CN106443614A  Hypersonic velocity target acceleration testing method  Google Patents
Hypersonic velocity target acceleration testing method Download PDFInfo
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 CN106443614A CN106443614A CN201610709771.7A CN201610709771A CN106443614A CN 106443614 A CN106443614 A CN 106443614A CN 201610709771 A CN201610709771 A CN 201610709771A CN 106443614 A CN106443614 A CN 106443614A
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Classifications

 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING 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 crosssection
Abstract
A hypersonic velocity target acceleration testing method is mainly used for solving the problems that the acceleration testing precision of the A hypersonic velocity target in the prior art is not high and the measurable scale is small. The method includes steps of (1) receiving echo data; (2) mixing treatment; (3) matched filtering; (4) phase difference of frequency domain; (5) structuring a spectrum coordinate matrix; (6) spectrum peak searching method; (7) calculating target acceleration; (8) outputting target acceleration to the system. By applying the frequency domain phase differential method, the acceleration factor in the echo signal phase can be effectively extracted, so that the method is high in accuracy and low in calculation complexity. By applying the spectral line searching method, the contradiction of acceleration fuzzy and maximum measurable acceleration can be effectively solved, thus the method has the advantage of big measurable zone. Through the treatment in the twodimensional frequency domain, the invention is applicable to low signaltonoise ratio.
Description
Technical field
The invention belongs to communication technical field, further relate to the hypersonic target detection technique of Radar Signal Processing
One hypersonic target measuring acceleration method in field.The present invention utilizes the frequency domain information of Doppler radar echo signal to use
Signal processing method estimates aimed acceleration, it is achieved ballistic missile defense, the hypersonic target detection in space.
Background technology
Traditional target radial acceleration estimation method, by calculating the target range of multiple cycle echo, constructs two
Then rank difference equation utilizes least square method to calculate acceleration, but owing to range error is added in acceleration calculation, makes
Become acceleration estimation value error bigger.
The paper that Jia Shuyi, kingdom are grand, Zhang Lei delivers at it " is estimated based on the maneuvering target radial acceleration of compressed sensing
A kind of compressed sensing skill disclosed in meter " (system engineering and electronic technology, volume 35 the 9th phase page 1815～1820 in September, 2013)
Art measures acceleration method.First the method sets up overcomplete dictionary of atoms according to maneuvering target echo features, obtains signal
Decomposition coefficient projection on overcomplete dictionary of atoms, then utilizes an observing matrix to carry out lack sampling to the signal after decomposition,
By solving the Least Square Solution under the conditions of a 1norm constraint, extract the frequency modulation rate of signal, finally utilize radially
Acceleration Formula realizes acceleration estimation.The weak point that the method exists is to need to build sufficiently large atom and just can carry
High measurement accuracy, computation complexity is higher.
Paper " the pulse radar radial acceleration Study on Extraction Method that first Jian Hai, Wu Shangshang, Xu Xu, Yue Rui deliver at it
With application " (play arrow with guidance journal, volume 34 the 3rd phase page 191～202 in June, 2014) disclosed in a kind of multinomial phse conversion
With Short Time Fourier Transform method.First the method carries out polynomialphase conversion and Short Time Fourier Transform to echo data,
Obtain the TimeFrequency Information containing radial acceleration, then utilize gravity model appoach to extract target radial acceleration.The method exists not
It in place of foot is, when target has high acceleration, it is impossible to realize acceleration ambiguity solution, scope can be surveyed little.
Content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of hypersonic target measuring acceleration method.
The method makes full use of frequency domain phase difference and 2d spectrum spectral line search method, solves measuring acceleration precision problem and acceleration mould
Stick with paste not high problem.
The basic ideas of the object of the invention are：It is first depending on the thought that aimed acceleration is easy to extract in a frequency domain, pass through
Frequency domain phase difference filters the phase place change causing because of target range, target velocity, the then scope with aimed acceleration to be measured
Obtain the region of search, 2d spectrum carries out spectral line search, it is achieved ambiguity solution process, finally solve target to be measured and accelerate
Degree.
