CN106199588B - Multistation Radar Signal Fusion detection method based on Pasteur's distance quantization - Google Patents
Multistation Radar Signal Fusion detection method based on Pasteur's distance quantization Download PDFInfo
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
- G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
-
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention belongs to Radar Technology fields, disclose a kind of multistation Radar Signal Fusion detection method based on Pasteur's distance quantization, can reduce the communication bandwidth between radar and signal fused center in the detection of multistation Radar Signal Fusion.Including：Netted radar system is set, and the netted radar system includes a signal fused inspection center and N number of radar station；It determines quantization digit b of each radar station to the echo-signal received, and quantized interval number M=2 is obtained according to quantization digit bb；Each radar station quantifies received echo-signal, determines the quantized interval belonging to the echo-signal after quantization, and the corresponding label of the quantized interval is transmitted to signal fused inspection center；Desired false-alarm probability is set, and the signal fused inspection center is detected target according to the corresponding label of respective quantized interval that the desired false-alarm probability and N number of radar station are sent.
Description
Technical field
The present invention relates to Radar Technology field more particularly to a kind of multistation Radar Signal Fusions based on Pasteur's distance quantization
Detection method can be used for reducing the communication bandwidth between radar and signal fused center in the detection of multistation Radar Signal Fusion.
Background technology
Multistation radar fence is made of a signal fused center and multiple radar stations.Compared with single radar, multistation radar
Net has many advantages, such as investigative range, higher positioning accuracy, stronger survival ability and the stronger anti-interference ability of bigger.Cause
This, the research of multistation radar fence becomes a new research hotspot.In the research of multistation radar fence, the signal of multistation radar
Fusion detection method is an important research direction.
For current existing research, the signal fused detection method of multistation radar is broadly divided into three kinds：Multistation radar
The signal grade fusion detection method for adjudicating level fusing method and multistation radar of flight path level fusing method, multistation radar.Multistation thunder
The flight path level fusing method reached refers to each radar station is transmitted to signal fused center by the flight path of oneself, and signal fused center is by institute
There is the Track Fusion of radar station at a flight path.The judgement level fusing method of multistation radar refers to each radar station by respective judgement
As a result it is transmitted to signal fused center, signal fused center finally judges having for target according to the court verdict of all radars
Nothing.The signal grade fusion detection method of multistation radar refers to that the echo-signal of oneself is transmitted to fusion center by each radar station, letter
Number fusion center judges the presence or absence of target according to all radar station echo-signals.
In detection performance, the fusion method of multistation radar adjudicated level fusing method and be better than flight path grade, and multistation radar
Signal grade fusion detection method again be better than judgement level fusing method.Currently, the flight path level fusing method of multistation radar at
It is ripe, and it has been applied to actual engineering system.The goal in research of next step is that signal level fusing method is applied to new one
The netted radar system in generation.For the signal grade fusion detection method of multistation radar, since each radar station needs will be all
Echo-signal is transmitted to signal fused center, it is therefore desirable to big communication bandwidth.But between radar station and signal fused center
Communication bandwidth it is limited, so required communication band when must study new quantization method to reduce radar echo signal transmission
It is wide.And while reducing communication bandwidth, ensure the detection performance that signal fused center has had.It is returned for different radars
Wave signal model, it has been proposed that a variety of quantization criterion and corresponding Quantitative fusion detection algorithm.But existing multistation radar
There are detection performances to lose the problems such as larger, quantization threshold optimization is not good enough for Quantitative fusion detection algorithm, needs further to study.
