CN106872969A - Radar target angle method of estimation based on MTD pulse accumulations and slip treatment - Google Patents
Radar target angle method of estimation based on MTD pulse accumulations and slip treatment 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
- G01S13/50—Systems of measurement based on relative movement of 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
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
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Abstract
The invention discloses a kind of radar target angle method of estimation based on MTD pulse accumulations and slip treatment, its main thought is：The echo-signal of radar target is obtained, and determines the centre frequency of Doppler's passage where radar target；And then successively determine radar target angular range in the pulse number L for the receiving and pulse number N received in the setting range of beam scanning figure；Pulse number L to being received in the angular range of radar target carries out moving-target detection pulse accumulation and pulse slip treatment, respectively obtains by the pulse accumulation echo data azimuth corresponding with the pulse accumulation echo data by N+1 sliding window of L of N+1 sliding window of L；Peak value searching is carried out to the pulse accumulation echo data by N+1 sliding window of L, the maximum impulse accumulation echo data in the pulse accumulation echo data by N+1 sliding window of L is obtained, and then obtain the best orientation angle estimate of radar target.
Description
Technical field
It is more particularly to a kind of to be processed based on MTD pulse accumulations and slip the invention belongs to radar target parameter Estimation field
Radar target angle method of estimation, i.e., based on moving-target detect (MTD) pulse accumulation and slide treatment radar target angle
Method of estimation, it is adaptable to obtain the mechanic scan radar azimuth under clutter background.
Background technology
Radar target parameter Estimation is to be processed to extract effective target letter by the echo-signal to receiving
Breath, such as the target information such as azimuth, the elevation angle, distance.Radar obtains beam scanning figure, i.e., when mechanical beam scanning is carried out
Graph of a relation of the echo-signal with angle change is obtained, is then used as by looking for the angle corresponding to the peak value of target echo signal
The azimuth of echo signal.For this conventional method, when background environment is relative complex, the clutter and interference components for receiving
Influence will be produced on echo signal, this will produce big influence to angle estimation.On this basis, generate and echo is first used
Moveing target indication (MTI) eliminates clutter, then using processed conventionally processing method.Certain ground can be suppressed with the method miscellaneous
Ripple, but suppression will be produced for the detection of slower-velocity target, simultaneously for the too strong environment of clutter background, the angle value of estimation will have
Than larger error, and the range cell where the target also can be problematic to the detection of target when there is multiple targets.
Later, it is contemplated that the slow time here is and angle is coupled, the umber of pulse that the slow time refers toUse is generated again
The arteries and veins group processing method of moving-target detection (MTD).Using the effective clutter reduction component of the method energy, but using the method to one
Group pulse is processed, and will can only obtain an output valve, and this method can only export an angle, so angle estimation
Trueness error still than larger.
The content of the invention
For the problem that above-mentioned prior art is present, the present invention considers former methodical some defects, proposes a kind of base
In MTD pulse accumulations and the radar target angle method of estimation of slip treatment, this kind is based on MTD pulse accumulations and slides treatment
Radar target angle method of estimation be it is a kind of echo-signal is carried out multi-pulse accumulation and slip treatment come alignment angle side
Method, and the precision that echo signal angle is detected under complex background is improved with this.
To reach above-mentioned technical purpose, the present invention is adopted the following technical scheme that and is achieved.
A kind of radar target angle method of estimation based on MTD pulse accumulations and slip treatment, comprises the following steps：
Step 1, determines mechanic scan radar, there is radar target in the mechanic scan radar detection range；Mechanic scan radar is examined at it
Mechanical beam scanning is carried out in the range of survey, beam scanning figure is obtained, the beam scanning figure be radar target echo data with
The graph of a relation of angle change, and then obtain the echo data of radar target；
Step 2, according to beam scanning figure and the echo data of radar target, determines the angular range of radar target, and
The echo data received in the angular range of radar target is respectively obtained, and received in the angular range of radar target
Pulse number L；The pulse number N received in the setting range of beam scanning figure is determined simultaneously；Each pulse is corresponded to respectively
Pulse echo data, N, L are respectively positive integer；
Step 3, the L pulse to being received in the angular range of radar target carries out moving-target detection pulse accumulation and arteries and veins
Slip treatment is rushed, is respectively obtained by the pulse accumulation echo data of L-N+1 sliding window and by the L-N+1 pulse product of sliding window
The tired corresponding azimuth of echo data；
Step 4, peak value searching is carried out to the pulse accumulation echo data by L-N+1 sliding window, is obtained by L-N+1 times
Maximum impulse accumulation echo data in the pulse accumulation echo data of sliding window, and then obtain the best orientation angle of radar target
Estimate.