The present invention comprises the following steps that：
(1) it is received back to wave datum：
Gather the echo data that radar array element receives, and be stored in a matrix type in Installed System Memory；
(2) Frequency mixing processing：
Frequency mixing processing is carried out to echo data, obtains lowfrequency data；
(3) according to the following formula, matched filtering is carried out to lowfrequency data, obtain observing data matrix：
Y=H*X
Wherein, y represents observation data matrix, and H represents matched filtering function, and * represents convolution operation, and X represents lowfrequency data；
(4) frequency domain phase difference：
(4a) Fourier transformation is done to every a line of observation data matrix, obtain frequencydomain data matrix；
(4b) taking out the front P row of frequencydomain data matrix, as preceding paragraph difference matrix, wherein, P represents preceding paragraph difference matrix
Line number, the value of P be the sum of frequencydomain data matrix row half in this interval of sum of frequencydomain data matrix row times
Meaning positive integer；
(4c) taking out the rear Q row of frequencydomain data matrix, as consequent difference matrix, wherein, Q represents consequent difference matrix
Line number, the value of Q is equal with the value of line number P of preceding paragraph difference matrix；
(4d) utilize preceding paragraph difference matrix and consequent difference matrix to carry out calculus of differences, obtain difference matrix；
(4e) Fourier transformation is done to each row of difference matrix, obtain spectral matrix；
(5) spectral coordinate matrix is constructed：
(5a) all elements arranging is searched in the middle of spectral matrix the row at greatest member value place, by greatest member value
The row at place is as the rowcoordinate of intercept；
(5b) the total line number according to spectral matrix, the total columns of spectral matrix and the Parameters Calculation set by radar system obscure
Slope；
(5c) utilize slope formula, calculate intercept slope；
(5d) value of each element in spectral coordinate matrix according to the following formula, is calculated：
Wherein, [Ψ]_{i,j}Represent the element value of the ith row jth row of spectral coordinate matrix, i ∈ { 1,2 ..., 2h+1}, ∈ table
Showing relation belonging to, h represents the maximum detection fuzziness of the acceleration estimation according to target to be measured, j ∈ { 1,2 ..., N}, Ψ table
Showing spectral coordinate matrix, K represents fuzzy slope, and κ represents intercept slope, and N represents the sum that spectral matrix arranges, and L represents spectral matrix
The sum of row；
(5e) all elements of spectral coordinate matrix is arranged according to column locations, constitute spectral coordinate matrix；
(6) spectral line search method：
(6a) from spectral coordinate matrix, arbitrarily choose an element value, selected element value is sat as spectral line data is vertical
Mark, using the row at selected element value place as spectral line sequence number, using the row at selected element value place as spectral line data
Abscissa；
(6b) utilize search formula, calculate spectral line entry of a matrix element value；
(6c) judge whether spectral coordinate matrix has been chosen all of element value, if so, then step (6d), otherwise,
Step (6a)；
(6d) every data line of cumulative spectral line matrix, obtains onedimensional spectral line data；
(6e) from all elements of onedimensional spectral line data, the coordinate at maximum place is searched, by the coordinate at maximum place
As spectral peak coordinate；
(6f) utilize fuzziness formula, calculate fuzziness；
(7) acceleration of target to be measured according to the following formula, is calculated：
Wherein, a represents the acceleration of target to be measured, and c represents the light velocity, and T represents the cycle launching signal, and M represents observation number
According to the line number of matrix, n represents the line number of difference matrix, f_{0}Representing the carrier frequency launching signal, r represents fuzziness, and L represents frequency spectrum square
The sum of the row of battle array, p represents the rowcoordinate of intercept；
(8) export aimed acceleration to be measured to system.
The present invention compared with prior art has the following advantages：
First, the present invention uses frequency domain phase differential method, can effectively extract the acceleration in echosignal phase place
The factor, overcoming prior art needs to build the shortcoming that sufficiently large atom could improve certainty of measurement so that the present invention has
There is levels of precision high, the low advantage of computation complexity.
Second, due to the fact that employing spectral line searching method, can efficiently solve that acceleration is fuzzy to be added with maximum detection
The contradiction of speed, overcomes prior art when target has high acceleration, it is impossible to the shortcoming realizing acceleration ambiguity solution, makes
Obtain the present invention and there is computational accuracy height, the big advantage of interval range can be surveyed.
3rd, due to the fact that and use the method processing in twodimensional frequency, accumulate with multicycle echo, overcome existing
There is the technology shortcoming that precision is not high in the case of low signaltonoise ratio so that the present invention has the advantage being applicable to low signaltonoise ratio situation.
Brief description
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the experiment simulation figure of the present invention.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1, the present invention to be embodied as step as follows：
Step 1. is received back to wave datum.
Gather the echo data that radar array element receives, and be stored in a matrix type in Installed System Memory.
With cycle of chirp pulse signal of launching as time interval, the echo data in the cycle is stored as
A line.
