accumulation detection sea Weak target Method is based on improved Keystone transformation algorithm and variable step phase search method, and combines two-dimentional CFAR detection method in sea Area Objects are smaller, speed is lower, and when strong sea clutter causes letter miscellaneous noise ratio lower, can be improved detection of the radar to Weak target Performance.
To reach above-mentioned technical purpose, the present invention is realised by adopting the following technical scheme.
A kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target, comprising the following steps:
Step 1, using sea moving-target in pulse Doppler radar mechanical scanning detection range, pulse Doppler thunder is obtained The echo reached, and process of pulse-compression is carried out to the echo of the pulse Doppler radar, the M frame after obtaining process of pulse-compression Doppler radar echo data, each frame Doppler radar echo data include a pulse of N "；
Step 2, determine that sliding window length is L pulse according to the M frame Doppler radar echo data after process of pulse-compression, And determine that the initial pulse of kth sliding window is k-th pulse, and according to the position where kth stroke window to process of pulse-compression T frame Doppler radar echo data afterwards are intercepted；Wherein, the initial value of K is 1, K ∈ { 1,2 ..., (N "-L+1) }；j ∈ { 1,2 ..., N }, j indicate j-th of distance unit, and T ∈ { 1,2 ..., M }, T indicate T frame by the interception of kth sliding window Echo data is compressed in pulse, and pulse compression echo data of each frame by the interception of kth sliding window includes L pulse, each Pulse includes N distance unit, and the initial value of T and j are respectively 1；Wherein, the sliding window length is according to pulse Doppler radar The reflective surface area of object to be measured determines in investigative range, N " > > L；
N × (N "-L+1) dimension data matrix is set, and assumes the M intercepted after moving-target detection processing by kth stroke window Frame pulse compresses the maximum value of echo data and the N × (N "-L+1) dimension data matrix H column element corresponds；Institute Stating N × (N "-L+1) dimension data matrix includes (N "-L+1) column element, and each column element includes N number of value, and N number of value is dynamic mesh Mark the maximum value of the M frame pulse compression echo data intercepted after detection processing by kth stroke window；The initial value of H is 1；H table Show N × (N "-L+1) dimension data matrix H column element, H ∈ { 1,2 ..., (N "-L+1) }；
Step 3, according to the position where kth sliding window to the T frame Doppler radar echo number after process of pulse-compression According to being intercepted, obtains the T frame pulse after kth sliding window intercepts and compress echo data；
Step 4, using improved interframe Keystone transformation algorithm to the T frame after the interception of kth sliding window Pulse compresses echo data and carries out Range Walk Correction, obtains the T frame intercepted after Range Walk Correction by kth sliding window Echo data is compressed in pulse；
Step 5, it enables T add 1, repeats step 3 and step 4, draw window by kth after obtaining Range Walk Correction The M frame pulse of interception compresses echo data, then will draw window interception by kth after the Range Walk Correction obtained at this time 1st frame pulse compresses the M frame pulse compression number of echoes intercepted after echo data to Range Walk Correction by kth stroke window According to compressing echo data by the M frame pulse that kth draws window interception as after Range Walk Correction, and T be initialized as 2；
Step 6, to the T frame pulse compression echo data after the Range Walk Correction by the interception of kth sliding window J-th distance unit carries out Doppler phase compensation processing, obtains after Range Walk Correction and Doppler phase compensation by K Echo data is compressed in the pulse of j-th of distance unit of the T frame pulse compression echo data of secondary sliding window interception；
Step 7, enable j add 1, repeat step 6, after obtaining Range Walk Correction and Doppler phase compensation by Kth sliding window interception T frame pulse compression echo data n-th distance unit pulse compress echo data, and by this When obtained Range Walk Correction and Doppler phase compensation after T frame pulse by the interception of kth sliding window compress number of echoes According to the pulse of the 1st distance unit compress echo data, to Range Walk Correction and Doppler phase compensation after by kth Echo data is compressed in the pulse of the n-th distance unit of the T frame pulse compression echo data of sliding window interception, as range walk T frame pulse after correction and Doppler phase compensation by the interception of kth sliding window compresses echo data；
Step 8, it enables T add 1, is repeated in and executes step 6 to step 7, until obtaining Range Walk Correction and Doppler's phase Echo data, the Range Walk Correction that then will be obtained at this time are compressed by the M frame pulse that kth draws window interception after the compensation of position With after Doppler phase compensation by kth draw window interception the 2nd frame pulse compression echo data to Range Walk Correction with it is more After general Le phase compensation by kth draw window interception M frame pulse compression echo data and Range Walk Correction after by Kth draw window interception the 1st frame pulse compress echo data, according to primitive frame put in order be spliced into Range Walk Correction and Echo data is compressed by the M frame pulse that kth draws window interception after Doppler phase compensation；The Range Walk Correction and Duo Pu Strangling the M frame pulse compression echo data intercepted after phase compensation by kth stroke window is that N × ML ties up pulse pressure matrix；
Step 9, it adjusts the distance and draws window interception M frame pulse compression and back by kth after walking about correction and Doppler phase compensation Wave number obtains the M frame pulse compression and back intercepted after moving-target detection processing by kth stroke window according to moving-target detection processing is carried out Wave number evidence, and the maximum value of the M frame pulse compression echo data intercepted after moving-target detection processing by kth stroke window is obtained, The maximum value for drawing the M frame pulse compression echo data of window interception after the moving-target detection processing by kth is tieed up comprising N × ML Then the maximum value of the every a line of pulse pressure matrix will draw the M frame pulse pressure of window interception by kth after the moving-target detection processing The maximum value of contracting echo data as N × (N "-L+1) dimension data matrix H column element, and enables H add 1；
Step 10, it enables K add 1, is repeated in and executes step 3 to step 9, until obtaining N × (N "-L+1) dimension data matrix N "-L+1 column element arrive N × (N "-L+ and by the 1st column element of the N obtained at this time × (N "-L+1) dimension data matrix 1) the N "-L+1 column element of dimension data matrix, as complete N × (N "-L+1) dimension data matrix；
Step 11, two-dimentional CFAR detection is carried out to the N × (N "-L+1) dimension data matrix, obtains two-dimentional constant false alarm inspection N × (N "-L+1) dimension data matrix after survey, if it is described two dimension CFAR detection after N × (N "-L+1) dimension data matrix in The element value for including is greater than 0, then includes small and weak moving-target in the echo of pulse Doppler radar.
The invention has the following advantages over the prior art:
The present invention passes through the joint coherent processing of multiframe echo, phase information of the target between multiframe is utilized, so that mesh Mark can be accumulated preferably, multi-frame processing after the accumulation journey of sea clutter poor additionally, due to correlation of the sea clutter between multiframe Degree is nothing like target, therefore improves the letter miscellaneous noise ratio after operation, and then improve the detection probability to target.
Detailed description of the invention
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is that a kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target of the invention realizes stream Cheng Tu；
Fig. 2 is the working method schematic diagram of pulse Doppler radar；
Fig. 3 is the present invention to variable step phase coarse search process flow diagram；
Fig. 4 is the present invention to variable step phase precise search process flow diagram；
Fig. 5 (a) is the Doppler radar echo schematic diagram data after the 1st frame pulse compression processing；
Fig. 5 (b) is the Doppler radar echo schematic diagram data after the 2nd frame pulse compression processing,
Fig. 5 (c) is the Doppler radar echo schematic diagram data after the 3rd frame pulse compression processing；
Fig. 6 (a) is obtained after the Doppler radar echo data after the 1st frame pulse compression processing carry out single frames correlative accumulation Result schematic diagram,
Fig. 6 (b) is obtained after the Doppler radar echo data after the 2nd frame pulse compression processing carry out single frames correlative accumulation Result schematic diagram,
Fig. 6 (c) is obtained after the Doppler radar echo data after the 3rd frame pulse compression processing carry out single frames correlative accumulation Result schematic diagram；
Fig. 7 is that the Doppler radar echo data after the continuous 3 frame pulse compression processing of measured data combine phase by interframe Join the result schematic diagram of accumulation；
Fig. 8 is the result that the Doppler radar echo data after interframe Combined Treatment obtain after two-dimentional CFAR detection Schematic diagram；
Specific embodiment
Pulse Doppler radar carries out that transient echo can be taken turns doing pulse compression and correlative accumulation when moving-target detection, Moving-target energy can be effectively improved；More complicated sea Environments clutter is more, and pulse Doppler radar examines moving-target Survey the letter miscellaneous noise ratio for essentially consisting in and improving transient echo.