Beneficial effects of the present invention：
The inventive method be when mechanic scan radar angle estimation is carried out, and in the case where target approximate range is estimated,
The method for further accurately estimating azimuth of target；The method carries out MTD by the umber of pulse in target approximate range angle
Pulse accumulation and slip are processed, and can effectively curb clutter component, while multiple output results can be obtained, finally by
Search peak looks for azimuth of target, effectively increases the accuracy of radar bearing angle estimation under clutter background, can enter one
Step improves radar performance；Simultaneously for it there are multiple targets in the case of, the inventive method can be by target Doppler frequency
Difference, divide different Doppler's passages, angle estimation then is carried out to echo, it is also possible to effectively improve multi-target condition
Under angle estimation precision, improve radar performance.
Brief description of the drawings
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is that a kind of radar target angle method of estimation based on MTD pulse accumulations and slip treatment of the invention is realized
Block diagram；
Fig. 2 is after obtaining angle estimation value using conventional angle searching method under the background environment without clutter and noise
Carry out the angle estimation schematic diagram obtained by 1000 Monte Carlo Experiments；
Fig. 3 is laggard using the inventive method search acquisition angle estimation value under the background environment without clutter and noise
Angle estimation schematic diagram obtained by 1000 Monte Carlo Experiments of row；
Fig. 4 is to carry out 1000 after obtaining angle estimation value using conventional angle search under only noisy background environment
Angle estimation schematic diagram obtained by secondary Monte Carlo Experiment；
Fig. 5 after obtaining angle estimation value using the inventive method search under only noisy background environment to carry out 1000 times
Angle estimation schematic diagram obtained by Monte Carlo Experiment；
Fig. 6 is to use the inventive method search acquisition angle estimation value laggard existing noise has the background environment of clutter again under
Angle estimation schematic diagram obtained by 1000 Monte Carlo Experiments of row；
Fig. 7 is, in the case where signal to noise ratio is changed, 1000 Monte Carlo Experiment gained angles to be carried out using the inventive method
The schematic diagram that degree mean square error changes with signal to noise ratio.
Specific embodiment
Reference picture 1, is a kind of radar target angle method of estimation based on MTD pulse accumulations and slip treatment of the invention
Realize block diagram；The radar target angle method of estimation based on MTD pulse accumulations and slip treatment, comprises the following steps：
Step 1, determines mechanic scan radar, there is radar target in the mechanic scan radar detection range；Mechanic scan radar is examined at it
Mechanical beam scanning is carried out in the range of survey, beam scanning figure is obtained, the beam scanning figure be radar target echo data with
The graph of a relation of angle change, and then obtain the echo data of radar target；Then the echo data to radar target is analyzed,
Carry out moving-target detection (MTD) filtering process to the echo data of radar target, and then obtain how general where radar target
Strangle passage, and determine that the centre frequency of Doppler's passage where radar target is f0。
Step 2, the angular range of radar target is determined according to beam scanning figure, and is obtained in the angular range of radar target
The pulse number L received in the echo data and the angular range of radar target for receiving；Determine in beam scanning figure simultaneously
3dB in the range of the pulse number N that receives；Respective pulses echo data, N are distinguished in each pulse<L, N, L are respectively just whole
Number.
Specifically, it is analyzed by the echo data to beam scanning figure and radar target, is determined at radar target
Near the peak value of beam scanning figure, the angular range for obtaining radar target is θd~θu, i.e. the real angle of radar target is certain
Within the range；Wherein, θdThe lower limit estimate of orientation angles scope, θ where radar targetuThe orientation where radar target
The upper limit estimate of angular range；The angular range of the radar target is the scope in beam scanning figure more than 3dB width.
