CN106646446B - The moving target detection method of pulse compression frequency-agile radar - Google Patents
The moving target detection method of pulse compression frequency-agile radar 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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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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- 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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention belongs to Radar Signal Processing Technology fields, are related to a kind of moving target detection method of pulse compression frequency-agile radar.The present invention does not directly carry out carrier frequency to echo-signal, but first removes the initial carrier frequency of echo-signal, and storage obtains fast-slow time-domain echo matrix；Then corresponding matched filter is constructed according to the residual waveform of each echo impulse, matched filtering is carried out to each echo impulse in the fast-slow fast time-domain of time-domain echo matrix；Correlative accumulation just can be realized pulse to the progress FFT of each pulse data column in time domain slow in the fast-slow time-domain echo matrix after matched filtering, completes the detection to moving-target, while obtaining the movement velocity of target.The present invention can eliminate frequency agility to be influenced to pulse signal coherent pulse signalf bring, not only can detecte out the movement velocity of moving target but also available target；Simultaneously because the present invention can carry out correlative accumulation to echo-signal, the detection probability to weak target is improved.
Description
Technical field
The invention belongs to Radar Signal Processing Technology field more particularly to a kind of moving-targets of pulse compression frequency-agile radar
Detection method.
Background technique
Electronic countermeasure technology is maked rapid progress under modern battlefield environment, especially as the development of perturbation technique, traditional system thunder
It is highly susceptible to the high-power compacting of enemy up to due to carrier frequency fixation, causes its application by increasing restriction.With conventional bulk
Unlike radar processed, the signal of frequency-agile radar (Frequency-Agile Radar, FAR) transmitting can then allow adjacent arteries and veins
Carrier frequency high speed random jump in a certain range between punching or pulse group, is a kind of non-stationary signal.Frequency-agile radar signal
Frequency agility characteristic determines that it has many advantages, such as to improve anti-interference ability, increases detection range and the clutter that kills the sea.Generally
The form that the transmitting signal of frequency-agile radar mostly uses greatly frequency agility joint pulse to compress can both possess frequency agility letter in this way
Number the advantages of, and velocity resolution can be taken into account while guaranteeing radar resolution ratio, therefore frequency agility thunder is compressed in pulse
It is widely used up in military and civilian field.
Frequency agility signal can be divided into frequency agility signal and arteries and veins group frequency agility signal between arteries and veins.Arteries and veins group frequency agility is a kind of pulse
Interior signal carrier frequency remains unchanged, only on different arteries and veins group hoppings to different carrier frequency；And frequency agility is then each between arteries and veins
The carrier frequency of pulse is different from.For arteries and veins group frequency agility signal can by the pulse signal in group according to traditional signal at
Reason method, as moving target detection method (Moving Target Detecting, MTD) realizes the detection to moving target.But
For frequency agility signal between arteries and veins, since agile occurs for the frequency between pulse, the coherent pulse signalf of echo-signal is affected, and utilizes tradition
MTD can not achieve moving target has been had detected.
In order to realize the detection to moving target using frequency agility signal between arteries and veins, many scholars have carried out corresponding research and have mentioned
Different methods is gone out.Some scholars propose to realize by construction compensation term and accumulate and detect moving-target, but pass through benefit
The method repaid needs that the speed of moving target is scanned for or pre-estimated, and operand is larger；Other scholars propose logical
It crosses the coherent pulse signalf for setting specific signal parameter to guarantee signal to detect to complete moving-target using MTD, but passes through change
The parameter of transmitting signal can bring new requirement to the design of radar to eliminate influence of the frequency agility to coherent, improve design
Complexity；It proposes to carry out the detection of MTD algorithm using the same frequency pulse between frequency agility signal frame and frame there are also some scholars
Moving-target, but the problems such as low data transfer rate and velocity ambiguity can be brought in this way.
Summary of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned prior art, a kind of moving for pulse compression frequency-agile radar is proposed
Object detection method realizes the correlative accumulation of frequency agility signal between arteries and veins, to complete the detection to moving-target.The present invention can disappear
Except frequency agility gives pulse signal coherent pulse signalf bring to influence, moving target but also available target not only can detecte out
Movement velocity.Simultaneously because the present invention can carry out correlative accumulation to echo-signal, therefore improve the detection to weak target
Probability.