Invention content
It is an object of the invention to the deficiencies for above-mentioned prior art, propose a kind of multistation based on Pasteur's distance quantization
Radar Signal Fusion detection method, to ensure under conditions of the detection performance of signal fused inspection center loses very little, with most
Bigization Pasteur's distance is the echo-signal that criterion quantifies radar station, when reduction radar station echo-signal is transmitted to signal fused center
Required communication bandwidth.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that：
A kind of multistation Radar Signal Fusion detection method based on Pasteur's distance quantization, described method includes following steps：
Step 1, netted radar system is set, and the netted radar system includes a signal fused inspection center and N number of
Radar station；
Step 2, it determines quantization digit b of each radar station to the echo-signal received, and is obtained according to quantization digit b
Quantized interval number M=2b, the corresponding label of each quantized interval is expressed as m, m=0,1,2 ..., M-1, the quantization digit b
Meet：1≤b<Ch/fs, wherein ChMaximum communication bandwidth between each radar station and signal fused inspection center, fsIt is every
The highest sample frequency of a radar station；
Step 3, i-th of radar station quantifies received echo-signal, determines the echo-signal institute after quantization
The quantized interval of category, and the corresponding label of the quantized interval is transmitted to signal fused inspection center；The initial value of i is 1, i=
1,...,N；
Step 4, it enables the value of i add 1, and executes step 3, until i>N；
Step 5, desired false-alarm probability is set, the signal fused inspection center according to the desired false-alarm probability and
The corresponding label of quantized interval belonging to echo-signal after the quantization that N number of radar station is sent is detected target.
Advantages of the present invention is as follows：(1) present invention is due to being that criterion quantifies radar echo signal to maximize Pasteur's distance
And the presence or absence of target is adjudicated using the detection criteria of randomization at signal fused center, it therefore, can be in ensureing signal fused
Under conditions of the detection performance loss very little of the heart, reduces radar station echo-signal and be transmitted to communication required when signal fused center
Bandwidth；(2) present invention solves quantization threshold due to the use of improved sequential quadratic programming algorithm, therefore can obtain local optimum
Quantization threshold value.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of multistation Radar Signal Fusion detection method based on Pasteur's distance quantization provided in an embodiment of the present invention
Implementation process schematic diagram；
Fig. 2 is the implementation process schematic diagram when present invention solves quantization threshold using improved sequential quadratic programming algorithm；
Fig. 3 is the implementation process schematic diagram for the improved sequential quadratic programming algorithm that the present invention uses；
Fig. 4 is the detection probability contrast schematic diagram figure of the method for the present invention and non-quantized signal fusion detection method；
Fig. 5 is the quantization threshold curve synoptic diagram that the method for the present invention solves；
Fig. 6 is the quantization threshold curve synoptic diagram that existing method solves.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of multistation Radar Signal Fusion detection method based on Pasteur's distance quantization, such as Fig. 1
Shown, described method includes following steps：
Step 1, netted radar system is set, and the netted radar system includes a signal fused inspection center and N number of
Radar station.
Specifically, giving a netted radar system, netted radar system includes a signal fused center and N number of thunder
Up to station；N number of radar station is denoted as the 1st to n-th radar station, permitted maximum between each radar station and signal fused center
Communication bandwidth is all identical；The maximum communication bandwidth allowed between radar station and signal fused center is denoted as Ch, maximum communication band
Wide ChUnit be bps；Highest sample frequency in N number of radar station is denoted as fs, highest sample frequency fsUnit be conspicuous
Hereby.
Step 2, it determines quantization digit b of each radar station to the echo-signal received, and is obtained according to quantization digit b
Quantized interval number M=2b, the corresponding label of each quantized interval is expressed as m, m=0,1,2 ..., M-1, the quantization digit b
Meet：1≤b<Ch/fs, wherein ChMaximum communication bandwidth between each radar station and signal fused inspection center, fsIt is every
The highest sample frequency of a radar station.
On the basis of meeting above formula, the value of quantization digit b is bigger, and the detection performance at signal fused center is better；But
It is, when quantization digit b increases to a certain extent, to further increase quantization digit b and change to the detection performance at signal fused center
Kind very little, therefore, the experience value of quantization digit b is 3~5.
