CN106970366A - Object detection method and device in sea clutter - Google Patents
Object detection method and device in sea clutter Download PDFInfo
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- CN106970366A CN106970366A CN201710134664.0A CN201710134664A CN106970366A CN 106970366 A CN106970366 A CN 106970366A CN 201710134664 A CN201710134664 A CN 201710134664A CN 106970366 A CN106970366 A CN 106970366A
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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
- G01S7/414—Discriminating targets with respect to background clutter
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Abstract
The present invention provides object detection method and device in a kind of sea clutter, including：Obtain radar echo signal to be detected；The multiple dimensioned gap characteristic of echo-signal is obtained according to the radar echo signal；Multiple dimensioned accumulation gap characteristic difference is obtained according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored；Testing result is obtained according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and shown.The present invention provides object detection method and device in a kind of sea clutter, the radar echo signal to be detected by obtaining, the multiple dimensioned gap characteristic of echo-signal is obtained according to radar echo signal, and multiple dimensioned accumulation gap characteristic difference is obtained according to multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored；Testing result is obtained according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and shown, target detection performance is effectively improved, the accurate purpose for judging targets in ocean thing is reached.
Description
Technical field
The present invention relates to object detection method and device in marine monitoring technologies field, more particularly to a kind of sea clutter.
Background technology
Ocean surface has fractal characteristic under certain scale range, and the target such as naval vessel is relatively regular due to profile,
Fractal characteristic is not obvious.Fractal dimension is the mathematical quantity for illustrating fractal geometry complexity from the angle of macroscopic view.Characterizing thunder
In terms of echo complexity and scrambling, point of the values of fractal dimension of the radar return comprising targets such as naval vessels and pure sea clutter
Shape dimension value be it is differentiated, generally it is less than normal.Thus researcher expects detecting target with the difference of values of fractal dimension first.
But in actual applications, on the one hand, sea clutter is influenceed by meteorological condition and random noise, fractal dimension measured value
It can change, this causes the values of fractal dimension of sea clutter and target echo is also easy to produce overlapping, causes missing inspection and false-alarm；The opposing party
Face, under strong sea clutter background, signal to noise ratio is generally relatively low, the values of fractal dimension difference very little of sea clutter and target echo,
It is difficult to accurately distinguish out.
In addition, being found when studying fractal dimension, the entirely different Fractal Set of several structures has identical or close point
Shape dimension, only can not carry out accurate description, it is other that this just promotes researcher further to study to Fractal Set with fractal dimension
Feature describes Fractal object.
The content of the invention
The present invention provides object detection method and device in a kind of sea clutter, for solving to use FRACTAL DIMENSION in the prior art
Numerical value can not accurate detection zone partial objectives for echo and the problem of sea clutter.
In a first aspect, the present invention provides object detection method in a kind of sea clutter, including：
Radar echo signal to be detected is obtained, the radar echo signal includes sea clutter signal and target echo is believed
Number；
The multiple dimensioned gap characteristic of echo-signal is obtained according to the radar echo signal；
Multiple dimensioned accumulation gap is obtained according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Feature difference；
Testing result is obtained according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and shown.
Preferably, before the multiple dimensioned gap characteristic of echo-signal is obtained according to the radar echo signal, obtain pre-
If the radar echo signal to be detected of number of times, the accumulation of traveling wave of going forward side by side shape.
Preferably, the acquisition of the multiple dimensioned gap characteristic a reference value, including：Sea clutter is obtained, according to the sea clutter
Obtain multiple dimensioned gap characteristic a reference value.
Preferably, obtain multiple dimensioned tired according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Product gap characteristic difference, including：It is special according to the multiple dimensioned gap characteristic, the multiple dimensioned gap characteristic a reference value prestored and gap
Levy mathematic interpolation formula and obtain multiple dimensioned accumulation gap characteristic difference；
Wherein, the gap characteristic mathematic interpolation formula is
ECFor multiple dimensioned accumulation gap characteristic difference, N is scale of measurement L number, ΛX(n) under a certain scale of measurement L
Calculate the gap characteristic value for obtaining radar echo signal, ΛSFor gap characteristic a reference value.
Preferably, the acquisition of the predetermined threshold value, including：
Obtain sea clutter, the gap characteristic value sequence obtained under N number of scale of measurement；
The standard deviation of sequence is obtained according to the gap characteristic value sequence；
Predetermined threshold value is obtained according to the standard deviation and preset multiple.
Second aspect, the present invention provides object detecting device in a kind of sea clutter, including：
Acquisition module, the radar echo signal to be detected for obtaining, the radar echo signal includes sea clutter signal
And target echo signal；
First processing module, the multiple dimensioned gap characteristic for obtaining echo-signal according to the radar echo signal；
Second processing module, for being obtained according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Obtain multiple dimensioned accumulation gap characteristic difference；
Detection module, for obtaining testing result according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and showing.