Pulse compression frequency-agile radar of the invention is pulse regime, and transmitting signal form is linear using frequency agility joint
Frequency modulation (Linear Frequency Modulated, LFM), i.e., signal carrier frequency is jumped according to pseudo-random hopping code sequence,
Impulse modulation form is LFM.For easy analysis, do not consider that noise and signal amplitude bring influence.Assuming that agile is compressed in pulse
Frequency radar emits a string of total N number of pulse signals within a relevant treatment time, then emitting signal can indicate are as follows:
Wherein, u (t)=rect (t/Tp)exp(jπγt2) be LFM signal modulation format, TpIndicate pulse broadband, γ
Indicate chirp rate, TrIndicate the pulse recurrence interval (Pulse Repetition Interval, PRI) of signal, N indicates hair
The pulse number penetrated.fn=f0+bnfΔIndicate the carrier frequency of n-th of pulse of transmitting, wherein f0Indicate the initial carrier frequency of signal, bnTable
Show pseudo-random hopping code sequence, fΔIndicate the minimum interval of frequency hopping.
Assuming that there is a point target, towards radar motion, to ignore declining for amplitude with constant radial speed v at radar R
Subtract, the echo-signal through target reflection that radar receives can indicate are as follows:
Wherein, τ=2 (R-vnTr)/c indicates the time delay of echo-signal relative transmission signal, and c indicates the biography of electromagnetic wave
Broadcast speed.
The technical solution of the present invention is as follows: a kind of moving target detection method of pulse compression frequency-agile radar, this method include
Following steps:
S1. the echo-signal received to pulse compression frequency-agile radar carries out bandpass sampling, bandwidth covering frequence agile
Range；
S2. it carries out initial carrier frequency to the echo-signal in step S1 after bandpass sampling to handle, i.e. elimination echo letter
Initial carrier frequency f in number0And retain the agile frequency b of each pulsenfΔ；Traditional signal processing is all directly to echo
Signal carries out carrier frequency and handles, i.e., frequency fn=f0+bnfΔEcho-signal is become baseband signal by all removals, but for
For frequency agility signal, the coherent pulse signalf between echo-signal can be destroyed in this way, and MTD algorithm is caused to fail.Therefore, the present invention only removes
Initial carrier frequency f in echo-signal0, and retain its agile frequency bnfΔ, ensure that the coherent pulse signalf between echo-signal, what is obtained returns
Wave signal can indicate are as follows:
S3. N number of echo impulse after initial carrier frequency will be removed in step S2It is sequentially stored into each of two-dimensional data matrix
Row, finally obtains fast-slow time-domain echo matrix；Fast time-domain (every a line) corresponding one in fast-slow time-domain echo matrix
The continuous sampling of a echo impulse, i.e., continuous distance unit；Slow time-domain (each column) in fast-slow time-domain echo matrix
It represents and the series of pulses of same distance unit is measured；
S4. to each vector in the fast time-domain of time-domain echo matrix fast-slow in step S3, i.e., each echo arteries and veins
Rush in row matched filtering；Each echo impulse corresponds to different matched filters, it is to go initial carrier frequency to handle in step S2
The waveform of each pulse obtained afterwards is the correlator of reference signal；Therefore, each echo impulse corresponding matched filter
Impulse Response Function should be made of two parts, and a part is that pulse compression modulation format u (t) with signal is corresponding, to each
This part is identical for a impulse Response Function；Another part then with the agile frequency b of signalnfΔIt is corresponding, this
Part is different for each impulse Response Function；Therefore, the impact of the corresponding matched filter of n-th of echo impulse is rung
Answer function that can indicate are as follows:
hn(t)=u*(TM-t)exp[j2πbnfΔ(TM-t)],TM≥Tp (4)
Wherein, TMIndicate time delay, u*(t) it indicates to take conjugation to u (t).Each of fast-slow time-domain echo matrix is returned
Wave impulse carries out matched filtering, and obtained result can indicate are as follows:
Wherein, D=γ Tp 2Indicate the Timed automata of LFM signal.
S5. to each vector in the slow time-domain of fast-slow time-domain echo matrix s (t) in step S4, i.e., same
Pulse data column in distance unit, carry out Fast Fourier Transform (FFT) (Fast Fourier Transform, FFT), realize MTD
Algorithm completes the correlative accumulation to Moving Target Return pulse；After FFT transform, the coordinate of fast-slow time-domain echo matrix
Domain becomes fast time-domain and Doppler frequency, and echo matrix is referred to as distance-Doppler plane at this time.Since FFT transform is realized
The correlative accumulation of echo-signal, target echo will form energy peak in distance-Doppler plane, and peak position is corresponding
The initial distance and speed of target；
S6. invariable false alerting (Constant False Alarm is used to the distance-Doppler plane in step S5
Rate, CFAR) detection, judge the peak value that whether there is thresholding in distance-Doppler plane, crosses the peak value of thresholding then if it exists
Illustrate there is target, it is on the contrary then without target, to complete the detection of moving target.