Due to the correlation that the sea clutter in the short time has, single frames pulse compression and coherent are taken turns doing to moving-target After accumulation moving-target and sea clutter can accumulated simultaneously, and then the letter miscellaneous noise ratio of transient echo can not be improved；And it is extra large Clutter in a long time correlation weakens significantly, therefore between the multiframe of transient echo combine coherent processing be able to ascend it is dynamic The letter miscellaneous noise ratio of target echo；Wherein combining between multiframe will appear the compensation of range walk between multiframe during coherent processing and asks Topic causes moving-target energy that can not accumulate along distance unit diffusion；In addition it also will appear the how general of transient echo between multiframe The problem of misalignment of phase is strangled, and then also result in moving-target energy not accumulating well, and then leads to the small and weak moving-target in sea Detection performance decline.
The present invention is in view of the above-mentioned problems, using Keystone transformation correction transient echo between improved multiframe between multiframe Range walk problem, and the dislocation for the doppler phase for compensating for transient echo using the phase search method of variable step is asked Topic solves and does correlative accumulation again after walk problem between the compensation problem and multiframe of range walk between multiframe, can be effective Ground improves the letter miscellaneous noise ratio of transient echo, and then realizes the detection performance of the small and weak moving-target in sea.
Referring to Fig.1, combine the optimization method that correlative accumulation detects sea Weak target for a kind of multiframe echo of the invention Implementation flow chart；A kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target of the invention is based on improving Keystone algorithm and variable step phase search method, the multiframe echo joint correlative accumulation detect the excellent of sea Weak target Change method, comprising the following steps:
Step 1, using sea moving-target in pulse Doppler radar mechanical scanning detection range, pulse Doppler thunder is obtained The echo reached, and process of pulse-compression is carried out to the echo of the pulse Doppler radar, the M frame after obtaining process of pulse-compression Doppler radar echo data, each frame Doppler radar echo data include a pulse of N ".
Specifically, the present invention is handled the echo of pulse Doppler radar, is pulse Doppler thunder referring to Fig. 2 The working method schematic diagram reached, pulse Doppler radar emits pulse Doppler radar wave beam, and is swept using mechanical scanning mode Sea moving-target in detection range is retouched, wherein the detection range includes sea moving-target and sea, pulse Doppler radar The wavelength of work is λ, and the working frequency of pulse Doppler radar is fc, the duty cycle of pulse Doppler radar is Time, arteries and veins The pulse recurrence frequency for rushing Doppler radar is PRF, and the pulse repetition period of pulse Doppler radar is PRT, pulse Doppler The sample frequency of radar is fs。
Step 2, determine that sliding window length is L pulse according to the M frame Doppler radar echo data after process of pulse-compression, And determine that the initial pulse of kth sliding window is k-th pulse, and according to the position where kth stroke window to process of pulse-compression T frame Doppler radar echo data afterwards are intercepted；Wherein, the initial value of K is 1, K ∈ { 1,2 ..., (N "-L+1) }；j ∈ { 1,2 ..., N }, j indicate j-th of distance unit, and T ∈ { 1,2 ..., M }, T indicate T frame by the interception of kth sliding window Echo data is compressed in pulse, and pulse compression echo data of each frame by the interception of kth sliding window includes L pulse, each Pulse includes N distance unit, and the initial value of T and j are respectively 1；Wherein, the sliding window length is according to pulse Doppler radar The reflective surface area of object to be measured determines in investigative range, N " > > L.
N × (N "-L+1) dimension data matrix is set, and assumes the M intercepted after moving-target detection processing by kth stroke window Frame pulse compresses the maximum value of echo data and the N × (N "-L+1) dimension data matrix H column element corresponds；Institute Stating N × (N "-L+1) dimension data matrix includes (N "-L+1) column element, and each column element includes N number of value, and N number of value is dynamic mesh Mark the maximum value of the M frame pulse compression echo data intercepted after detection processing by kth stroke window；The initial value of H is 1；H table Show N × (N "-L+1) dimension data matrix H column element, H ∈ { 1,2 ..., (N "-L+1) }.
Step 3, according to the position where kth sliding window to the T frame Doppler radar echo number after process of pulse-compression According to being intercepted, obtains the T frame pulse after kth sliding window intercepts and compress echo data.
Step 4, using improved interframe Keystone transformation algorithm to the T frame after the interception of kth sliding window Pulse compresses echo data and carries out Range Walk Correction, obtains the T frame intercepted after Range Walk Correction by kth sliding window Echo data is compressed in pulse.
The specific sub-step of step 4 are as follows:
(4a) initialization: m ∈ { 1,2 ..., L }, n ∈ { 1,2 ..., L }, m indicate m-th of pulse, and n indicates n-th of pulse, L indicates that the pulse number that sliding window length includes, T indicate that echo data is compressed in pulse of the T frame by the interception of kth sliding window, often Pulse compression echo data of one frame after the interception of kth sliding window includes L pulse, each pulse includes N' frequency point； { { 1,2 ..., N'}, x indicate that x-th of frequency point, ran indicate that the ran frequency point, ran also illustrate that 1,2 ..., N'}, x ∈ to ran ∈ L × the N' of the i-th frame pulse compression L pulse of echo data after the interception of kth sliding window ties up pulse compression and back wave frequency domain number According to matrix siL KRan column, franIndicate the frequency values on the ran frequency point,Fs indicate away from Descriscent sample frequency, the initial value of m, n and ran are respectively 1.
(4b) to by kth sliding window interception after T frame pulse compression echo data m-th of pulse carry out distance to Fast Fourier Transform (FFT) obtains the N' of m-th of pulse of the T frame pulse compression echo data after kth sliding window intercepts The corresponding pulse compression and back wave frequency numeric field data s of the frequency values of a frequency pointT K(m), sT K(m)={ sT K(f1,m),…,sT K(fx, m),…,sT K(fN',m)},sT K(fx, m) and indicate that the T frame pulse after the interception of kth sliding window compresses the m of echo data The corresponding pulse compression and back wave frequency numeric field data of the frequency values of x-th of frequency point of a pulse, expression formula are as follows:
Wherein, A indicates the xth of m-th of pulse of the T frame pulse compression echo data after the interception of kth sliding window The corresponding pulse compression and back wave frequency numeric field data s of the frequency values of a frequency pointT K(fx, m) amplitude, R0Indicate target to be detected the 1st Frame pulse compresses the initial distance of the 1st pulse in echo data, and v indicates the speed of target to be detected, and c indicates the light velocity, fcTable Show the working frequency of pulse Doppler radar, Time indicates the duty cycle of pulse Doppler radar, and PRF indicates pulse Doppler The pulse recurrence frequency of radar, PRT indicate the pulse repetition period of pulse Doppler radar.
