CN106950550B - High dynamic deviation on-line estimation method based on cross-fuzzy interval judgment under condition of range finding and speed measuring ambiguity - Google Patents

High dynamic deviation on-line estimation method based on cross-fuzzy interval judgment under condition of range finding and speed measuring ambiguity Download PDF

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CN106950550B
CN106950550B CN201710205136.XA CN201710205136A CN106950550B CN 106950550 B CN106950550 B CN 106950550B CN 201710205136 A CN201710205136 A CN 201710205136A CN 106950550 B CN106950550 B CN 106950550B
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王国宏
张翔宇
黄婧丽
李岳峰
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Naval Aeronautical University
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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
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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
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements

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Abstract

The invention belongs to the field of radar signal and data processing, and provides a cross-fuzzy interval decision-based high dynamic deviation on-line estimation method aiming at the problem of high dynamic deviation real-time estimation under the condition of range finding and speed measurement. In the research on the problem, firstly, target radial velocity estimation at different moments is obtained by using a distance difference method; secondly, carrying out mutation judgment on the radial speed of adjacent moments, finding out the estimation of the radial speed across the fuzzy interval, and compensating the estimation; then, carrying out median filtering processing on the compensated multiple radial velocity estimates to obtain velocity ambiguity resolution measurement; and finally, carrying out online estimation on the high-dynamic distance delay deviation by using the speed ambiguity resolution measurement. The method can effectively solve the problem of high dynamic deviation estimation under the condition of range finding and speed measuring blur, and has a good effect when the target motion crosses the blur interval.

Description

测距测速均模糊条件下基于跨模糊区间判决的高动态偏差在 线估计方法The high dynamic deviation based on the judgment across the fuzzy interval under the fuzzy condition of ranging and speed measurement is line estimation method

技术领域technical field

本发明涉及雷达信号和数据处理领域，用于解决测距测速均模糊条件下的高动态偏差实时估计问题。The invention relates to the field of radar signal and data processing, and is used for solving the real-time estimation problem of high dynamic deviation under the condition that both ranging and speed measurement are ambiguous.

背景技术Background technique

在对临近空间高超声速目标预警探测的研究中，LFM信号以其大时宽带宽积的优势，被当前雷达系统广泛选用。然而，在采用LFM信号对临近空间目标预警探测的研究中，由于距离-速度耦合的原因，雷达量测会存在一定的动态偏差。该偏差在目标径向速度较小时，通常可以不做考虑，但是，当目标具有较大的径向速度时，却会严重影响雷达对目标的检测和跟踪性能。为此，如何实现对高动态偏差的估计是当前急需解决的一个关键问题。In the research on early warning detection of hypersonic targets in near space, LFM signals are widely used by current radar systems due to their advantages of large time-bandwidth product. However, in the study of early warning detection of near-space targets using LFM signals, due to the distance-velocity coupling, there will be a certain dynamic deviation in the radar measurement. This deviation can usually be ignored when the target radial velocity is small, but when the target has a large radial velocity, it will seriously affect the radar's detection and tracking performance of the target. Therefore, how to realize the estimation of high dynamic deviation is a key problem that needs to be solved urgently.

在对高动态偏差估计的研究中，现有文献大都建立在雷达量测不模糊的假设下，而对临近空间高超声速目标探测中所面临的测距、测速模糊问题却并没有充分考虑。一方面，在雷达测距模糊的条件下，不同回波的返回时刻无法有效鉴别，进而雷达无法锁定目标的具体位置信息；另一方面，在雷达测速模糊的条件下，又会由于频谱重叠现象而造成速度量测的混淆，进而无法获得目标的有效速度信息。特别是，在目标跨模糊区间运动的条件下，雷达测距+测速模糊的复合影响，将对高动态偏差的估计和补偿产生重要的影响。但是，该方面的研究在现有文献中却并为被见到。In the research on high dynamic bias estimation, most of the existing literatures are based on the assumption that the radar measurement is not ambiguous, but they have not fully considered the range and velocity ambiguity problems faced in the detection of hypersonic targets in near space. On the one hand, under the condition of ambiguous radar ranging, the return time of different echoes cannot be effectively identified, and the radar cannot lock the specific location information of the target; As a result, the speed measurement is confused, and the effective speed information of the target cannot be obtained. In particular, under the condition that the target moves across the ambiguity interval, the combined effect of radar ranging and velocity ambiguity will have an important impact on the estimation and compensation of high dynamic bias. However, the research in this aspect has not been seen in the existing literature.