The invention has the following advantages that
(1) moving target detection method of pulse proposed by the invention compression frequency-agile radar, can be real using MTD algorithm
Now to the detection of moving-target, and obtain its movement velocity；
(2) present invention can be realized the correlative accumulation to echo-signal, improve the detection probability to weak target；
(3) present invention does not need to carry out velocity estimation and search to moving-target, simplifies signal processing；
(4) signal parameter that the present invention does not need to compress pulse frequency-agile radar is designed and limits, and only needs to improve
The algorithm part of signal processing has preferable applicability.
Detailed description of the invention
Fig. 1 is the implementation flow chart of the method for the present invention；
Fig. 2 is the schematic diagram of fast-slow time-domain echo matrix in a specific embodiment of the invention；
Fig. 3 is the schematic diagram of fast-slow time-domain echo matrix matched filtering in a specific embodiment of the invention；
Fig. 4 is fast-slow time-domain echo matrix of the specific embodiment of the invention after matched filtering；
Fig. 5 is the schematic diagram that fast-slow time-domain echo matrix carries out FFT transform in a specific embodiment of the invention；
Fig. 6 is the distance-Doppler plane obtained after FFT transform is handled in a specific embodiment of the invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is further elaborated the present invention.
Implementation flow chart in referring to Fig.1, the moving target detection method of the invention based on pulse compression frequency-agile radar
Comprising the following steps:
S1. the echo-signal received to pulse compression frequency-agile radar carries out bandpass sampling, and bandwidth covers echo-signal
Frequency agility range；To guarantee that sampled signal is undistorted, sample rate should be more than or equal to the frequency agility of twice of echo-signal
Range, i.e. fs≥2·max(bnfΔ), wherein fsIndicate sample rate；
S2. initial carrier frequency is carried out to the echo-signal r (t) in step S1 after bandpass sampling to handle, that is, eliminate back
Initial carrier frequency f in wave signal0And retain the agile frequency b of each pulsenfΔ。
Traditional signal processing is all that the echo-signal r (t) after bandpass sampling is carried out to down coversion to obtain base band letter
Number, i.e., frequency fn=f0+bnfΔAll removals, then obtained echo-signal are as follows:
As can be seen that the phase term comprising signal doppler information is exp (j2 π f from formula (6)nτ), but due to
Pulse carrier frequency fnIt is agile, destroys the coherent pulse signalf between echo-signal, therefore can not complete using MTD algorithm to movement mesh
Target detection.The present invention only carries out initial carrier frequency f to echo-signal0Processing, and retain its agile frequency bnfΔ, then obtain
Echo-signal can be expressed as
From formula (7) it is found that the phase term comprising moving target doppler information becomes exp (j2 π f0τ), the phase term
In pulse carrier frequency become fixed f0, ensure that the coherent pulse signalf between each echo impulse, be thus subsequent moving-target
Detection provides guarantee.
S3. N number of echo impulse of initial carrier frequency will be eliminated in step S2It is sequentially stored into two-dimensional data matrix, finally
Obtain fast-slow time-domain echo matrix.The corresponding echo arteries and veins of fast time-domain (every a line) in fast-slow time-domain echo matrix
The continuous sampling of punching, i.e., continuous distance unit, and c/2f is divided between each distance units；In fast-slow time-domain echo matrix
Slow time-domain (each column) represent the series of pulses of same distance unit measured.Therefore, fast-slow time-domain echo matrix
Fast time-domain be also referred to as distance dimension, slow time-domain be also referred to as umber of pulse dimension.Fig. 2 give storage echo-signal it is fast-
The schematic diagram of slow time-domain echo matrix.