(4c) enables m add 1, repeats sub-step (4b), until obtaining the T frame pulse compression after kth sliding window intercepts The corresponding pulse compression and back wave frequency numeric field data s of the frequency values of N' frequency point of the l-th pulse of echo dataT K(L), then by this When obtain by kth sliding window interception after T frame pulse compression echo data the 1st pulse N' frequency point frequency It is worth corresponding pulse compression and back wave frequency numeric field data sT K(1), number of echoes is compressed to the T frame pulse after the interception of kth sliding window According to l-th pulse N' frequency point the corresponding pulse compression and back wave frequency numeric field data s of frequency valuesT K(L), as by kth L × the N' of T frame pulse compression L pulse of echo data after sliding window interception ties up pulse compression and back wave frequency-domain data matrix sTL K, L × the N' ties up pulse compression and back wave frequency-domain data matrix sTL KExpression formula are as follows:
Wherein, sT K(fran, m) be by kth sliding window interception after T frame pulse compress echo data m-th of pulse In the ran frequency point the corresponding pulse compression and back wave frequency numeric field data of frequency values.
(4d) is using improved interframe Keystone transformation algorithm to the T frame arteries and veins after the interception of kth sliding window L × N' in punching press contracting echo data ties up pulse compression and back wave frequency-domain data matrix sTL KRan column carry out n-th pulse Sinc interpolation processing obtains the in the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave frequency numeric field data of frequency values on the ran frequency point of n pulseIts table Up to formula are as follows:
(4e) compresses echo data according to the T frame pulse after sinc interpolation processing and the interception of kth sliding window In n-th of pulse the ran frequency point on the corresponding pulse compression and back wave frequency numeric field data of frequency values Calculate the of n-th of pulse in the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave equation of frequency values on ran frequency pointIts expression formula are as follows:
Wherein, A " is indicated in the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave equation of frequency values on the ran frequency point of n-th of pulseAmplitude, R0Indicate that the initial distance of target to be detected 1st pulse in the 1st frame pulse compression echo data, v indicate target to be detected Speed, c indicate the light velocity, fcIndicate the working frequency of pulse Doppler radar, Time indicates the work of pulse Doppler radar Period, PRF indicate the pulse recurrence frequency of pulse Doppler radar, and PRT indicates the pulse repetition period of pulse Doppler radar.
(4f) enables ran add 1, repeats sub-step (4d) to (4e), until obtaining by sinc interpolation processing and kth sliding window The corresponding pulse compression of frequency values in T frame pulse compression echo data after interception on the N' frequency point of n-th of pulse Echo equationAnd the T after sinc interpolation processing and the interception of kth sliding window that will be obtained at this time Frame pulse compresses the corresponding pulse compression and back wave equation of frequency values in echo data on the 1st frequency point of n-th of pulseInto the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave equation of frequency values on the N' frequency point of n-th of pulseAs process Echo is compressed in the pulse of n-th of pulse in T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window Equation.
(4g) is to n-th in the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The pulse compression and back wave equation of pulse carries out distance and converts to inverse Fast Fourier Transform, obtains Range Walk Correction and kth The time domain discrete echo equation of n-th of pulse in T frame pulse compression echo data after sliding window interceptionIts expression formula are as follows:
Wherein, A' is indicated n-th in the T frame pulse compression echo data after Range Walk Correction and the interception of kth sliding window The time domain discrete echo equation skeystonet of a pulseT KThe amplitude of (N', n), n0Indicate target to be detected in the 1st frame pulse pressure The initial distance unit of the 1st pulse in contracting echo data, sinc () indicate sinc function.
(4h) enables n add 1, is repeated in sub-step (4d) to (4g), cuts until obtaining Range Walk Correction and kth sliding window The time domain discrete echo equation skeystonet of l-th pulse in T frame pulse compression echo data after takingT K(N', L), so Afterwards by the 1st pulse in the T frame pulse compression echo data after the Range Walk Correction obtained at this time and the interception of kth sliding window Time domain discrete echo equation skeystonetT KT frame arteries and veins after (N', 1) to Range Walk Correction and the interception of kth sliding window The time domain discrete echo equation skeystonet of l-th pulse in punching press contracting echo dataT K(N', L), as range walk school Pass by the T frame pulse compression echo data of kth sliding window interception.
Step 5, it enables T add 1, repeats step 3 and step 4, draw window by kth after obtaining Range Walk Correction The M frame pulse of interception compresses echo data, then will draw window interception by kth after the Range Walk Correction obtained at this time 1st frame pulse compresses the M frame pulse compression number of echoes intercepted after echo data to Range Walk Correction by kth stroke window According to compressing echo data by the M frame pulse that kth draws window interception as after Range Walk Correction, and T be initialized as 2；
Step 6, to the T frame pulse compression echo data after the Range Walk Correction by the interception of kth sliding window J-th distance unit carries out Doppler phase compensation processing, obtains after Range Walk Correction and Doppler phase compensation by K Echo data is compressed in the pulse of j-th of distance unit of the T frame pulse compression echo data of secondary sliding window interception.
It specifically, is the present invention to variable step phase coarse search process flow diagram referring to Fig. 3；And to the range walk J-th of distance unit of the T frame pulse compression echo data after correction by the interception of kth sliding window carries out doppler phase benefit Processing is repaid, specifically successively using the processing of variable step phase coarse search and the processing of variable step phase precise search, variable step phase is thick Search process specific steps are as follows:
(6a) j ∈ { 1,2 ..., N }, j indicate j-th of distance unit, and p ∈ { 1,2 ..., M }, p indicate pth frame range walk Echo data is compressed in pulse after correction by the interception of kth sliding window, and T ∈ { 2 ..., M }, T indicate T frame Range Walk Correction Echo data is compressed in the pulse by the interception of kth sliding window afterwards, intercepts after each frame Range Walk Correction by kth sliding window It includes L pulse that echo data is compressed in pulse, each pulse includes N number of distance unit；It is passed through after indicating Range Walk Correction Cross the doppler phase coarse search number of j-th of distance unit of the T frame pulse compression echo data of kth sliding window interception Index,WKIndicate the T frame pulse compression number of echoes intercepted after Range Walk Correction by kth sliding window According to j-th of distance unit pulse compression echo data carry out doppler phase coarse search number,Initial value be 1,Indicate theThe doppler phase of secondary coarse search.
(6b) adjusts the distance walk about correction after pth frame pulse compression j-th of echo data by the interception of kth sliding window away from Pulse compression echo data from unit along orientation does Fast Fourier Transform (FFT), obtains after Fast Fourier Transform (FFT) by the Echo data is compressed in the pulse of j-th of distance unit of the pth frame pulse compression echo data of K sliding window interception, then successively J-th of distance unit of the pth frame pulse compression echo data after acquisition Fast Fourier Transform (FFT) by the interception of kth sliding window The peak value and the corresponding Doppler frequency of the peak value of pulse compression echo data
(6c) enables p add 1, repeats sub-step (6b), cuts after obtaining Fast Fourier Transform (FFT) by kth sliding window The peak value and the peak value pair of the pulse compression echo data of j-th of distance unit of the M frame pulse compression echo data taken The Doppler frequency answeredAnd the 1st frame intercepted after the Fast Fourier Transform (FFT) obtained at this moment by kth sliding window The corresponding Doppler frequency of peak value of the pulse compression echo data of j-th of distance unit of echo data is compressed in pulseJ-th of distance of the M frame pulse compression echo data after to Fast Fourier Transform (FFT) by the interception of kth sliding window The corresponding Doppler frequency of peak value of the pulse compression echo data of unitMiddle maximizing and minimum value, by institute It states maximum value and minimum value is denoted as maximum value respectivelyAnd minimum valueThen by the maximum valueMost Small valueAs the T frame pulse compression j-th of echo data after Range Walk Correction by the interception of kth sliding window away from The Doppler frequency coarse search range of pulse compression echo data from unit
(6d) compresses j-th of echo data according to the T frame pulse after Range Walk Correction by the interception of kth sliding window The Doppler frequency coarse search range of the pulse compression echo data of distance unit Determine range walk The Doppler frequency of j-th of distance unit of the T frame pulse compression echo data after correction by the interception of kth sliding window is slightly searched Suo BuchangAnd obtainSecondary coarse search doppler phaseWKIndicate the T frame pulse compression and back intercepted after Range Walk Correction by kth sliding window The pulse compression echo data of j-th of distance unit of wave number evidence carries out the number of doppler phase coarse search；Wherein, INT table Show bracket function.