Step 2. Frequency mixing processing.
Frequency mixing processing is carried out to echo data, obtains lowfrequency data.
According to the chirp pulse signal design mixing function launched, carry out lower mixing and obtain lowfrequency data.
Step 3. according to the following formula, carries out matched filtering to lowfrequency data, obtains observing data matrix.
Y=H*X
Wherein, y represents observation data matrix, and H represents matched filtering function, and * represents convolution operation, and X represents lowfrequency data.
Matched filtering function is according to the chirp pulse signal design launched, and every data line to lowfrequency data matrix
Do matched filtering.
Step 4. frequency domain phase difference.
Fourier transformation is done to every a line of observation data matrix, obtains frequencydomain data matrix.
Taking out the front P row of frequencydomain data matrix, as preceding paragraph difference matrix, wherein, P represents the total of preceding paragraph difference matrix row
Number, the value of P is any in this interval of sum of frequencydomain data matrix row of the half of the sum of frequencydomain data matrix row
Positive integer.
Taking out the rear Q row of frequencydomain data matrix, as consequent difference matrix, wherein, Q represents the total of consequent difference matrix row
Number, the value of Q is equal with the value of line number P of preceding paragraph difference matrix.
Utilize preceding paragraph difference matrix and consequent difference matrix to carry out calculus of differences, obtain difference matrix.
Calculus of differences is carried out according to the following formula：
Z=Y_{1}·conj(Y_{2})
Wherein, Z represents difference matrix, Y_{1}Representing preceding paragraph difference matrix, representing dot product operation, conj represents that taking conjugation grasps
Make, Y_{2}Represent consequent difference matrix.
Realize phase difference by conjugate multiplication computing.
Fourier transformation is done to each row of difference matrix, obtains spectral matrix.
When Fourier transform is done to each row of difference matrix, Fourier transform can be selected according to the line number of difference matrix
Count, such as 512 point Fourier conversion or the conversion of 1024 point Fouriers.
Step 5. constructs spectral coordinate matrix.
An all elements arranging is searched in the middle of spectral matrix the row at greatest member value place, by greatest member value place
Row as the rowcoordinate of intercept.
Total line number according to spectral matrix, the total columns of spectral matrix and the Parameters Calculation set by radar system are fuzzy tiltedly
Rate.
Fuzzy slope is calculated according to the following formula：
Wherein, K represents fuzzy slope, and L represents the sum of the row of spectral matrix, and w represents radar sampling frequency, f_{0}Represent and send out
Penetrating the carrier frequency of signal, N represents the sum that spectral matrix arranges.
The size of radar sampling frequency refers to, staff carries out discrete adopting when using radar array element to be received back to wave datum
The size of radar sampling frequency determined by during sample.
Utilize slope formula, calculate intercept slope.
Slope formula is as follows：
Wherein, κ represents intercept slope, and w represents radar sampling frequency, and p represents the value of the rowcoordinate of intercept, and L represents frequency spectrum
The sum of row matrix, N represents the sum that spectral matrix arranges.
According to the following formula, the value of each element in spectral coordinate matrix is calculated：
Wherein, [Ψ]_{i,j}Represent the element value of the ith row jth row of spectral coordinate matrix, i ∈ { 1,2 ..., 2h+1}, ∈ table
Showing relation belonging to, h represents the maximum detection fuzziness of the acceleration estimation according to target to be measured, j ∈ { 1,2 ..., N}, Ψ table
Showing spectral coordinate matrix, K represents fuzzy slope, and κ represents intercept slope, and N represents the sum that spectral matrix arranges, and L represents spectral matrix
The sum of row.
In embodiments of the invention, maximum detection fuzziness value is 10.
The all elements of spectral coordinate matrix is arranged according to column locations, constitutes spectral coordinate matrix.
Step 6. spectral line search method：
An element value is arbitrarily chosen from spectral coordinate matrix, using selected element value as spectral line data ordinate,
Using the row at selected element value place as spectral line sequence number, using the row at selected element value place as the horizontal seat of spectral line data
Mark.
Utilize search formula, calculate spectral line entry of a matrix element value.
Search formula is as follows：
Wherein, [z]_{α,β}Representing the element value of the α row β row of spectral line matrix, the value of α is equal with the value of spectral line sequence number,
The value of β is equal with the value of spectral line data abscissa, and z represents spectral line matrix,Represent the of spectral matrixRow χ row
Element value,Value equal with the value of spectral line data ordinate, the value of χ is equal with the value of spectral line data abscissa.