因此，本发明提出一种测距、测速均模糊条件下的高动态偏差在线估计方法，以重点解决目标运动跨模糊区间时的高动态偏差估计难题。Therefore, the present invention proposes a high dynamic deviation online estimation method under the condition that both ranging and speed measurement are ambiguous, so as to focus on solving the problem of high dynamic deviation estimation when the target motion crosses the ambiguous interval.

发明内容SUMMARY OF THE INVENTION

针对测距、测速均模糊条件下的高动态偏差估计难题，提出一种基于跨模糊区间判决的高动态偏差在线估计方法。首先，利用距离差分的方法，获得不同时刻的目标径向速度估计；其次，对相邻时刻的径向速度进行突变判决，找出跨模糊区间的径向速度估计，并对其进行补偿；然后，对补偿后的多个径向速度估计进行中值滤波处理，以获得速度解模糊量测；最后，利用速度解模糊量测对高动态的距离时延偏差进行在线估计。该方法可有效解决测距测速均模糊条件下的高动态偏差估计难题，且在目标运动跨模糊区间时具有较好的效果。Aiming at the problem of high dynamic deviation estimation under fuzzy conditions of both distance measurement and speed measurement, an online estimation method of high dynamic deviation based on cross-ambiguous interval judgment is proposed. Firstly, the distance difference method is used to obtain the estimated radial velocity of the target at different times; secondly, a sudden judgment is made on the radial velocity of the adjacent moment to find the radial velocity estimate across the fuzzy interval, and compensate it; then , perform median filtering on the multiple radial velocity estimates after compensation to obtain velocity defuzzification measurement; finally, use velocity defuzzification measurement to perform online estimation of highly dynamic range and delay deviation. This method can effectively solve the problem of high dynamic bias estimation under the condition of blurred distance and velocity measurement, and has better effect when the target motion crosses the fuzzy interval.

本发明解决所述的技术问题，采用技术方案步骤如下：The present invention solves the described technical problem, and adopts the technical solution steps as follows:

步骤1：在测距、测速均模糊的条件下，利用距离差分的方法获得多个时刻的目标径向速度估计；Step 1: Under the condition that both distance measurement and speed measurement are fuzzy, use the method of distance difference to obtain the target radial velocity estimation at multiple times;

考虑到目标运动不跨模糊区间时满足Considering that the target motion does not cross the fuzzy interval, it satisfies

Figure BDA0001259605640000021
Figure BDA0001259605640000021

其中，r(k)为目标模糊量测，R(k)为目标不模糊量测。则利用距离差分的方法，目标在多个时刻的径向速度估计可表示为Among them, r(k) is the target blur measurement, and R(k) is the target unambiguous measurement. Then using the distance difference method, the radial velocity estimation of the target at multiple times can be expressed as

Figure BDA0001259605640000022
Figure BDA0001259605640000022

其中，T是采样间隔，m是时刻个数。Among them, T is the sampling interval, and m is the number of times.

步骤2：在获得多个时刻径向速度估计的基础上，对目标运动是否跨模糊区间的情况进行判决，并在此基础上对跨模糊区间的速度估计信息加以补偿。Step 2: On the basis of obtaining radial velocity estimates at multiple times, determine whether the target motion crosses the ambiguous interval, and compensate the velocity estimation information across the ambiguous interval on this basis.