It is then determined that the echo data received in the angular range of radar targetAnd the angular range of radar target
The pulse number L, L for inside receiving>0；The pulse number N received in the range of the 3dB of beam scanning figure is determined simultaneously, each
Respective pulses echo data is distinguished in pulse；N<L, N, L are respectively positive integer.
Wherein, xiIt is the echo data of i-th pulse received in the angular range of radar target, i ∈ 1,2 ...,
L }, L is the pulse total number received in the angular range of radar target.
Step 3, the L pulse to being received in the angular range of radar target carries out moving-target detection (MTD) pulse product
Tired and pulse slip treatment, respectively obtains by the pulse accumulation echo data of L-N+1 sliding window and by L-N+1 sliding window
The corresponding azimuth of pulse accumulation echo data.
Specifically, the L pulse by being received in the angular range to radar target is gone here and there successively according to N number of one group
Slip is processed, and is realized the coherent accumulation of multiple pulses and is completed the suppression of clutter simultaneously.
It should be noted that when entering line slip and processing, the commonly required operand wanted all can be than larger, but in view of carrying out
When accurate angle is detected, the angular range of radar target it has been determined that only in Doppler's channel range of radar target, and at this
The angular range of radar target enters line slip treatment, so operand now can be in tolerance interval.
3a) initialize：R is made to represent the r times sliding window, the initial value of r ∈ { 1,2 ..., L-N+1 }, r is 1.
3b) choose the echo data of r-th pulse in L pulse receiving in the angular range of radar target to N+
The r-1 echo data of pulse, is designated as the N number of pulse echo data x after the r times sliding windowr, N<L；Then to the r times cunning
N number of pulse echo data x after windowrMoving-target detection (MTD) pulse accumulation is carried out, the accumulation echo after the r times sliding window is obtained
Data yr, while recording the accumulation echo data y after the r times sliding windowrCorresponding azimuth angle thetar, its expression formula is：
Wherein, θdThe lower limit estimate of orientation angles scope, θ where radar targetuThe orientation angles where radar target
The upper limit estimate of scope, L is the pulse total number received in the angular range of radar target, L>0；N is in mechanical beam
The pulse total number received in the range of the 3dB of scanning, N<L.
Specifically, to the r times sliding window after N number of pulse echo data xrWhen carrying out moving-target detection (MTD) pulse accumulation,
The weight factor of wherein moving-target detection (MTD) pulse accumulation is w,f0It is thunder
The centre frequency of Doppler's passage where up to target, Tr is the pulse repetition period, and e represents exponential function, and j represents imaginary unit；
N number of pulse echo data x after the r times sliding windowr, its expression formula is：xr=[xr,xr+1,…,xN+r-1]；xrIt is radar mesh
The echo data of r-th pulse received in target angular range, xr+1For received in the angular range of radar target
The r+1 echo data of pulse, xN+r-1It is the N+r-1 number of echoes of pulse received in the angular range of radar target
According to；Accumulation echo data y after the r times sliding windowr, its expression formula is：
Wherein, w is the weight factor that moving-target detects (MTD) pulse accumulation, xrN number of pulse echo after for the r times sliding window
Data, subscript * represents conjugate operation, and subscript T represents that transposition is operated.