Judge whether spectral coordinate matrix has been chosen all of element value, if so, then step (6d), otherwise, perform
Step (6a).
Every data line of cumulative spectral line matrix, obtains onedimensional spectral line data.
From all elements of onedimensional spectral line data search maximum place coordinate, using the coordinate at maximum place as
Spectral peak coordinate.
Utilize fuzziness formula, calculate fuzziness.
Fuzziness formula is as follows：
R=mh1
Wherein, r represents fuzziness, and m represents spectral peak coordinate, and h represents maximum detection fuzziness.
Step 7. according to the following formula, calculates the acceleration of target to be measured：
Wherein, a represents the acceleration of target to be measured, and c represents the light velocity, and T represents the cycle launching signal, and M represents observation number
According to the line number of matrix, n represents the line number of difference matrix, f_{0}Representing the carrier frequency launching signal, r represents fuzziness, and L represents frequency spectrum square
The sum of the row of battle array, p represents the rowcoordinate of intercept.
Step 8. exports aimed acceleration to be measured to system.
It is further described below in conjunction with the effect to the present invention for the emulation experiment.
1. simulated conditions：
The configuration of the operation platform of the emulation experiment of the present invention is as follows：
CPU：Intel (R) Core (TM) i74790CPU@3.60GHz, internal memory 8.00GB；
Operating system：64 SP1 operating systems of Windows 7 Ultimate；
Simulation software：MATLAB R(2015a).
The simulation parameter of the emulation experiment of the present invention arranges as follows：
Launching signal uses chirp pulse signal, transmission signal parameters and experiment simulation parameter to arrange as represented 1
Shown in.
Table 1 signal parameter and experiment simulation parameter list
2. emulate content：
Launch signal according to the signal parameter design radar system in table 1, build number of echoes according to the target component in table 1
According to emulating.The algorithm proposing echo data according to the present invention is processed, and obtains the measured value of aimed acceleration to be measured,
And compare with emulating the aimed acceleration value setting, obtain acceleration error value.
3. analysis of simulation result：
The simulation experiment result of the present invention is as shown in Figure 2.Abscissa in Fig. 2 represents that the radially accelerated angle value of movingtarget changes
Scope, ordinate represents the error amount of the acceleration with emulation setting for the acceleration of calculating, and in Fig. 2, curve represents when target is accelerated
Degree is successively from 340m/s^{2}Increase 4000m/s^{2}Error between the accekeration then recording and the accekeration of setting.
Being analyzed as follows of simulation result：
The aimed acceleration that the aimed acceleration value calculating sets with emulation is worth error amount at ± 0.3m/s^{2}Between,
When aimed acceleration is in interior change on a large scale, error amount is still at ± 0.3m/s^{2}Between fluctuation, there is stability.
Experimental result display uses frequency domain phase difference and the 2d spectrum spectral line aimed acceleration that calculates of search can be
Solve acceleration fuzzy problem in the case of improving accuracy of detection and the little problem of scope can be surveyed, it was demonstrated that the present invention can have in target
In the case of having high acceleration, it is achieved aimed acceleration measurement in high precision.
Claims (7)
1. a hypersonic target measuring acceleration method, comprises the steps：
(1) it is received back to wave datum：
Gather the echo data that radar array element receives, and be stored in a matrix type in Installed System Memory；
(2) Frequency mixing processing：
Frequency mixing processing is carried out to echo data, obtains lowfrequency data；
(3) according to the following formula, matched filtering is carried out to lowfrequency data, obtain observing data matrix：
Y=H*X
Wherein, y represents observation data matrix, and H represents matched filtering function, and * represents convolution operation, and X represents lowfrequency data；
(4) frequency domain phase difference：
(4a) Fourier transformation is done to every a line of observation data matrix, obtain frequencydomain data matrix；
(4b) taking out the front P row of frequencydomain data matrix, as preceding paragraph difference matrix, wherein, P represents the total of preceding paragraph difference matrix row
Number, the value of P is any in this interval of sum of frequencydomain data matrix row of the half of the sum of frequencydomain data matrix row
Positive integer；
(4c) taking out the rear Q row of frequencydomain data matrix, as consequent difference matrix, wherein, Q represents the total of consequent difference matrix row
Number, the value of Q is equal with the value of line number P of preceding paragraph difference matrix；
(4d) utilize preceding paragraph difference matrix and consequent difference matrix to carry out calculus of differences, obtain difference matrix；
(4e) Fourier transformation is done to each row of difference matrix, obtain spectral matrix；