Due to j-th of distance of the 1st frame pulse compression echo data after Range Walk Correction by the interception of kth sliding window Unit defines the 1st frame intercepted after Range Walk Correction by kth sliding window without carrying out doppler phase coarse compensation The doppler phase precise search value of j-th of distance unit of pulse compression echo data isAnd
(6e) adjusts the distance walk about correction after the compression of T-1 frame pulse j-th of echo data by the interception of kth sliding window The pulse compression echo data of distance unit is multiplied by the T-1 frame pulse pressure intercepted after Range Walk Correction by kth sliding window The doppler phase precise search value of j-th of distance unit of contracting echo data handles factor Obtain the arteries and veins of j-th of distance unit of the T-1 frame pulse compression echo data after phase search by the interception of kth sliding window Punching press contracting echo data.
(6f) adjusts the distance walk about correction after T frame pulse compression j-th of echo data by the interception of kth sliding window away from Pulse compression echo data from unit is multiplied by theThe doppler phase precise search of secondary coarse search handles factorObtainT frame pulse after secondary coarse search by the interception of kth sliding window compresses number of echoes According to j-th of distance unit pulse compress echo data.
Then by j-th of distance of the T-1 frame pulse compression echo data after phase search by the interception of kth sliding window Echo data is compressed in the pulse of unit, with theT frame pulse after secondary coarse search by the interception of kth sliding window compresses echo After the pulse compression echo data of j-th of distance unit of data is spliced and Fast Fourier Transform (FFT) is done, obtains theIt is secondary T-1 frame pulse compression echo data and T frame pulse after coarse search by the interception splicing of kth sliding window compress number of echoes According to j-th of distance unit frequency spectrum, and obtain theBy the T-1 frame arteries and veins of kth sliding window interception splicing after secondary coarse search The spectrum peak of j-th of distance unit of punching press contracting echo data and T frame pulse compression echo data
(6g) is enabledAdd 1, repeats sub-step (6f), until obtaining WKIt is spelled after secondary coarse search by the K times sliding window interception The spectrum peak of j-th of distance unit of the T-1 frame pulse compression echo data and T frame pulse compression echo data that connectThen the T-1 frame pulse after the 1st coarse search obtained at this moment by the interception splicing of kth sliding window is compressed The spectrum peak of j-th of distance unit of echo data and T frame pulse compression echo dataTo WKSecondary coarse search The jth of T-1 frame pulse compression echo data by the interception splicing of kth sliding window and T frame pulse compression echo data afterwards The spectrum peak of a distance unitIn find maximum spectrum peak value, and it is the maximum spectrum peak value is corresponding thick The doppler phase of search, as the T frame pulse compression echo data after Range Walk Correction by the interception of kth sliding window The doppler phase coarse search value of j-th of distance unit
It is the present invention to variable step phase precise search process flow diagram referring to Fig. 4；It is described obtain Range Walk Correction and The pulse of j-th of distance unit of the T frame pulse compression echo data after Doppler phase compensation by the interception of kth sliding window Compress echo data, further include adjust the distance walk about correction after by kth sliding window interception T frame pulse compress echo data into The processing of row doppler phase precise search, specific sub-step are as follows:
(6i) compresses j-th of echo data according to the T frame pulse after Range Walk Correction by the interception of kth sliding window The doppler phase coarse search value of distance unitDetermine the T intercepted after Range Walk Correction by kth sliding window Frame pulse compresses the doppler phase precise search range of j-th of distance unit of echo data Indicate the T frame pulse pressure intercepted after Range Walk Correction by kth sliding window The doppler phase coarse search value of j-th of distance unit of contracting echo dataAnd obtain after Range Walk Correction by The doppler phase precise search step-length of j-th of distance unit of the T frame pulse compression echo data of kth sliding window interceptionAnd then obtain the T frame pulse pressure intercepted after Range Walk Correction by kth sliding window The doppler phase vector to precise search of j-th of distance unit of contracting echo data
Indicate theSecondary precise search Range Walk Correction after by kth sliding window interception T frame pulse compression echo data j-th of distance unit to essence The doppler phase really searched for.
Wherein, the jth of the 1st frame pulse compression echo data intercepted after Range Walk Correction by kth sliding window is defined The precise search doppler phase value of a distance unit isAndWherein, INT indicates bracket function.
(6j) adjusts the distance walk about correction after the compression of T-1 frame pulse j-th of echo data by the interception of kth sliding window The pulse compression echo data of distance unit is multiplied by the T-1 frame pulse pressure intercepted after Range Walk Correction by kth sliding window The doppler phase precise search value of j-th of distance unit of contracting echo data handles factor? The arteries and veins of j-th of distance unit of the T-1 frame pulse compression echo data after to phase precise search by the interception of kth sliding window Punching press contracting echo data.
(6k) adjusts the distance walk about correction after T frame pulse compression j-th of echo data by the interception of kth sliding window away from Pulse compression echo data from unit is multiplied by theThe doppler phase of secondary precise search handles factorObtainThe T frame pulse compression and back intercepted after secondary precise search by kth sliding window Echo data is compressed in the pulse of j-th of distance unit of wave number evidence；Indicate theThe Doppler of secondary precise search Phase.
Then by j-th of the T-1 frame pulse compression echo data after phase precise search by the interception of kth sliding window Echo data is compressed in the pulse of distance unit, with theThe T frame pulse pressure intercepted after secondary precise search by kth sliding window After the pulse compression echo data of j-th of distance unit of contracting echo data is spliced and Fast Fourier Transform (FFT) is done, is obtained TheT-1 frame pulse compression echo data and T frame pulse compression and back after secondary precise search by the interception of kth sliding window The frequency spectrum of j-th of distance unit of wave number evidence, and obtain theThe T-1 intercepted after secondary precise search by kth sliding window Frame pulse compresses the spectrum peak of j-th of distance unit of echo data and T frame pulse compression echo data
(6l) is enabledAdd 1, repeat sub-step (6k), until obtaining theIt is cut after secondary precise search by kth sliding window The spectrum peak of j-th of distance unit of the T-1 frame pulse compression echo data and T frame pulse compression echo data that takeThen the T-1 frame pulse compression and back intercepted after the 1st precise search obtained at this moment by kth sliding window The spectrum peak of wave number evidence and j-th of distance unit of T frame pulse compression echo dataToIt is secondary accurately to search J-th of T-1 frame pulse compression echo data and T frame pulse compression echo data after rope by the interception of kth sliding window The spectrum peak of distance unitIn find maximum spectrum peak value, and it is the maximum spectrum peak value is corresponding accurate The doppler phase of search, as the T frame pulse compression echo data after Range Walk Correction by the interception of kth sliding window The doppler phase precise search value of j-th of distance unit
Wherein, the 1st frame pulse compression after Range Walk Correction by the interception of kth sliding window j-th of echo data away from Doppler phase precise search value from unit isAnd
(6m) adjusts the distance walk about correction after T frame pulse compression j-th of echo data by the interception of kth sliding window away from Pulse compression echo data from unit compresses number of echoes multiplied by the T frame pulse that kth sliding window after Range Walk Correction intercepts According to j-th of distance unit doppler phase precise search value handle factorObtain range walk J-th of distance unit of the T frame pulse compression echo data after correction and Doppler phase compensation by the interception of kth sliding window Pulse compress echo data.