3c) make r plus 1, repeat sub-step 3b), until the L arteries and veins received in the angular range for choosing radar target
The L-N+1 echo data of pulse is designated as the N number of pulse after the L-N+1 times sliding window to the echo data of l-th pulse in punching
Echo data xL-N+1；Then to the L-N+1 times sliding window after N number of pulse echo data xL-N+1Carry out moving-target detection
(MTD) pulse accumulation, obtains the accumulation echo data y after the L-N+1 times sliding windowL-N+1, while after recording the L-N+1 times sliding window
Accumulation echo data yL-N+1Corresponding azimuth angle thetaL-N+1, its expression formula is：
Specifically, to the L-N+1 times sliding window after N number of pulse echo data xL-N+1Carry out moving-target detection (MTD) pulse
During accumulation, wherein the N number of pulse echo data x after the L-N+1 times sliding windowL-N+1For：
xL-N+1=[xL-N+1,xL-N+2,…,xL], xL-N+1It is L-N+1 received in the angular range of radar target
The echo data of pulse, xL-N+2It is the L-N+2 echo data of pulse received in the angular range of radar target, xLFor
The echo data of the l-th pulse received in the angular range of radar target；Accumulation echo after the L-N+1 times sliding window
Data yL-N+1, its expression formula is：
Wherein, w is the weight factor that moving-target detects (MTD) pulse accumulation, xL-N+1N number of arteries and veins after for the L-N+1 times sliding window
Echo data is rushed, subscript * represents conjugate operation, and subscript T represents that transposition is operated.
3d) respectively by the accumulation echo data y after the 1st sliding window1Accumulation echo data after to the L-N+1 times sliding window
yL-N+1, it is designated as by the L-N+1 pulse accumulation echo data y of sliding window；Accumulation echo after the 1st sliding window that will now obtain
Data y1Corresponding azimuth angle theta1Accumulation echo data y after to the L-N+1 times sliding windowL-N+1Corresponding azimuth angle thetaL-N+1, it is designated as
By the L-N+1 corresponding azimuth angle theta of pulse accumulation echo data of sliding window, its expression formula is respectively：
Y=(y1,y2,…,yL-N+1), θ=(θ1,θ2,…,θL-N+1)。
Step 4, peak value searching is carried out to the pulse accumulation echo data by L-N+1 sliding window, is obtained by L-N+1 times
Maximum impulse accumulation echo data in the pulse accumulation echo data of sliding window, and then obtain the best orientation angle of radar target
Estimate.
Specifically, first, peak value searching is carried out to the pulse accumulation echo data y by L-N+1 sliding window, obtain by
Maximum impulse accumulation echo data y in the L-N+1 pulse accumulation echo data y of sliding windowmax, its expression formula is：
ymax=max (y1,y2,…,yL-N+1)。
Then, y=(y are found1,y2,…,yL-N+1) in ymax=max (y1,y2,…,yL-N+1) equal yl, that is, determine
By the maximum impulse accumulation echo data y in the L-N+1 pulse accumulation echo data y of sliding windowmaxAfter the l times sliding window
Accumulation echo data yl, l ∈ { 1,2 ..., L-N+1 }.
Finally, the accumulation echo data y after the l times sliding window is determinedlCorresponding azimuth angle thetal, and by after the l times sliding window
Accumulation echo data ylCorresponding azimuth angle thetal, as the best orientation angle estimate of radar targetIts expression formula is：
Wherein, θdThe lower limit estimate of orientation angles scope, θ where radar targetuThe orientation angles where radar target
The upper limit estimate of scope, l ∈ { 1,2 ..., L-N+1 }, L are the pulse total number received in the angular range of radar target,
L>0；N is the pulse total number received in the range of the 3dB of mechanical beam scanning, N<L.
Further checking explanation is made to effect of the present invention by following emulation experiment.
Simulating, verifying：
(1) simulated conditions：
Assuming that the pulse recurrence frequency of certain mechanic scan radar is 300HZ, mechanic scan radar scans a circle institute in its detection range
It is 8S with the time, the aerial array of the mechanic scan radar 34, array element spacing is half-wavelength, and output signal-to-noise ratio is 20dB, miscellaneous noise ratio
It is 30dB；Assuming that the radar target elevation angle is 3.56 °, the centre frequency of Doppler's passage where radar target is f0It is 200HZ, ground
The variance of thing clutter spectrumIt is 4Hz, land clutter powerIt is 106。
Estimated using two ways at azimuth for radar target.