Step 3, i-th of radar station quantifies received echo-signal, determines the echo-signal institute after quantization
The quantized interval of category, and the corresponding label of the quantized interval is transmitted to signal fused inspection center；The initial value of i is 1, i=
1,...,N；
Step 3 specifically includes following sub-step：
The echo-signal that i-th of radar station receives is denoted as x by (3a)i, the signal-to-noise ratio of echo-signal is denoted as λi, echo letter
Number test statistics be denoted as yi=xi/μi, wherein μiFor the noise power of i-th of radar station；In practice, if signal-to-noise ratio
λiWith noise power μiActual value it is unknown, its value can be obtained by the method for estimation；
M-1 quantization threshold of i-th of radar station is denoted as T by (3b)i,1,Ti,2,…,Ti,M-1, according to signal-to-noise ratio λiIt obtains
Pasteur's distance B of i-th of radar stationi：
Wherein, viFor test statistics yiLabel after quantization, H1It indicates to assume that target exists, H0It indicates to assume no mesh
Mark, P () indicate probability value, note test statistics yiLower limit be Ti,0=0, test statistics yiThe upper limit be Ti,M=+∞,
Then：
(3c) is according to Pasteur's distance B of i-th of radar stationi, obtain Pasteur's coefficient ρ of i-th of radar stationiFor：
(3d) is to minimize Pasteur's coefficient ρ of i-th of radar stationiFor criterion, structure solves quantization threshold Ti,1,Ti,2,…,
Ti,M-1Optimized model be：
Wherein, s.t. indicates constraints, and M-1 quantization threshold T of i-th of radar station is obtained to solvei,1,
Ti,2,…,Ti,M-1；
Optimized model in step (3d) is the nonlinear programming problem of belt restraining, can use existing nonlinear optimization
Algorithm solves；Since sequential quadratic programming algorithm has many advantages, such as that optimal speed is fast, it is good to solve effect, this example uses
Improved sequential quadratic programming algorithm solves to obtain quantization threshold Ti,1,Ti,2,…,Ti,M-1。
As shown in Fig. 2, in sub-step (3d), according to quantization threshold Ti,1,Ti,2,…,Ti,M-1Optimized model solve to obtain
M-1 quantization threshold T of i-th of radar stationi,1,Ti,2,…,Ti,M-1Detailed process be：
Cycle-index N is arranged in (3d1)c, the interim storage vector T that one M-1 of setting is tieed up, the minimum Pasteur's coefficient value of setting
ρmin=M, setting cycle-index mark k=1；
Random quantization threshold initial value is arranged in (3d2)
(3d3) is according to quantization threshold initial valueUsing improved sequential quadratic programming algorithm, specifically
Algorithm can refer to document [A.Antoniou and W.-S.Lu, Practical optimization:algorithms and
engineering applications:Springer,2007]；The thought of the algorithm is：In each iteration, pass through solution
One quadratic programming subproblem obtains the descent direction of optimized variable, is then solved and is optimized using one dimensional line searching algorithm
The decline step-length of variable, according to descent direction and declines step-length more new variables, then uses BFGS Quasi-Newton algorithms to update secondary
Hessian matrixes in planning, finally start next iteration；The flow of the algorithm is as shown in Figure 3；According in step (3d)
Optimized model solves to obtain the quantization threshold value of this cycleWith Pasteur's coefficient value after minimum
(3d4) if minimize after Pasteur's coefficient valueThen enable interim storage vectorialMinimum Pasteur's coefficient value
(3d5) is if cycle-index marks k<Nc, then the value of cycle-index label k adds 1, and goes to step (3d2)；It is no
Then, step (3d6) is gone to；
(3d6) according to interim storage vector T, the quantization threshold T after being solvedi,1=T (1), Ti,2=T (2) ...,
Ti,M-1=T (M-1)；T (j) indicates one element of jth of interim storage vector T.
(3e) is according to M-1 quantization threshold T of i-th of radar stationi,1,Ti,2,…,Ti,M-1, to test statistics yiIt carries out
Quantization；If test statistics yiMeet Ti,m≤yi<Ti,m+1, then test statistics yiLabel v after quantizationi=m；I-th of thunder
Up to station by the label v after quantizationiIt is transmitted to signal fused inspection center.
Step 4, it enables the value of i add 1, and executes step 3, until i>N；To complete N number of radar station by the label after quantization
It is transmitted to the process of signal fused inspection center.
Step 5, desired false-alarm probability is set, the signal fused inspection center according to the desired false-alarm probability and
The corresponding label of quantized interval belonging to echo-signal after the quantization that N number of radar station is sent is detected target.