S4. to each vector in the fast time-domain of time-domain echo matrix fast-slow in step S3, i.e., each echo arteries and veins
Rush in row matched filtering；Matched filtering seeks to carry out pulse compression to modulated signal, improves distance resolution；Each echo arteries and veins
The corresponding different matched filter of punching, it can regard as to remove each impulse wave obtained after initial carrier frequency processing in step S2
Shape is the correlator of reference signal；By formula (7) it is found that LFM signal is also retained by after going initial carrier frequency processing in step S2
Under frequency agility signal modulation, therefore the impulse Response Function of matched filter should be made of two parts, i.e. the part LFM and
Frequency agility part: wherein LFM part u (t) is identical for each impulse Response Function, frequency agility part exp (- j2 π
bnfΔT) it then needs to be changed according to each echo impulse.The shock response of the corresponding matched filter of n-th of echo impulse
Function formula can indicate are as follows:
hn(t)=u*(TM-t)exp[j2πbnfΔ(TM-t)],TM≥Tp (8)
hn(t) impulse Response Function of the corresponding matched filter of n-th of echo impulse is indicated, it is in step S2
The waveform of n-th of the echo impulse obtained after initial carrier frequency processing is what reference signal was constructed.To fast-slow time-domain echo
Each echo impulse in matrix carries out matched filtering, and obtained result can indicate are as follows:
Wherein, D=γ Tp 2Indicate the Timed automata of LFM signal.By formula (9) it is found that after matched filtering, echo
The envelope of signal is a sinc function and obtains maximum value at echo time delay.Fig. 3 gives fast-slow time-domain echo matrix
The schematic diagram of matched filtering, Fig. 4 give the result after fast-slow time-domain echo matrix matched filtering.
S5. to each vector in the slow time-domain of fast-slow time-domain echo matrix s (t) in step S4, i.e., same
Pulse data column in distance unit, carry out FFT transform, realize MTD algorithm, to complete the phase to Moving Target Return pulse
Ginseng accumulation.Since range walk i.e. τ caused by target movement can be ignored within the relevant treatment time02 (R- of=2R/c ≈
vnTr)/c, therefore by formula (9) it is found that meeting condition t=nT when distance unit is equal to the distance R of targetr-τ0When, it is corresponding
The pulse data column of the distance unit can indicate are as follows:
By formula (10) it is found that signal E (n) can regard an error phase sequence asWith one
A list CF signalProduct.The increase meeting of error phase is so that pulse data column E (n) is passed through
The main lobe broadening of FFT treated receptance function and amplitude reduces, but can usually be ignored within the relevant treatment time.
It is generally acknowledged that less than 1/2 distance unit of range walk of moving target, i.e. speed meet within the relevant treatment time:
Meanwhile by Nyquist Sampling Theorem it is recognised that the sample rate f of signalsMeet following formula:
bnfΔ≤fs/2 (12)
It brings formula (11) and (12) into error phase sequence, obtains:
Phase error is no more than pi/2 at this time, and error phase sequence Item can be ignored, therefore formula (10) can be approximated to be:
Wherein, fd=2vf0The Doppler frequency of/c expression moving target.Contrast equation (14) and formula (9) are it is found that formula
(9) the frequency agility part in is eliminated, and sinc function also achieves maximum value 1, and pulse data column phase is only by two at this time
Item is constituted.First is that constant term related with target range, the other is target moves caused Doppler frequency item.To formula
(14) Doppler frequency of target can be obtained by carrying out FFT transform, to extrapolate the speed of moving target.Become by FFT
After changing, the coordinate domain of fast-slow time-domain echo matrix becomes fast time-domain and Doppler frequency, at this time echo matrix be referred to as away from
From-Doppler's plane.The correlative accumulation between pulse is realized due to FFT transform, target echo can shape in distance-Doppler plane
At an energy peak, peak coordinate is (R, v), respectively corresponds the initial distance and speed of moving target.Fig. 5 gives step
Fast-slow time-domain echo matrix after S4 matched filtering carries out the schematic diagram of FFT transform, and Fig. 6 gives to be handled by FFT transform
The distance-Doppler plane obtained afterwards.
S6. it is detected by the distance-Doppler plane that FFT transform obtains using CFAR in step S5, judges that distance-is more
Whether there is the peak value of thresholding in general Le plane, the peak value for crossing thresholding if it exists then illustrates there is target, it is on the contrary then without target,
To complete the detection of moving target.