During design and simulation, it is considered to clutter be mainly ground clutter, and clutter spectrum obeys Gauss Spectral structure, miscellaneous
Wave amplitude Rayleigh distributed；Assuming that under conditions of given, by being calculated returning of being received in the range of beam angle 3dB
Wave number according to comprising pulse number be 20, carrying out angle in 0 °~10 ° of the angular range that actual radar target is selected herein searches
The echo-signal that rope, i.e. mechanic scan radar carry out the radar target obtained after mechanical beam scanning is carried out in the range of 0 °~10 °
Treatment.
(1) emulation content and result：
Consider first be the background environment without clutter and influence of noise under, the echo-signal for radar target only has
Useful signal, is respectively adopted conventional angle searching method and the inventive method is processed, its result reference picture 2 and Fig. 3, Fig. 2
It is to be carried out 1000 times after obtaining angle estimation value using conventional angle searching method under the background environment without clutter and noise
Angle estimation schematic diagram obtained by Monte Carlo Experiment, Fig. 3 is using this hair under the background environment without clutter and noise
The angle estimation schematic diagram obtained by 1000 Monte Carlo Experiments is carried out after bright method search acquisition angle estimation value.
Analysis chart 2 and Fig. 3, only include for the echo-signal of radar target and use signal message, and radar target is returned
Ripple signal carries out the search of two ways, use conventional angle searching method directly scan for obtaining angle estimation value for
3.6 °, the angle estimation value for using the inventive method to obtain is 3.525 °；The result of experiment is not with the conversion of experiment number
Change, after carrying out multiple Monte Carlo Experiment respectively using conventional angle searching method and the inventive method, the angle for obtaining is equal
Square error is respectively 0.04 ° and 0.035 °, and error now is as caused by quantization error.
But the background environment of reality is by clutter and noise jamming, consider there is noise in the absence of clutter first
In the case of angle searching；For radar target echo-signal both include radar target signal, and including noise in the case of,
Result that conventional angle searching method and the inventive method processed is respectively adopted as shown in Figure 4 and Figure 5, Fig. 4 is only
1000 Monte Carlo Experiment gained are carried out after obtaining angle estimation value using conventional angle search under the background environment of noise
The angle estimation schematic diagram for arriving, Fig. 5 using the inventive method search under only noisy background environment to obtain angle estimation value
The angle estimation schematic diagram obtained by 1000 Monte Carlo Experiments is carried out afterwards.
In the presence of noise, it is contemplated that the randomness of noise, the Monte Carlo Experiment of 1000 times is carried out herein,
Fig. 4 is that the echo-signal of radar target is directly scanned for, and finds the radar target angle under experiment every time, meanwhile, pass through
The mean square error that this 1000 times result is calculated angle is 0.8299 °；Fig. 5 is that the echo-signal of radar target is first carried out
Pulse accumulation, is accumulated according to 20 pulses herein；Then the output valve after carrying out angle translation by the way of smooth is again
Carry out the result figure that angle searching is obtained；Meanwhile, equally it is to the mean square error that this 1000 times result is calculated angle
0.3943°；As can be seen that you improve the accuracy that radar target angle is estimated to further using the inventive method.
In the presence of considering again for clutter, herein for the influence of ground clutter, the echo of radar target is believed
Signal, noise number are both included, also including clutter component；Now the echo-signal to radar target can not directly carry out angle parameter
Search is estimated, it should first curbs clutter component, while carrying out pulse accumulation to the echo-signal of radar target, then scans for
After obtain result, as shown in fig. 6, Fig. 6 is existing noise and has to be searched for using the inventive method under the background environment of clutter and obtains again
The angle estimation schematic diagram obtained by 1000 Monte Carlo Experiments is carried out after angle estimation value.
Under the complex background environment that clutter and noise are present, it is unrealistic directly to scan for, and miscellaneous noise ratio is than letter
Make an uproar than also big, now the echo-signal of radar target is buried in clutter, it is impossible to estimate radar target angle；Using the present invention
Method first curbs clutter composition, and the angle estimation value for obtaining is as shown in fig. 6, simultaneously calculate angle mean square error under this condition
It is 0.3879 °.It can be seen that estimate angle mean square error reduce with the increase of signal to noise ratio substantially, accuracy also raising, from
And further demonstrate the validity of the inventive method.