Step 7, enable j add 1, repeat step 6, after obtaining Range Walk Correction and Doppler phase compensation by Kth sliding window interception T frame pulse compression echo data n-th distance unit pulse compress echo data, and by this When obtained Range Walk Correction and Doppler phase compensation after T frame pulse by the interception of kth sliding window compress number of echoes According to the pulse of the 1st distance unit compress echo data, to Range Walk Correction and Doppler phase compensation after by kth Echo data is compressed in the pulse of the n-th distance unit of the T frame pulse compression echo data of sliding window interception, as range walk T frame pulse after correction and Doppler phase compensation by the interception of kth sliding window compresses echo data.
Step 8, it enables T add 1, is repeated in and executes step 6 to step 7, until obtaining Range Walk Correction and Doppler's phase Echo data, the Range Walk Correction that then will be obtained at this time are compressed by the M frame pulse that kth draws window interception after the compensation of position With after Doppler phase compensation by kth draw window interception the 2nd frame pulse compression echo data to Range Walk Correction with it is more After general Le phase compensation by kth draw window interception M frame pulse compression echo data and Range Walk Correction after by Kth draw window interception the 1st frame pulse compress echo data, according to primitive frame put in order be spliced into Range Walk Correction and Echo data is compressed by the M frame pulse that kth draws window interception after Doppler phase compensation；The Range Walk Correction and Duo Pu Strangling the M frame pulse compression echo data intercepted after phase compensation by kth stroke window is that N × ML ties up pulse pressure matrix.
Step 9, it adjusts the distance and draws window interception M frame pulse compression and back by kth after walking about correction and Doppler phase compensation Wave number obtains the M frame pulse compression and back intercepted after moving-target detection processing by kth stroke window according to moving-target detection processing is carried out Wave number evidence, and the maximum value of the M frame pulse compression echo data intercepted after moving-target detection processing by kth stroke window is obtained, The maximum value for drawing the M frame pulse compression echo data of window interception after the moving-target detection processing by kth is tieed up comprising N × ML Then the maximum value of the every a line of pulse pressure matrix will draw the M frame pulse pressure of window interception by kth after the moving-target detection processing The maximum value of contracting echo data as N × (N "-L+1) dimension data matrix H column element, and enables H add 1.
Step 10, it enables K add 1, is repeated in and executes step 3 to step 9, until obtaining N × (N "-L+1) dimension data matrix N "-L+1 column element arrive N × (N "-L+1) and by the 1st column element of the N obtained at this time × (N "-L+1) dimension data matrix The N "-L+1 column element of dimension data matrix, as complete N × (N "-L+1) dimension data matrix.
Step 11, two-dimentional CFAR detection is carried out to the N × (N "-L+1) dimension data matrix, obtains two-dimentional constant false alarm inspection N × (N "-L+1) dimension data matrix after survey, if it is described two dimension CFAR detection after N × (N "-L+1) dimension data matrix in The element value for including is greater than 0, then includes small and weak moving-target in the echo of pulse Doppler radar.
Further verifying explanation is made to effect of the present invention by following emulation experiments.
(1) measured data condition:
Notebook data uses pulse Doppler radar mechanical scanning system.Notebook data is that radar is scanned to obtain to sea 3 frame echoes include 2 Weak target and several sea clutters at a slow speed in echo.
(2) measured data process content and result:
Processing 1: single frames coherent processing is carried out respectively using continuous three frame data and the method for the present invention is handled, calculates separately place Manage the letter miscellaneous noise ratios of preceding 3 frame data, treated believes miscellaneous noise ratio, and the property made for single frames treated letter miscellaneous noise ratio and the method for the present invention It can comparison.
Before Combined Treatment, the 1st frame data such as Fig. 5 (a) is shown, the 2nd frame data such as Fig. 5 (b) is shown, the 3rd frame data such as Fig. 5 (c) shown in；Shown in result such as Fig. 6 (a) after 1st frame data single frames coherent processing, after the 2nd frame data single frames coherent processing As a result shown in result such as Fig. 6 (c) as shown in Fig. 6 (b), after the 3rd frame data single frames coherent processing；Continuous 3 frame data combine phase Result is as shown in Figure 7 after considering and handling reason.
The letter miscellaneous noise ratio for handling preceding 1st frame data is 18.0854dB；The letter miscellaneous noise ratio of 2nd frame data is 18.5117dB； The letter miscellaneous noise ratio of 3rd frame data is 18.4623dB；Letter miscellaneous noise ratio after 1st frame data single frames coherent processing is 18.0064dB； Letter miscellaneous noise ratio after 2nd frame data single frames coherent processing is 19.8708dB；Letter after 3rd frame data single frames coherent processing is miscellaneous to make an uproar Than for 18.5545dB, the letter miscellaneous noise ratio of data is 21.1188dB after continuous 3 frame data joint coherent processing；
5 (a)-Fig. 5 (c) of comparison diagram and Fig. 6 (a)-Fig. 6 (c) as it can be seen that correlative accumulation is done to frame data can not be to target Realize well improve, it can be seen from the letter miscellaneous noise ratio before and after single frames coherent processing single frames coherent processing can not obtain compared with Good snr gain, during illustrating single frames coherent processing, the energy of target and clutter is accumulated simultaneously, therefore is believed Miscellaneous noise ratio gain is unobvious；After 5 (a)-Fig. 5 (c) of comparison diagram and Fig. 7 can be seen that 3 frame data do united correlative accumulation, target Preferably improved, signal-to-noise ratio has the improvement of 3dB or so before and after the processing, illustrates during combining coherent processing between multiframe, mesh Mark energy has obtained preferable accumulation, and clutter energy does not accumulate significantly, therefore believes that miscellaneous noise ratio is available preferable Improve；The phase that the present invention can use target echo between multiframe related related realizes that interframe is combined to weak between multiframe clutter Correlative accumulation, and then improve the letter miscellaneous noise ratio of echo.
Processing 2: the data after continuous 3 frame data to be combined to coherent processing do two-dimentional constant false alarm, and analyze result.
As shown in Figure 8, it is seen that pass through CFAR detection, sea clutter is greatly reduced, and target is obviously detected, explanation The method of the present invention can realize the detection of target by the joint correlative accumulation between multiframe.
The present invention is a kind of to combine coherent based on the multiframe echo for improving Keystone algorithm and variable step phase search method The method of integration detection sea Weak target mainly solves the problems, such as two: first of the prior art, moving-target between multiframe away from From walk problem；Second, when splicing multiframe data, the compensation problem of the doppler phase dislocation between multiframe data.The two are asked Topic can all cause target detection performance to decline.