考虑到目标径向速度估计

Figure BDA0001259605640000023
在跨与不跨模糊区间时(这里以目标远离雷达的情况为例)分别满足Considering the target radial velocity estimate
Figure BDA0001259605640000023
When crossing and not crossing the fuzzy interval (here, the case where the target is far away from the radar is taken as an example), it satisfies respectively

Figure BDA0001259605640000024
Figure BDA0001259605640000024

其中，Rmax为最大不模糊距离，当目标远离雷达运动时Rmax的取值为正，当目标面向雷达运动时Rmax的取值为负；则可构建统计判决量Among them, Rmax is the maximum unambiguous distance. When the target is moving away from the radar, the value of Rmax is positive, and when the target is moving toward the radar, the value of Rmax is negative; then a statistical judgment can be constructed.

Figure BDA0001259605640000025
Figure BDA0001259605640000025

进而，k时刻目标运动是否跨模糊区间的问题可用如下假设检验做进一步的分析判决：Furthermore, the question of whether the target motion at time k crosses the fuzzy interval can be further analyzed and judged by the following hypothesis test:

H0：若η(i)>λ，则目标运动跨模糊区间；H 0 : if η(i)>λ, the target motion crosses the fuzzy interval;

H1：若η(i)≤λ，则目标运动不跨模糊区间。H 1 : If η(i)≦λ, the target motion does not cross the fuzzy interval.

其中，λ为速度突变判决门限，且满足0<λ<Rmax/T。Among them, λ is the speed sudden change decision threshold, and satisfies 0<λ<R max /T.

这时，当目标运动不跨模糊区间时，对径向速度估计

Figure BDA0001259605640000026
不做处理；当目标运动跨模糊区间时，则做如下补偿：At this time, when the target motion does not cross the fuzzy interval, the radial velocity is estimated
Figure BDA0001259605640000026
No processing is performed; when the target motion crosses the fuzzy interval, the following compensation is done:

Figure BDA0001259605640000027
Figure BDA0001259605640000027

步骤3：在对跨模糊区间量测补偿的基础上，利用中值滤波的方法对上述多个时刻的目标径向速度估计进行平滑处理，以进一步获得目标的解速度模糊量测。Step 3: On the basis of the measurement compensation across the fuzzy interval, the method of median filtering is used to smooth the target radial velocity estimates at the above multiple times, so as to further obtain the target's solution velocity fuzzy measurement.

1)利用中值滤波的方法将

Figure BDA0001259605640000031
按从小到大的顺序进行排序，并选取排序后的中间值作为目标径向速度的中值估计。1) Using the median filter method to
Figure BDA0001259605640000031
Sort from small to large, and select the sorted median value as the median estimate of the target radial velocity.

Figure BDA0001259605640000032
Figure BDA0001259605640000032

2)结合上述中值估计来进一步获得目标径向速度的解模糊量测2) Combining the above median estimation to further obtain the defuzzification measurement of the target radial velocity

其中，为目标径向速度的解模糊量测，vamb(k)为雷达测得的模糊速度，为目标径向速度的中值估计，vmax为雷达最大不模糊速度。in, is the de-ambiguity measurement of the radial velocity of the target, v amb (k) is the ambiguity velocity measured by the radar, is the median estimate of the radial velocity of the target, and vmax is the maximum unambiguous velocity of the radar.

步骤4：利用上述速度解模糊量测对高动态的距离时延偏差进行补偿。Step 4: Compensate for highly dynamic range and delay deviation by using the above velocity defuzzification measurement.