Finally consider under the complex background environment that the echo-signal of radar target, noise and clutter are all present, work as change
In the case of signal to noise ratio, angle estimation is carried out to radar target using the inventive method, and carry out 1000 Monte Carlo Experiments
The angle estimation mean square error under corresponding state of signal-to-noise, the result for obtaining are obtained as shown in fig. 7, Fig. 7 is to change letter
Make an uproar than in the case of, carry out 1000 Monte Carlo Experiment gained angle mean square errors using the inventive method changes with signal to noise ratio
Schematic diagram.
When background environment is different, i.e., in the case that signal to noise ratio changes, angle estimation is carried out using the inventive method,
The angle estimation mean square error for finally giving is as shown in Figure 7, it can be seen that estimate the basic increasing with signal to noise ratio of angle mean square error
Reduce greatly, accuracy is also being improved, so as to further demonstrate the validity of the inventive method.
In summary, the radar target angle that the inventive method can further improve under complex clutter background environment is estimated
Meter precision, it is also possible to for the angle estimation of airborne radar, and emulation experiment demonstrates the correctness, effectively of the inventive method
Property and reliability.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention
God and scope；So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (6)
1. it is a kind of based on MTD pulse accumulations and slide treatment radar target angle method of estimation, it is characterised in that including following
Step：
Step 1, determines mechanic scan radar, there is radar target in the mechanic scan radar detection range；Mechanic scan radar detects model at it
Mechanical beam scanning is carried out in enclosing, beam scanning figure is obtained, the beam scanning figure is the echo data of radar target with angle
The graph of a relation of change, and then obtain the echo data of radar target；
Step 2, according to beam scanning figure and the echo data of radar target, determines the angular range of radar target, and respectively
The echo data received in the angular range of radar target is obtained, and the pulse received in the angular range of radar target
Number L；The pulse number N received in the setting range of beam scanning figure is determined simultaneously；Respective pulses are distinguished in each pulse
Echo data, N, L are respectively positive integer；
Step 3, the L pulse to being received in the angular range of radar target carries out moving-target detection pulse accumulation and pulse is slided
Dynamic treatment, respectively obtains by the pulse accumulation echo data of L-N+1 sliding window and by the L-N+1 pulse accumulation of sliding window time
Wave number is according to corresponding azimuth；
Step 4, peak value searching is carried out to the pulse accumulation echo data by L-N+1 sliding window, is obtained by L-N+1 sliding window
Pulse accumulation echo data in maximum impulse accumulation echo data, and then obtain radar target best orientation angle estimate
Value.
2. it is as claimed in claim 1 it is a kind of based on MTD pulse accumulations and slide the radar target angle method of estimation for the treatment of, its
It is characterised by, in step 2, the angular range of the radar target is designated as θd~θu, θdThe orientation angles where radar target
The lower limit estimate of scope, θuThe upper limit estimate of orientation angles scope where radar target；The angle of the radar target
Scope is the scope in beam scanning figure more than 3dB width；
The pulse number N received in the setting range of beam scanning figure, is to be connect in the range of the 3dB of beam scanning figure
The pulse number N, N for receiving<L；N, L are respectively positive integer；
The echo data received in the angular range of the radar target is designated asIts expression formula is：
Wherein, xiIt is the echo data of i-th pulse received in the angular range of radar target, i ∈ { 1,2 ..., L }, L are
The pulse total number received in the angular range of radar target.