Step 5 specifically includes following sub-step：
(5a) according to quantized interval number M and the corresponding label m=0 of quantized interval, 1,2 ..., M-1 obtain signal fused
The be possible to value v of inspection center's label summationsum={ 0,1,2 ..., N × (M-1) }, wherein × indicate that multiplication sign, note are assumed
It is v not have signal fused inspection center label summation value when targetsumProbability be P (vsum|H0)；
(5b) is according to desired false-alarm probability Pfa, by following formula
Solution obtains detection threshold g and probability value γ；
(5c) signal fused inspection center is by the label v of the N number of radar station received1,v2,…,vNSummation：
If the sum of label vf>G, then judgement have target；If the sum of label vf=g then has target with probability value γ judgements；If mark
Number the sum of vf<G, then judgement is without target.
The effect of the present invention is tested by following simulation comparison and is further illustrated：
1. simulation parameter is arranged：Multistation radar fence includes 1 signal fused center and 5 radar stations, this 5 radar stations
Echo-signal signal-to-noise ratio having the same, the value range of signal-to-noise ratio is 0dB to 20dB, is divided between the value of signal-to-noise ratio
0.5dB；Quantization digit b=4, i.e. quantized interval number M=16；The false-alarm probability at signal fused center is set as 10-6；It is asking
When solving the quantization threshold of each radar station, cycle-index N is setc=20.
2. emulation content：
It is arranged according to simulation parameter, calculates the circle in corresponding detection probability curve such as Fig. 4 in signal-to-noise ratio value range
Shown in mark line；In order to compare, the square marks in detection probability curve such as Fig. 4 when radar echo signal does not quantify are given
Shown in line.
The thresholding solved using improved sequential quadratic programming algorithm is as shown in Figure 5；In order to compare, document is used
[M.Longo,T.D.Lookabaugh,and R.M.Gray,"Quantization for decentralized
hypothesis testing under communication constraints,"IEEE Transactions on
Information Theory, vol.36, pp.241-255,1990.] in the thresholding that acquires of two step descent methods it is as shown in Figure 6.
3. analysis of simulation result：
As shown in Figure 4, detection probability of the invention approaches detection probability when not quantifying；When detection probability is 0.5, with
Detection performance when not quantifying is compared, and detection performance of the invention loss is 0.157dB, so the detection performance loss of the present invention
Very little.
As shown in Figure 5, the quantization threshold curve that the present invention solves increases with the increase of signal-to-noise ratio, and quantifies door
Limit line smoothing；And there are undulation, consistent changing rules useless for the quantization threshold curve in Fig. 6.Therefore, the present invention makes
It is solved to have obtained better quantization threshold with improved sequential quadratic programming algorithm.
In radar, traditional quantization digit is generally 12, and quantization digit of the invention is 4, therefore, and traditional
Quantization method is compared, and the required communication bandwidth of the present invention is reduced to original one third.
In summary emulation experiment can be seen that the present invention using improved sequential quadratic programming algorithm solve to have obtained it is good
Quantization threshold reduce radar station echo-signal under conditions of ensureing that the detection performance at signal fused center loses very little
It is transmitted to communication bandwidth required when signal fused center.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (3)
1. a kind of multistation Radar Signal Fusion detection method based on Pasteur's distance quantization, which is characterized in that the method includes
Following steps：
Step 1, netted radar system is set, and the netted radar system includes a signal fused inspection center and N number of radar
It stands；
Step 2, it determines quantization digit b of each radar station to the echo-signal received, and is quantified according to quantization digit b
Section number M=2b, the corresponding label of each quantized interval is expressed as m, m=0,1,2 ..., M-1, and the quantization digit b is full
Foot：1≤b < Ch/fs, wherein ChMaximum communication bandwidth between each radar station and signal fused inspection center, fsIt is every
The highest sample frequency of a radar station；
Step 3, i-th of radar station quantifies received echo-signal, determines belonging to the echo-signal after quantization
Quantized interval, and the corresponding label of quantized interval belonging to the echo-signal after the quantization is transmitted in signal fused detection