在获得速度解模糊量测的基础上，通过对距离-速度的耦合分析，可获得高动态的距离时延偏差估计Defuzzification measurements in obtaining velocity On the basis of the distance-velocity coupling analysis, a highly dynamic distance-delay bias estimation can be obtained

Figure BDA0001259605640000037
Figure BDA0001259605640000037

本发明的有益效果说明：本发明利用递推HT-TBD技术对雷达量测数据进行处理，在获得初始积累矩阵和存储阵列的基础上，对积累矩阵和存储阵列进行递推实时更新处理，不但能够最大限度的利用前一时刻的检测结果，提高算法运算效率，降低计算量，还能够实现对目标的实时检测，避免目标漏检，具有较好的检测效果。Description of the beneficial effects of the present invention: the present invention uses the recursive HT-TBD technology to process the radar measurement data, and on the basis of obtaining the initial accumulation matrix and storage array, performs recursive real-time update processing on the accumulation matrix and storage array, not only It can maximize the use of the detection results of the previous moment, improve the efficiency of algorithm operation, reduce the amount of calculation, and also realize real-time detection of the target, avoid missed detection of the target, and have a good detection effect.

步骤5：随着时间的推移，重复进行步骤1～4，直至所有量测处理完毕，以实现对高动态偏差的实时估计处理。Step 5: With the passage of time, repeat steps 1 to 4 until all measurement processing is completed, so as to realize real-time estimation processing of high dynamic deviation.

本发明的有益效果说明：(1)本发明利用距离差分和中值滤波相结合的方法，可有效实现测距测速均模糊条件下的高动态偏差补偿处理；(2)该发明不仅可对高动态偏差进行实时在线估计，而且不需要进行复杂的解距离模糊处理，仅用单重频模糊距离量测即可有效实现对高动态偏差的有效估计。The beneficial effects of the present invention are explained: (1) the present invention utilizes the method of combining distance difference and median filtering, which can effectively realize the high dynamic deviation compensation processing under the condition of both distance measurement and speed measurement; (2) the present invention can not only The dynamic deviation can be estimated online in real time, and it does not require complex de-fuzzification processing. Only single-frequency fuzzy distance measurement can effectively realize the effective estimation of high dynamic deviation.

附图说明Description of drawings

附图1是本发明的方法步骤流程图；Accompanying drawing 1 is the method step flow chart of the present invention;

附图2是本发明高动态偏差对雷达探测的影响图；Accompanying drawing 2 is the influence diagram of the present invention's high dynamic deviation on radar detection;

附图3是本发明高动态偏差+测量模糊对雷达探测的影响图；Accompanying drawing 3 is the influence diagram of the present invention's high dynamic deviation+measurement ambiguity on radar detection;

附图4是本发明距离差分处理所得的目标径向速度估计结果图；Accompanying drawing 4 is the target radial velocity estimation result diagram that the distance difference processing of the present invention obtains;

附图5是本发明跨模糊区间处理后的径向速度补偿结果图；Accompanying drawing 5 is the radial velocity compensation result diagram after cross-ambiguity interval processing of the present invention;

附图6是本发明中值滤波和速度解模糊的径向速度估计结果图；Accompanying drawing 6 is the radial velocity estimation result diagram of median filtering and velocity deblurring of the present invention;

附图7是本发明高动态偏差实时估计结果图。FIG. 7 is a graph of the real-time estimation result of the high dynamic deviation of the present invention.

具体实施方式Detailed ways

下面结合附图对测距测速均模糊条件下的高动态偏差在线估计方法进行描述。The online estimation method of high dynamic deviation under the condition that both ranging and speed measurement are ambiguous will be described below with reference to the accompanying drawings.