(5) spectral coordinate matrix is constructed：
(5a) all elements arranging is searched in the middle of spectral matrix the row at greatest member value place, by greatest member value place
Row as the rowcoordinate of intercept；
(5b) the total line number according to spectral matrix, the total columns of spectral matrix and the Parameters Calculation set by radar system are fuzzy tiltedly
Rate；
(5c) utilize slope formula, calculate intercept slope；
(5d) value of each element in spectral coordinate matrix according to the following formula, is calculated：
Wherein, [Ψ]_{i,j}Representing the element value of the ith row jth row of spectral coordinate matrix, { 1,2 ..., 2h+1}, ∈ represent genus to i ∈
In relation, h represents the maximum detection fuzziness of the acceleration estimation according to target to be measured, and { 1,2 ..., N}, Ψ represent spectrum to j ∈
Coordinates matrix, K represents fuzzy slope, and κ represents intercept slope, and N represents the sum that spectral matrix arranges, and L represents the row of spectral matrix
Sum；
(5e) all elements of spectral coordinate matrix is arranged according to column locations, constitute spectral coordinate matrix；
(6) spectral line search method：
(6a) from spectral coordinate matrix, an element value is arbitrarily chosen, using selected element value as spectral line data ordinate,
Using the row at selected element value place as spectral line sequence number, using the row at selected element value place as the horizontal seat of spectral line data
Mark；
(6b) utilize search formula, calculate spectral line entry of a matrix element value；
(6c) judge whether spectral coordinate matrix has been chosen all of element value, if so, then step (6d), otherwise, perform
Step (6a)；
(6d) every data line of cumulative spectral line matrix, obtains onedimensional spectral line data；
(6e) from all elements of onedimensional spectral line data search maximum place coordinate, using the coordinate at maximum place as
Spectral peak coordinate；
(6f) utilize fuzziness formula, calculate fuzziness；
(7) acceleration of target to be measured according to the following formula, is calculated：
Wherein, a represents the acceleration of target to be measured, and c represents the light velocity, and T represents the cycle launching signal, and M represents observation data square
The line number of battle array, n represents the line number of difference matrix, f_{0}Representing the carrier frequency launching signal, r represents fuzziness, and L represents spectral matrix
The sum of row, p represents the rowcoordinate of intercept；
(8) export aimed acceleration to be measured to system.
2. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (4d)
Calculus of differences is carried out according to the following formula：
Z=Y_{1}·conj(Y_{2})
Wherein, Z represents difference matrix, Y_{1}Representing preceding paragraph difference matrix, representing dot product operation, conj represents and takes conjugate operation, Y_{2}
Represent consequent difference matrix.
3. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (5b)
Fuzzy slope be calculated according to the following formula：
Wherein, K represents fuzzy slope, and L represents the sum of the row of spectral matrix, and w represents radar sampling frequency, f_{0}Represent and launch letter
Number carrier frequency, N represents the sum that spectral matrix arranges.
4. hypersonic target measuring acceleration method according to claim 3, it is characterised in that：Institute in fuzzy slope formula
The size of the radar sampling frequency stated refers to, when staff carries out discrete sampling when using radar array element to be received back to wave datum
Determined by the size of radar sampling frequency.
5. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (5c)
Slope formula is as follows：
Wherein, κ represents intercept slope, and w represents radar sampling frequency, and p represents the value of the rowcoordinate of intercept, and L represents spectral matrix
The sum of row, N represents the sum that spectral matrix arranges.
6. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (6b)
Search formula is as follows：
Wherein, [z]_{α,β}Representing the element value of the α row β row of spectral line matrix, the value of α is equal with the value of spectral line sequence number, β's
Value is equal with the value of spectral line data abscissa, and z represents spectral line matrix,Represent the of spectral matrixThe unit of row χ row
Element value,Value equal with the value of spectral line data ordinate, the value of χ is equal with the value of spectral line data abscissa.
7. hypersonic target measuring acceleration method according to claim 1, it is characterised in that：Described in step (6f)
Fuzziness formula is as follows：
R=mh1
Wherein, r represents fuzziness, and m represents spectral peak coordinate, and h represents maximum detection fuzziness.
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CN107289951A (en) *  20170731  20171024  电子科技大学  A kind of Localization Approach for Indoor Mobile based on inertial navigation 
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CN107289951A (en) *  20170731  20171024  电子科技大学  A kind of Localization Approach for Indoor Mobile based on inertial navigation 
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