In conclusion emulation experiment demonstrates correctness of the invention, validity and reliability.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range；In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims (5)

1. a kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target, which is characterized in that including following Step:
Step 1, using sea moving-target in pulse Doppler radar mechanical scanning detection range, pulse Doppler radar is obtained Echo, and process of pulse-compression is carried out to the echo of the pulse Doppler radar, how general the M frame after obtaining process of pulse-compression is Radar return data are strangled, each frame Doppler radar echo data include a pulse of N "；
Step 2, determine that sliding window length is L pulse according to the M frame Doppler radar echo data after process of pulse-compression, and really Determine kth sliding window initial pulse be k-th pulse, and according to the position where kth sliding window to process of pulse-compression after T frame Doppler radar echo data are intercepted；Wherein, the initial value of K is 1, K ∈ { 1,2 ..., (N "-L+1) }；J ∈ 1, 2 ..., N }, j indicates j-th of distance unit, and T ∈ { 1,2 ..., M }, T indicate that T frame passes through the pulse pressure of kth sliding window interception Contracting echo data, pulse compression echo data of each frame by the interception of kth sliding window includes L pulse, each pulse packet Containing N number of distance unit, the initial value of T and j are respectively 1；Wherein, N " > > L；
N × (N "-L+1) dimension data matrix is set, and assumes the M frame arteries and veins intercepted after moving-target detection processing by kth sliding window The maximum value and the N × (N "-L+1) dimension data matrix H column element of punching press contracting echo data correspond；The N × (N "-L+1) dimension data matrix includes (N "-L+1) column element, and each column element includes N number of value, and N number of value is that moving-target is examined The maximum value of M frame pulse compression echo data after survey processing by the interception of kth sliding window；The initial value of H is 1；H expression N × The H column element of (N "-L+1) dimension data matrix, H ∈ { 1,2 ..., (N "-L+1) }；
Step 3, according to the position where kth sliding window to the T frame Doppler radar echo data after process of pulse-compression into Row interception obtains the T frame pulse after kth sliding window intercepts and compresses echo data；
Step 4, using improved interframe Keystone transformation algorithm to the T frame pulse after the interception of kth sliding window It compresses echo data and carries out Range Walk Correction, obtain the T frame pulse pressure intercepted after Range Walk Correction by kth sliding window Contracting echo data；
Step 5, it enables T add 1, repeats step 3 and step 4, intercepted after obtaining Range Walk Correction by kth sliding window M frame pulse compress echo data, then will after the Range Walk Correction that obtained at this time by kth sliding window interception the 1st Frame pulse compresses the M frame pulse compression echo data intercepted after echo data to Range Walk Correction by kth sliding window, makees Echo data is compressed for the M frame pulse after Range Walk Correction by the interception of kth sliding window；
Step 6, to j-th of the T frame pulse compression echo data after the Range Walk Correction by the interception of kth sliding window Distance unit carries out Doppler phase compensation processing, slides after obtaining Range Walk Correction and Doppler phase compensation by kth Echo data is compressed in the pulse of j-th of distance unit of the T frame pulse compression echo data of window interception；
Step 7, it enables j add 1, repeats step 6, by K after obtaining Range Walk Correction and Doppler phase compensation Echo data is compressed in the pulse of the n-th distance unit of the T frame pulse compression echo data of secondary sliding window interception, and will obtain at this time T frame pulse after the Range Walk Correction and Doppler phase compensation that arrive by the interception of kth sliding window compresses echo data Echo data is compressed in the pulse of 1st distance unit, arrives after Range Walk Correction and Doppler phase compensation by kth sliding window Echo data is compressed in the pulse of the n-th distance unit of the T frame pulse compression echo data of interception, as Range Walk Correction Echo data is compressed with the T frame pulse after Doppler phase compensation by the interception of kth sliding window；
Step 8, it enables T add 1, is repeated in and executes step 6 to step 7, mended until obtaining Range Walk Correction and doppler phase M frame pulse after repaying by the interception of kth sliding window compresses echo data, then by the Range Walk Correction obtained at this time and more The 2nd frame pulse after general Le phase compensation by the interception of kth sliding window compresses echo data to Range Walk Correction and Doppler By K after M frame pulse compression echo data and Range Walk Correction after phase compensation by the interception of kth sliding window 1st frame pulse of secondary sliding window interception compresses echo data, is spliced into Range Walk Correction and more according to putting in order for primitive frame M frame pulse after general Le phase compensation by the interception of kth sliding window compresses echo data；The Range Walk Correction and Doppler M frame pulse compression echo data after phase compensation by the interception of kth sliding window is that N × ML ties up pulse condensation matrix；
Step 9, it adjusts the distance after walking about correction and Doppler phase compensation by kth sliding window interception M frame pulse compression number of echoes According to moving-target detection processing is carried out, the M frame pulse compression number of echoes intercepted after moving-target detection processing by kth sliding window is obtained According to, and the maximum value of the M frame pulse compression echo data intercepted after moving-target detection processing by kth sliding window is obtained, it is described The maximum value of M frame pulse compression echo data after moving-target detection processing by the interception of kth sliding window includes that N × ML ties up pulse The maximum value of the every a line of condensation matrix, the M frame pulse pressure that then will be intercepted after the moving-target detection processing by kth sliding window The maximum value of contracting echo data as N × (N "-L+1) dimension data matrix H column element, and enables H add 1；
Step 10, it enables K add 1, is repeated in and executes step 3 to step 9, until obtaining N × (N "-L+1) dimension data matrix the N "-L+1 column element, and by the 1st column element of the N obtained at this time × (N "-L+1) dimension data matrix, arrive N × (N "-L+1) dimension According to the N "-L+1 column element of matrix, as complete N × (N "-L+1) dimension data matrix；
Step 11, two-dimentional CFAR detection is carried out to the N × (N "-L+1) dimension data matrix, after obtaining two-dimentional CFAR detection N × (N "-L+1) dimension data matrix, if it is described two dimension CFAR detection after N × (N "-L+1) dimension data matrix in include Element value is greater than 0, then includes small and weak moving-target in the echo of pulse Doppler radar.
2. a kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target as described in claim 1, It is characterized in that, the sub-step of step 4 are as follows:
(4a) initialization: m ∈ { 1,2 ..., L }, n ∈ { 1,2 ..., L }, m indicate m-th of pulse, and n indicates n-th of pulse, L table Show that the pulse number that sliding window length includes, T indicate that echo data, each frame are compressed in pulse of the T frame by the interception of kth sliding window Pulse compression echo data after the interception of kth sliding window includes L pulse, each pulse includes a frequency point of N '；ran∈ { 1,2 ..., N ' }, x ∈ { 1,2 ..., N ' }, x indicate that x-th of frequency point, ran indicate that the ran frequency point, ran are also illustrated that by K L × N ' dimension pulse compression and back wave the frequency-domain data matrix of the i-th frame pulse compression L pulse of echo data after secondary sliding window interception siL KRan column, franIndicate the frequency values on the ran frequency point,Fs indicates distance to adopting Sample frequency, the initial value of m, n and ran are respectively 1；
(4b) carries out distance to quick to m-th of pulse of the T frame pulse compression echo data after the interception of kth sliding window Fourier transformation obtains a frequency of N ' of m-th of pulse of the T frame pulse compression echo data after kth sliding window intercepts The corresponding pulse compression and back wave frequency numeric field data s of frequency values of pointT K(m), sT K(m)={ sT K(f1, m) ..., sT K(fx, m) ..., sT K (fN′, m) }, sT K(fx, m) indicate the T frame pulse compression echo data after the interception of kth sliding window m-th of pulse the The corresponding pulse compression and back wave frequency numeric field data of the frequency values of x frequency point；
(4c) enables m add 1, repeats sub-step (4b), compresses echo until obtaining the T frame pulse after kth sliding window intercepts The corresponding pulse compression and back wave frequency numeric field data s of frequency values of a frequency point of N ' of the l-th pulse of dataT K(L), it then will obtain at this time The frequency values pair of a frequency point of N ' of 1st pulse of the T frame pulse compression echo data after the interception of kth sliding window arrived The pulse compression and back wave frequency numeric field data s answeredT K(1), to the T frame pulse compression echo data after the interception of kth sliding window The corresponding pulse compression and back wave frequency numeric field data s of the frequency values of a frequency point of the N ' of l-th pulseT K(L), as by kth sliding window L × N ' dimension pulse compression and back wave frequency-domain data matrix the s of T frame pulse compression L pulse of echo data after interceptionTL K, described L × N ' dimension pulse compression and back wave frequency-domain data matrix sTL KExpression formula are as follows:
Wherein, sT K(fran, m) and it is the in m-th of pulse that the T frame pulse after the interception of kth sliding window compresses echo data The corresponding pulse compression and back wave frequency numeric field data of the frequency values of ran frequency point；
(4d) is using improved interframe Keystone transformation algorithm to the T frame pulse pressure after the interception of kth sliding window L × N ' dimension pulse compression and back wave frequency-domain data matrix s in contracting echo dataTL KRan column carry out n-th of pulse sinc Interpolation processing obtains in the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window n-th The corresponding pulse compression and back wave frequency numeric field data of frequency values on the ran frequency point of pulse
(4e) is according to n-th in the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave frequency numeric field data of frequency values on the ran frequency point of a pulseIt calculates Ran of n-th of pulse in T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave equation of frequency values on frequency pointWherein, sinc indicates sinc function；
(4f) enables ran add 1, repeats sub-step (4d) to (4e), until obtaining intercepting by sinc interpolation processing and kth sliding window Echo is compressed in the corresponding pulse of frequency values in T frame pulse compression echo data afterwards on a frequency point of N ' of n-th of pulse EquationAnd the T frame arteries and veins after sinc interpolation processing and the interception of kth sliding window that will be obtained at this time The corresponding pulse compression and back wave equation of frequency values in punching press contracting echo data on the 1st frequency point of n-th of pulseInto the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave equation of frequency values on a frequency point of N ' of n-th of pulseAs process Echo is compressed in the pulse of n-th of pulse in T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window Equation；
(4g) is to n-th of pulse in the T frame pulse compression echo data after sinc interpolation processing and the interception of kth sliding window Pulse compression and back wave equation carry out distance converted to inverse Fast Fourier Transform, obtain Range Walk Correction and kth sliding window The time domain discrete echo equation skeystonet of n-th of pulse in T frame pulse compression echo data after interceptionT K(N ', n)；
(4h) enables n add 1, is repeated in sub-step (4d) to (4g), after obtaining Range Walk Correction and the interception of kth sliding window T frame pulse compression echo data in l-th pulse time domain discrete echo equation skeystonetT K(N ', L) then will In T frame pulse compression echo data after Range Walk Correction and kth the sliding window interception obtained at this time the 1st pulse when Domain discrete echo equation skeystonetT KT frame pulse compression after (N ', 1) to Range Walk Correction and the interception of kth sliding window The time domain discrete echo equation skeystonet of l-th pulse in echo dataT K(N ', L) passes through as Range Walk Correction The T frame pulse of kth sliding window interception compresses echo data.