实施条件：假定临近空间高超声速目标的初始位置为[300km,300km,20km]，飞行速度为5000m/s，飞行方向为北偏西30°。相应地，观测雷达的位置为[0km,0km,0km]，雷达波长为λ＝0.15m，线性调频脉冲信号宽度为τ＝600μs，线性调频带宽为B＝1.5MHz，雷达的距离、方位和俯仰测量误差分别为100m、0.1°和0.1°，观测周期为1s。参照附图1，具体实施步骤如下所示：Implementation conditions: Assume that the initial position of the hypersonic target in the near space is [300km, 300km, 20km], the flight speed is 5000m/s, and the flight direction is 30° north by west. Correspondingly, the position of the observation radar is [0km, 0km, 0km], the radar wavelength is λ=0.15m, the chirp signal width is τ=600μs, the chirp bandwidth is B=1.5MHz, the range, azimuth and pitch of the radar are The measurement errors are 100m, 0.1°, and 0.1°, respectively, and the observation period is 1s. With reference to accompanying drawing 1, specific implementation steps are as follows:

(1)雷达利用LFM信号对目标进行探测，得到30帧量测数据，其中高动态偏差+测量模糊对目标量测的影响如附图2和附图3所示；(1) The radar uses the LFM signal to detect the target, and obtains 30 frames of measurement data, wherein the impact of high dynamic deviation + measurement blur on target measurement is shown in Figures 2 and 3;

(2)按照步骤1，对相邻时刻目标的模糊距离量测进行差分处理，以获得多个时刻的目标径向速度估计，其中目标在第14帧发生跨模糊区间运动，其具体如附图4所示；(2) According to step 1, differential processing is performed on the fuzzy distance measurement of the target at adjacent moments to obtain the target radial velocity estimates at multiple moments, wherein the target moves across the fuzzy interval in the 14th frame, as shown in the accompanying drawings. 4 shown;

(3)按照步骤2，通过速度突变判决，找出第14帧出现的跨模糊区间径向速度，并对其进行补偿，其具体如附图5所示；(3) According to step 2, through the speed mutation judgment, find out the cross-ambiguous interval radial speed that occurs in the 14th frame, and compensate for it, as shown in Figure 5;

(4)按照步骤3，对各径向速度估计，进行中值滤波处理，并在此基础上获得目标的速度解模糊量测，其具体如附图6所示；(4) According to step 3, each radial velocity estimate is subjected to median filtering, and on this basis, the velocity defuzzification measurement of the target is obtained, which is specifically shown in FIG. 6 ;

(5)按照步骤4，利于速度解模糊量测对高动态偏差进行估计，其具体如附图7所示。(5) According to step 4, it is helpful for the velocity defuzzification measurement to estimate the high dynamic deviation, which is specifically shown in FIG. 7 .

通过对附图2和附图3的分析可知，高动态偏差使目标量测严重偏移目标的真实轨迹，而测量模糊不仅使目标量测的位置发生偏移，而且将完整的目标量测拆成了两段，进而高动态偏差+测量模糊的复合影响严重影响雷达的探测性能；通过对附图4的分析可知，相邻时刻的距离差分处理，会在目标跨模糊区间运动时，产生较大的径向速度突变，这也就是说，不能直接用距离差分处理对高动态偏差进行补偿，还需进一步处理；由附图5可以看出，通过对速度突变的检测和补偿，可有效消除目标跨模糊区间运动所带来的影响；由附图6可以看出，通过目标量测的中值滤波和解速度模糊处理，可有效获得相对平滑的目标径向速度量测；最后由附图7可以看出，利用速度解模糊处理后的目标径向速度可有效实现对高动态偏差的实时估计。Through the analysis of Figures 2 and 3, it can be seen that the high dynamic deviation causes the target measurement to seriously deviate from the true trajectory of the target, and the measurement blur not only offsets the position of the target measurement, but also disassembles the complete target measurement. It becomes two sections, and then the combined effect of high dynamic deviation + measurement ambiguity seriously affects the detection performance of the radar; through the analysis of Fig. 4, it can be seen that the distance difference processing of adjacent moments will cause a relatively large difference when the target moves across the ambiguity interval. Large radial velocity sudden change, that is to say, the distance difference processing cannot be used to compensate the high dynamic deviation directly, and further processing is required; it can be seen from Figure 5 that the detection and compensation of the sudden speed change can effectively eliminate the The influence brought by the movement of the target across the fuzzy interval; it can be seen from Figure 6 that a relatively smooth target radial velocity measurement can be effectively obtained through the median filtering of the target measurement and de-fuzzification of the velocity; It can be seen that the target radial velocity after velocity de-blurring can effectively realize real-time estimation of high dynamic deviation.