3. it is as claimed in claim 2 it is a kind of based on MTD pulse accumulations and slide the radar target angle method of estimation for the treatment of, its
It is characterised by, the sub-step of step 3 is：
3a) initialize：R is made to represent the r times sliding window, the initial value of r ∈ { 1,2 ..., L-N+1 }, r is 1；
3b) choose the echo data of r-th pulse in L pulse receiving in the angular range of radar target to N+r-1
The echo data of individual pulse, is designated as the N number of pulse echo data x after the r times sliding windowr, N<L；Then to the r times sliding window after
N number of pulse echo data xrMoving-target detection pulse accumulation is carried out, the accumulation echo data y after the r times sliding window is obtainedr, and then
Obtain the accumulation echo data y after the r times sliding windowrCorresponding azimuth angle thetar；
3c) make r plus 1, repeat sub-step 3b), the accumulation echo data y after obtaining the L-N+1 times sliding windowL-N+1With
Accumulation echo data y after L-N+1 sliding windowL-N+1Corresponding azimuth angle thetaL-N+1；
3d) respectively by the accumulation echo data y after the 1st sliding window1Accumulation echo data y after to the L-N+1 times sliding windowL-N+1,
It is designated as by the L-N+1 pulse accumulation echo data y of sliding window；Accumulation echo data after the 1st sliding window that will now obtain
y1Corresponding azimuth angle theta1Accumulation echo data y after to the L-N+1 times sliding windowL-N+1Corresponding azimuth angle thetaL-N+1, be designated as by
The L-N+1 corresponding azimuth angle theta of pulse accumulation echo data of sliding window, its expression formula is respectively：
Y=(y1,y2,…,yL-N+1), θ=(θ1,θ2,…,θL-N+1)。
4. it is as claimed in claim 3 it is a kind of based on MTD pulse accumulations and slide the radar target angle method of estimation for the treatment of, its
It is characterised by, the N number of pulse echo data x after the r times sliding windowr, its expression formula is：xr=[xr,xr+1,…,xN+r-1], xr
It is the echo data of r-th pulse received in the angular range of radar target, xr+1To be connect in the angular range of radar target
The r+1 echo data of pulse for receiving, xN+r-1It is the N+r-1 pulse being received in the angular range of radar target
Echo data；
Accumulation echo data y after the r times sliding windowrCorresponding azimuth angle thetar, its expression formula is：
Wherein, θdThe lower limit estimate of orientation angles scope, θ where radar targetuThe orientation angles scope where radar target
Upper limit estimate, L is the pulse total number that receives, L in the angular range of radar target>0；N is in mechanical beam scanning
3dB in the range of the pulse total number that receives, N<L.
5. it is as claimed in claim 4 it is a kind of based on MTD pulse accumulations and slide the radar target angle method of estimation for the treatment of, its
Be characterised by, it is described to the r times sliding window after N number of pulse echo data xrMoving-target detection pulse accumulation is carried out, wherein dynamic mesh
The weight factor of mark detection pulse accumulation is w, and its expression formula is：
f0It is the centre frequency of radar target place Doppler's passage, Tr is
Pulse repetition period, e represents exponential function, and j represents imaginary unit；
Accumulation echo data y after the r times sliding windowr, its expression formula is：
Wherein, w is the weight factor that moving-target detects pulse accumulation, xrN number of pulse echo data after for the r times sliding window, subscript *
Conjugate operation is represented, subscript T represents that transposition is operated.
6. it is as claimed in claim 3 it is a kind of based on MTD pulse accumulations and slide the radar target angle method of estimation for the treatment of, its
It is characterised by, the process of step 4 is：
First, peak value searching is carried out to the pulse accumulation echo data y by L-N+1 sliding window, is obtained by L-N+1 sliding window
Pulse accumulation echo data y in maximum impulse accumulation echo data ymax, its expression formula is：
ymax=max (y1,y2,…,yL-N+1)；
Then, it is determined that by the maximum impulse accumulation echo data y in the L-N+1 pulse accumulation echo data y of sliding windowmaxFor
Accumulation echo data y after the l times sliding windowl, l ∈ { 1,2 ..., L-N+1 }；
Finally, the accumulation echo data y after the l times sliding window is determinedlCorresponding azimuth angle thetal, and by the product after the l times sliding window
Tired echo data ylCorresponding azimuth angle thetal, as the best orientation angle estimate of radar targetIts expression formula is：
Wherein, θdThe lower limit estimate of orientation angles scope, θ where radar targetuThe orientation angles scope where radar target
Upper limit estimate, l ∈ { 1,2 ..., L-N+1 }, L are the pulse total number that receives, L in the angular range of radar target>0；
N is the pulse total number received in the range of the 3dB of mechanical beam scanning, N<L.
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