The echo-signal that can be seen that pulse compression frequency-agile radar from the result of the present embodiment is directly over from carrier frequency
After reason, the coherent pulse signalf that the frequency agility between pulse can destroy signal causes MTD algorithm to fail, and can not achieve the inspection to moving-target
It surveys.The present invention does not directly carry out carrier frequency to echo-signal, but first removes the initial carrier frequency of echo-signal, and storage obtains
Fast-slow time-domain echo matrix.Then corresponding matched filter is constructed according to the residual waveform of each echo impulse, to it is fast-
Each echo impulse in the fast time-domain of slow time-domain echo matrix carries out matched filtering.To fast-slow after matched filtering
Each pulse data column in time-domain echo matrix in slow time domain, which carry out FFT, just can be realized the product of the coherent between pulse
It is tired, the detection to moving-target is completed, while the movement velocity of target can be obtained.Since the invention can be realized echo-signal
Correlative accumulation, therefore the detection probability to faint moving-target can also be improved.
Claims (1)
1. a kind of moving target detection method of pulse compression frequency-agile radar, this method are directed at radar R with constant radial
Point target of the speed v towards radar motion, which is characterized in that the method includes the steps of:
S1. the echo-signal r (t) received to pulse compression frequency-agile radar carries out bandpass sampling, bandwidth covering frequence agile
Range:
Wherein, u (t)=rect (t/Tp)exp(jπγt2) be LFM signal modulation format, t indicate the time, TpIndicate that pulse is wide
Band, γ indicate chirp rate, TrIndicate the pulse recurrence interval of signal, N indicates the pulse number of transmitting, fn=f0+bnfΔIt indicates
The carrier frequency of n-th of pulse of transmitting, wherein f0Indicate the initial carrier frequency of signal, bnIndicate pseudo-random hopping code sequence, fΔIndicate frequency
The minimum interval of rate jump, τ=2 (R-vnTr)/c indicates the time delay of echo-signal relative transmission signal, and c indicates electromagnetic wave
Spread speed；
S2. it carries out initial carrier frequency to the echo-signal in step S1 after bandpass sampling to handle, i.e., in elimination echo-signal
Initial carrier frequency f0And retain the agile frequency b of each pulsenfΔ；The echo-signal obtained after the processing of past initial carrier frequency can
To indicate are as follows:
S3. N number of echo impulse after initial carrier frequency will be removed in step S2It is sequentially stored into every a line of two-dimensional data matrix, most
After obtain fast-slow time-domain echo matrix；The company of the corresponding echo impulse of fast time-domain in fast-slow time-domain echo matrix
Continuous sampling, i.e., continuous distance unit；Slow time-domain in fast-slow time-domain echo matrix is represented to the one of same distance unit
Consecutive impulsive measurement；
S4. to each vector in the fast time-domain of time-domain echo matrix fast-slow in step S3, i.e., each echo impulse into
Row matched filtering；Each echo impulse corresponds to different matched filters, it be with gone in step S2 initial carrier frequency handle after
The waveform for each pulse arrived is the correlator of reference signal；The shock response letter of the corresponding matched filter of each echo impulse
Number should be made of two parts, and a part is that pulse compression modulation format u (t) with signal is corresponding, to each shock response
This part is identical for function；Another part then with the agile frequency b of signalnfΔCorresponding, this part is to each
It is different for impulse Response Function；The impulse Response Function of the corresponding matched filter of n-th of echo impulse can indicate
Are as follows:
hn(t)=u*(TM-t)exp[j2πbnfΔ(TM-t)],TM≥Tp (4)
Wherein, TMIndicate time delay, u*(t) it indicates to take conjugation to u (t)；To each echo arteries and veins in fast-slow time-domain echo matrix
Punching carries out matched filtering, and obtained result can indicate are as follows:
Wherein, D=γ Tp 2Indicate the Timed automata of LFM signal；
S5. to each vector in the slow time-domain of fast-slow time-domain echo matrix s (t) in step S4, i.e., the same distance
Pulse data column in unit, carry out Fast Fourier Transform (FFT) (Fast Fourier Transform, FFT), realize that MTD is calculated
Method completes the correlative accumulation to Moving Target Return pulse；After FFT transform, the coordinate domain of fast-slow time-domain echo matrix
Become fast time-domain and Doppler frequency, echo matrix is referred to as distance-Doppler plane at this time；Since FFT transform realizes
The correlative accumulation of echo-signal, target echo will form an energy peak in distance-Doppler plane, and peak position corresponds to mesh
Target initial distance and speed；
S6. to the distance-Doppler plane in step S5 using invariable false alerting detect, judge be in distance-Doppler plane
The no peak value that there is thresholding, if it exists cross thresholding peak value then illustrate there is target, it is on the contrary then without target, to complete to move
The detection of target.
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