The heart；The initial value of i is 1, i=1 ..., N；
Wherein, step 3 specifically includes following sub-step：
The echo-signal that i-th of radar station receives is denoted as x by (3a)i, the signal-to-noise ratio of echo-signal is denoted as λi, echo-signal
Test statistics is denoted as yi=xi/μi, wherein μiFor the noise power of i-th of radar station；
M-1 quantization threshold of i-th of radar station is denoted as T by (3b)I, 1, TI, 2..., TI, M-1, according to signal-to-noise ratio λiIt obtains i-th
Pasteur's distance B of radar stationi：
Wherein, viFor test statistics yiLabel after quantization, H1It indicates to assume that target exists, H0It indicates to assume no target, P
() indicates probability value, note test statistics yiLower limit be TI, 0=0, test statistics yiThe upper limit be TI, M=+∞, then：
(3c) is according to Pasteur's distance B of i-th of radar stationi, obtain Pasteur's coefficient ρ of i-th of radar stationiFor：
(3d) is to minimize Pasteur's coefficient ρ of i-th of radar stationiFor criterion, structure solves quantization threshold TI, 1, TI, 2..., TI, M-1
Optimized model be：
Wherein, s.t. indicates constraints, and M-1 quantization threshold T of i-th of radar station is obtained to solveI, 1, TI, 2...,
TI, M-1；
(3e) is according to M-1 quantization threshold T of i-th of radar stationI, 1, TI, 2..., TI, M-1, to test statistics yiQuantified；
If test statistics yiMeet TI, m≤yi< TI, m+1, then test statistics yiLabel v after quantizationi=m；I-th of radar station
By the label v after quantizationiIt is transmitted to signal fused inspection center；
Step 4, it enables the value of i add 1, and executes step 3, until i > N；
Step 5, desired false-alarm probability is set, and the signal fused inspection center is according to the desired false-alarm probability and N number of
The corresponding label of quantized interval belonging to echo-signal after the quantization that radar station is sent is detected target.
2. a kind of multistation Radar Signal Fusion detection method based on Pasteur's distance quantization according to claim 1, special
Sign is, in sub-step (3d), according to quantization threshold TI, 1, TI, 2..., TI, M-1Optimized model solve to obtain i-th of radar station
M-1 quantization threshold TI, 1, TI, 2..., TI, M-1Detailed process be：
Cycle-index N is arranged in (3d1)c, the interim storage vector T that one M-1 of setting is tieed up, the minimum Pasteur's coefficient value ρ of settingmin=M,
Cycle-index is set and marks k=1；
Random quantization threshold initial value is arranged in (3d2)
(3d3) is according to quantization threshold initial valueAccording to the Optimized model of quantization threshold：It solves and obtains the quantization threshold value of this cycle
With Pasteur's coefficient value after minimum
(3d4) if minimize after Pasteur's coefficient valueThen enable interim storage vectorial
Minimum Pasteur's coefficient value
(3d5) is if cycle-index label k < Nc, then the value of cycle-index label k adds 1, and goes to step (3d2)；Otherwise, turn
To step (3d6)；
(3d6) according to interim storage vector T, the quantization threshold T after being solvedI, 1=T (1), TI, 2=T (2) ..., TI, M-1=T
(M-1)；T (j) indicates one element of jth of interim storage vector T.
3. a kind of multistation Radar Signal Fusion detection method based on Pasteur's distance quantization according to claim 1, special
Sign is that step 5 specifically includes following sub-step：
(5a) obtains signal fused detection according to quantized interval number M and quantized interval corresponding label m=0,1,2 ..., M-1
The be possible to value v of center label summationsum={ 0,1,2 ..., N × (M-1) }, wherein × indicate that multiplication sign, note assume do not have
Signal fused inspection center label summation value is v when targetsumProbability be P (vsum|H0)；
(5b) is according to desired false-alarm probability Pfa, by following formula
Solution obtains detection threshold g and probability value γ；
(5c) signal fused inspection center is by the label v of the N number of radar station received1, v2..., vNSummation：If
The sum of label vf> g, then judgement have target；If the sum of label vf=g then has target with probability value γ judgements；If label it
And vf< g, then judgement is without target.
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| CN107607926B (en) * | 2017-10-31 | 2020-07-03 | 西安电子科技大学 | Method for detecting and processing low-traffic quasi-signal fusion target of distributed radar |
| CN108089183B (en) * | 2017-11-28 | 2021-10-08 | 西安电子科技大学 | Detection and tracking integrated method for asynchronous multi-base radar system |
| CN110988808B (en) * | 2019-12-11 | 2022-10-21 | 中国电子科技集团公司第二十研究所 | Two-coordinate shipborne radar signal level fusion method |
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