Claims (5)

1. The high dynamic deviation online estimation method based on cross-fuzzy interval judgment under the condition of both ranging and speed measurement fuzzy is characterized by comprising the following steps of:
step 1: under the condition of fuzzy distance measurement and speed measurement, target radial velocity estimation at multiple moments is obtained by using a distance difference method;
step 2: on the basis of obtaining the radial velocity estimation of a plurality of moments, judging whether the target motion crosses a fuzzy interval by utilizing a method for carrying out mutation judgment on the radial velocity of adjacent moments, and compensating the radial velocity estimation of the cross fuzzy interval on the basis;
and step 3: on the basis of compensating the radial velocity estimation of the cross-fuzzy interval, smoothing the radial velocity estimation of a plurality of moments by using a median filtering method so as to further obtain the velocity deblurring measurement of the target;
and 4, step 4: and compensating the high-dynamic distance delay deviation by using the speed ambiguity resolution measurement.
2. The high dynamic bias online estimation method according to claim 1, characterized in that the following method is specifically adopted in step 1:
satisfy when considering that the target motion does not cross the fuzzy interval
Figure FDA0002102000420000011
Wherein, r (k) is the target fuzzy measurement, and R (k) is the target non-fuzzy measurement; then the radial velocity estimate of the target at multiple time instances is expressed as
Figure FDA0002102000420000012
Where T is the sampling interval and m is the number of times.
3. The high dynamic bias online estimation method according to claim 2, characterized in that the following method is specifically adopted in step 2:
considering target radial velocity estimation
Figure FDA0002102000420000013
When the fuzzy interval is not crossed, the condition is satisfied
Figure FDA0002102000420000014
Satisfy when crossing fuzzy interval
Figure FDA0002102000420000015
Wherein R ismaxTo the maximum unambiguous distance, a statistical decision quantity is constructed
Figure FDA0002102000420000021
Furthermore, the problem of whether the target motion at the time k crosses the fuzzy interval can be further analyzed and judged by the following hypothesis test:
H0if η (k) > lambda, the target moves across the fuzzy interval;
H1if η (k) is less than or equal to lambda, the target motion does not cross the fuzzy interval;
wherein, lambda is a speed mutation judgment threshold and satisfies that lambda is more than 0 and less than Rmax/T；
At this time, when the target motion does not cross the fuzzy interval, the radial velocity is estimated
Figure FDA0002102000420000022
No treatment is carried out; when the target motion crosses the fuzzy interval, the following compensation is carried out:
Figure FDA0002102000420000023
4. the high dynamic bias online estimation method according to claim 2, characterized in that the following method is specifically adopted in step 3:
1) the method using median filtering will
Figure FDA0002102000420000024
Sorting according to the sequence from small to large, and selecting the sorted middle value as the median value estimation of the target radial velocity
Figure FDA0002102000420000025
2) Combine the above median estimate to further obtain a deblurred measure of the target radial velocity
Figure FDA0002102000420000026
Wherein,
Figure FDA0002102000420000027
is a deblurred measure of the target radial velocity, vamb(k) For the ambiguity speed measured by the radar,for a median estimate of the target radial velocity, vmaxIs the radar maximum unambiguous speed.
5. The high dynamic bias online estimation method according to claim 1, characterized in that, the following method is specifically adopted in step 4:
obtaining velocity deblurring measurements
Figure FDA0002102000420000029
Based on the distance-speed coupling analysis, the high dynamic deviation is completed
Figure FDA00021020004200000210
Real-time online estimation.
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