3. a kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target as claimed in claim 2, It is characterized in that, x-th of frequency point of m-th of pulse of the T frame pulse compression echo data after the interception of kth sliding window The corresponding pulse compression and back wave frequency numeric field data s of frequency valuesT K(fx, m), described cut by sinc interpolation processing and kth sliding window The corresponding pulse compression and back of frequency values in T frame pulse compression echo data after taking on the ran frequency point of n-th of pulse Wave frequency numeric field dataThe T frame pulse pressure after sinc interpolation processing and the interception of kth sliding window The corresponding pulse compression and back wave equation of frequency values in contracting echo data on the ran frequency point of n-th of pulseAnd the T frame pulse after the Range Walk Correction and the interception of kth sliding window compresses echo data In n-th of pulse time domain discrete echo equation skeystonetT K(N ', n), expression formula is respectively as follows:
Wherein, A indicates x-th of frequency of m-th of pulse of the T frame pulse compression echo data after the interception of kth sliding window The corresponding pulse compression and back wave frequency numeric field data s of frequency values of pointT K(fx, m) amplitude, R0Indicate target to be detected in the 1st frame arteries and veins The initial distance of 1st pulse in punching press contracting echo data, v indicate the speed of target to be detected, and c indicates the light velocity, fcIndicate arteries and veins The working frequency of Doppler radar is rushed, Time indicates the duty cycle of pulse Doppler radar, and PRF indicates pulse Doppler radar Pulse recurrence frequency, PRT indicates the pulse repetition period of pulse Doppler radar, and A " is indicated by sinc interpolation processing and the Frequency values in T frame pulse compression echo data after K sliding window interception on the ran frequency point of n-th of pulse are corresponding Pulse compression and back wave equationAmplitude, the after A ' expression Range Walk Correction and the interception of kth sliding window T frame pulse compresses the time domain discrete echo equation skeystonet of n-th of pulse in echo dataT KThe amplitude of (N ', n), n0Table Show that the initial distance unit of 1st pulse of the target to be detected in the 1st frame pulse compression echo data, sinc () indicate pungent Lattice function, the pulse compression echo data after the interception of kth sliding window includes T frame, and each frame is after the interception of kth sliding window Pulse compression echo data include L pulse, each pulse include N number of distance unit.
4. a kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target as claimed in claim 3, It is characterized in that, it is in step 6, described to obtain after Range Walk Correction and Doppler phase compensation by the interception of kth sliding window T frame pulse compress echo data j-th of distance unit pulse compress echo data, including adjust the distance walk about correction after pass through The T frame pulse compression echo data for crossing the interception of kth sliding window carries out the processing of doppler phase coarse search, specific sub-step Are as follows:
(6a) j ∈ { 1,2 ..., N }, j indicate j-th of distance unit, and p ∈ { 1,2 ..., M }, p indicate pth frame Range Walk Correction Echo data is compressed in the pulse by the interception of kth sliding window afterwards, after T ∈ { 1,2 ..., M }, T indicate T frame Range Walk Correction Echo data, the arteries and veins intercepted after each frame Range Walk Correction by kth sliding window are compressed in pulse by the interception of kth sliding window Punching press contracting echo data includes L pulse, each pulse includes N number of distance unit；Indicate Range Walk Correction after by The doppler phase coarse search number rope of j-th of distance unit of the T frame pulse compression echo data of kth sliding window interception Draw,WKIndicate the T frame pulse compression echo data intercepted after Range Walk Correction by kth sliding window J-th of distance unit pulse compression echo data carry out doppler phase coarse search number,Initial value be 1,Indicate theThe doppler phase of secondary coarse search；
(6b) adjusts the distance walk about correction after j-th of echo data distance of pth frame pulse compression by the interception of kth sliding window it is single The pulse compression echo data of member along orientation does Fast Fourier Transform (FFT), obtains after Fast Fourier Transform (FFT) by kth Echo data is compressed in the pulse of j-th of distance unit of the pth frame pulse compression echo data of sliding window interception, then successively obtains The pulse of j-th of distance unit of the pth frame pulse compression echo data after Fast Fourier Transform (FFT) by the interception of kth sliding window Compress the peak value and the corresponding Doppler frequency of the peak value of echo data
(6c) enables p add 1, repeats sub-step (6b), by the interception of kth sliding window after obtaining Fast Fourier Transform (FFT) The peak value and the peak value of the pulse compression echo data of j-th of distance unit of M frame pulse compression echo data are corresponding Doppler frequencyAnd the 1st frame pulse intercepted after the Fast Fourier Transform (FFT) obtained at this moment by kth sliding window Compress the corresponding Doppler frequency of peak value of the pulse compression echo data of j-th of distance unit of echo dataIt arrives The pulse of j-th of distance unit of the M frame pulse compression echo data after Fast Fourier Transform (FFT) by the interception of kth sliding window Compress the corresponding Doppler frequency of peak value of echo dataMiddle maximizing and minimum value, by the maximum value and Minimum value is denoted as maximum value respectivelyAnd minimum valueThen by the maximum valueAnd minimum value The arteries and veins of j-th of distance unit as the T frame pulse compression echo data after Range Walk Correction by the interception of kth sliding window The Doppler frequency coarse search range of punching press contracting echo data
(6d) compresses j-th of distance of echo data according to the T frame pulse after Range Walk Correction by the interception of kth sliding window The Doppler frequency coarse search range of the pulse compression echo data of unit Determine Range Walk Correction The Doppler frequency coarse search of j-th of distance unit of the T frame pulse compression echo data by the interception of kth sliding window walks afterwards It is longAnd obtainSecondary coarse search doppler phaseWKIndicate the T frame pulse compression and back intercepted after Range Walk Correction by kth sliding window The pulse compression echo data of j-th of distance unit of wave number evidence carries out the number of doppler phase coarse search；Distance is defined to walk The doppler phase essence of j-th of distance unit of the 1st frame pulse compression echo data after dynamic correction by the interception of kth sliding window Really search value isAndWherein, INT indicates bracket function；
J-th of distance of the T-1 frame pulse compression echo data after (6e) net Range Walk Correction by the interception of kth sliding window The pulse compression echo data of unit is multiplied by the T-1 frame pulse compression and back intercepted after Range Walk Correction by kth sliding window The doppler phase precise search value of j-th of distance unit of wave number evidence handles factorIt obtains The pulse of j-th of distance unit of the T-1 frame pulse compression echo data after phase search by the interception of kth sliding window is compressed Echo data；
(6f) adjusts the distance walk about correction after j-th of echo data distance of T frame pulse compression by the interception of kth sliding window it is single The pulse compression echo data of member is multiplied by theThe doppler phase precise search of secondary coarse search handles factorObtainT frame pulse after secondary coarse search by the interception of kth sliding window compresses number of echoes According to j-th of distance unit pulse compress echo data；
Then by j-th of distance unit of the T-1 frame pulse compression echo data after phase search by the interception of kth sliding window Pulse compression echo data and theT frame pulse after secondary coarse search by the interception of kth sliding window compresses echo data After the pulse compression echo data of j-th distance unit is spliced and Fast Fourier Transform (FFT) is done, obtains theSecondary coarse search The jth of T-1 frame pulse compression echo data by the interception splicing of kth sliding window and T frame pulse compression echo data afterwards The frequency spectrum of a distance unit, and obtain theBy the T-1 frame pulse compression and back of kth sliding window interception splicing after secondary coarse search The spectrum peak of wave number evidence and j-th of distance unit of T frame pulse compression echo data
(6g) is enabledAdd 1, repeats sub-step (6f), until obtaining WKBy the interception splicing of kth sliding window after secondary coarse search T-1 frame pulse compresses the spectrum peak of j-th of distance unit of echo data and T frame pulse compression echo dataThen the T-1 frame pulse after the 1st coarse search obtained at this moment by the interception splicing of kth sliding window is compressed The spectrum peak of j-th of distance unit of echo data and T frame pulse compression echo dataTo WKIt is secondary slightly to search The of T-1 frame pulse compression echo data and T frame pulse compression echo data after rope by the interception splicing of kth sliding window The spectrum peak of j distance unitIn find maximum spectrum peak value, and it is the maximum spectrum peak value is corresponding thick The doppler phase of search, as the T frame pulse compression echo data after Range Walk Correction by the interception of kth sliding window The doppler phase coarse search value of j-th of distance unit
5. a kind of optimization method of multiframe echo joint correlative accumulation detection sea Weak target as claimed in claim 4, It is characterized in that, it is in step 6, described to obtain after Range Walk Correction and Doppler phase compensation by the interception of kth sliding window Echo data is compressed in the pulse that T frame pulse compresses j-th of distance unit of echo data, further includes after adjusting the distance and walking about correction T frame pulse compression echo data by the interception of kth sliding window carries out the processing of doppler phase precise search, specific sub-step Suddenly are as follows:
(6h) initialization: j ∈ { 1,2 ..., N }, T indicate that echo data, T are compressed in pulse of the T frame by the interception of kth sliding window Also illustrate that the pulse compression echo data intercepted after T frame Range Walk Correction by kth sliding window, each frame range walk school Pulse compression echo data just afterwards by the interception of kth sliding window includes L pulse, each pulse includes N number of distance unit； Indicate the T frame pulse compression echo data intercepted after Range Walk Correction by kth sliding window J-th of distance unit doppler phase number to precise search for including,It also illustrates that after Range Walk Correction by J-th of distance unit of the T frame pulse compression echo data of K sliding window interception carries out time of doppler phase precise search Number,Indicate j-th of distance list of the T frame pulse compression echo data intercepted after Range Walk Correction by kth sliding window The precise search number index of member,Initial value be 1；Indicate theThe doppler phase of secondary precise search；
(6i) compresses j-th of distance of echo data according to the T frame pulse after Range Walk Correction by the interception of kth sliding window The doppler phase coarse search value of unitDetermine the T frame arteries and veins intercepted after Range Walk Correction by kth sliding window The doppler phase precise search range of j-th of distance unit of punching press contracting echo data Indicate j-th of distance unit of the T frame pulse compression echo data intercepted after Range Walk Correction by kth sliding window Doppler phase coarse search valueAnd obtain the T frame pulse intercepted after Range Walk Correction by kth sliding window Compress the doppler phase precise search step-length of j-th of distance unit of echo data And then obtain j-th of distance unit of the T frame pulse compression echo data intercepted after Range Walk Correction by kth sliding window The doppler phase vector to precise search
Indicate theSecondary precise search away from From j-th of distance unit that the T frame pulse after correction of walking about by the interception of kth sliding window compresses echo data to accurately search The doppler phase of rope；
Wherein, define the 1st frame pulse compression j-th of echo data after Range Walk Correction by the interception of kth sliding window away from Precise search doppler phase value from unit isAndINT indicates bracket function；
(6j) adjust the distance walk about correction after by kth sliding window interception T-1 frame pulse compression echo data j-th of distance The pulse compression echo data of unit is multiplied by the T-1 frame pulse compression and back intercepted after Range Walk Correction by kth sliding window The doppler phase precise search value of j-th of distance unit of wave number evidence handles factorObtain phase The pulse pressure of j-th of distance unit of the T-1 frame pulse compression echo data after the precise search of position by the interception of kth sliding window Contracting echo data；
(6k) adjusts the distance walk about correction after j-th of echo data distance of T frame pulse compression by the interception of kth sliding window it is single The pulse compression echo data of member is multiplied by theThe doppler phase of secondary precise search handles factorObtainThe T frame pulse compression and back intercepted after secondary precise search by kth sliding window Echo data is compressed in the pulse of j-th of distance unit of wave number evidence；Indicate theThe Doppler of secondary precise search Phase；
Then by j-th of distance of the T-1 frame pulse compression echo data after phase precise search by the interception of kth sliding window Echo data is compressed in the pulse of unit, with theThe T frame pulse compression and back intercepted after secondary precise search by kth sliding window After the pulse compression echo data of j-th of distance unit of wave number evidence is spliced and Fast Fourier Transform (FFT) is done, obtains the T-1 frame pulse compression echo data and T frame pulse after secondary precise search by the interception of kth sliding window compress echo data J-th of distance unit frequency spectrum, and obtain theThe T-1 frame pulse pressure intercepted after secondary precise search by kth sliding window The spectrum peak of j-th of distance unit of contracting echo data and T frame pulse compression echo data
(6l) is enabledAdd 1, repeat sub-step (6k), until obtaining theBy the interception of kth sliding window after secondary precise search T-1 frame pulse compresses the spectrum peak of j-th of distance unit of echo data and T frame pulse compression echo dataThen the T-1 frame pulse compression and back intercepted after the 1st precise search obtained at this moment by kth sliding window The spectrum peak of wave number evidence and j-th of distance unit of T frame pulse compression echo dataToIt is secondary accurately to search J-th of T-1 frame pulse compression echo data and T frame pulse compression echo data after rope by the interception of kth sliding window The spectrum peak of distance unitIn find maximum spectrum peak value, and it is the maximum spectrum peak value is corresponding accurate The doppler phase of search, as the T frame pulse compression echo data after Range Walk Correction by the interception of kth sliding window The doppler phase precise search value of j-th of distance unitWherein, it is intercepted after Range Walk Correction by kth sliding window The doppler phase precise search value of j-th of distance unit of the 1st frame pulse compression echo data beAnd
(6m) adjusts the distance walk about correction after j-th of echo data distance of T frame pulse compression by the interception of kth sliding window it is single The T frame pulse compression echo data that the pulse compression echo data of member is intercepted multiplied by kth sliding window after Range Walk Correction The doppler phase precise search value of j-th of distance unit handles factorObtain Range Walk Correction With the arteries and veins of j-th of distance unit of the T frame pulse compression echo data after Doppler phase compensation by the interception of kth sliding window Punching press contracting echo data.
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