Preferably, the acquisition module is additionally operable to：The multiple dimensioned of echo-signal is being obtained according to the radar echo signal
Before gap characteristic, the radar echo signal to be detected of preset times, the accumulation of traveling wave of going forward side by side shape are obtained.
Preferably, Second processing module is additionally operable to, and obtains sea clutter, and multiple dimensioned gap characteristic is obtained according to the sea clutter
A reference value.
Preferably, the Second processing module specifically for：According to the multiple dimensioned gap characteristic, the multiple dimensioned seam prestored
Gap character references value and gap characteristic mathematic interpolation formula obtain multiple dimensioned accumulation gap characteristic difference；
Wherein, the gap characteristic mathematic interpolation formula is
ECFor multiple dimensioned accumulation gap characteristic difference, N is scale of measurement L number, ΛX(n) under a certain scale of measurement L
Calculate the gap characteristic value for obtaining radar echo signal, ΛSFor gap characteristic a reference value.
Preferably, the detection module is additionally operable to：
Obtain sea clutter, the gap characteristic value sequence obtained under N number of scale of measurement；
The standard deviation of sequence is obtained according to the gap characteristic value sequence；
Predetermined threshold value is obtained according to the standard deviation and preset multiple.
As shown from the above technical solution, the present invention provides object detection method in a kind of sea clutter, to be detected by obtaining
Radar echo signal, the multiple dimensioned gap characteristic of echo-signal is obtained according to radar echo signal, and according to multiple dimensioned seam
Gap feature and the multiple dimensioned gap characteristic a reference value prestored obtain multiple dimensioned accumulation gap characteristic difference；Stitched according to multiple dimensioned accumulation
Gap feature difference obtains testing result with predetermined threshold value and shown, is effectively improved target detection performance, reaches and accurately judge ocean
The purpose of object.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of object detection method in the sea clutter that the embodiment of the present invention 1 is provided；
Fig. 2 is the schematic diagram of the gap characteristic curve of sea clutter provided in an embodiment of the present invention and target echo；
Fig. 3 is the structural representation of object detecting device in the sea clutter that the embodiment of the present invention 2 is provided.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Fig. 1 shows that the embodiment of the present invention 1 provides object detection method in a kind of sea clutter, including：
S11, acquisition radar echo signal to be detected, the radar echo signal include sea clutter signal and target echo
Signal.
In this step, it is necessary to which explanation, in the present embodiment, in ocean surface, the electromagnetic wave of radar emission is being passed
Object produces reflection, scattering to electromagnetic wave after object is run into during broadcasting, and is received by the radar of radar screen display
The part that function is received is reflected, scattered signal, and the signal that wherein radar receiver is received is radar echo signal.
In embodiment, in order in detection process to the target echo that is obtained in ocean and sea clutter more accurately area
Point, the radar echo signal to be detected of preset times (such as 500 times, but specifically number of times is set as the case may be) can be obtained,
The accumulation of traveling wave of going forward side by side shape is handled, the radar echo signal after being accumulated.Also the radar echo signal after accumulation can be carried out equal
Value processing, the radar echo signal after being averaged.
Because with different scattering properties, the echo of Ship Target should have not with pure sea clutter in point shape gap value
Same changing rule, will concrete analysis to this.Sea clutter and the gap characteristic of echo signal are investigated, several emulation experiment knots are provided
Really, as shown in Fig. 2 the signal to noise ratio of target is respectively 2dB, 0.8dB and -1dB, yardstick L is from 1 to 30, and sampling number is 1000 points.
It is noted that the gap of sea clutter is respectively less than the clutter containing echo signal under multiple yardsticks from figure
Value, and signal to noise ratio is bigger, gap value is bigger.The gap characteristic curve of two class signals is investigated, the gap of sea clutter is worth with yardstick
Increase and reduce rapidly, and the gap characteristic curve of the echo comprising target increases with the size L of measurement box increase,
Signal to noise ratio is bigger, and trend is more obvious, and variation tendency is similar to sea clutter when signal to noise ratio is smaller.
S12, the multiple dimensioned gap characteristic according to radar echo signal acquisition echo-signal.
In this step, it is necessary to which explanation, in embodiments of the present invention, can be obtained by probability distribution P (m, L) to calculate
Obtain gap characteristic value.P (m, L) be have m point the length of side for L box in probability (center of box can be Fractal Set
Arbitrfary point).To any L, have：
In formula, N is presumable most points in box, so P (m, L) contains the Mass Distribution letter of fractal sets
Breath, order：
Then gap characteristic value Λ (L) acquisitions formula is as follows：
Wherein, M (L) is Mass Distribution average, M2(L) it is Mass Distribution mean-square value.
S13, multiple dimensioned accumulation obtained according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Gap characteristic difference.
In this step, it is necessary to which explanation, in embodiments of the present invention, the multiple dimensioned gap characteristic a reference value is obtained
Take concretely：Sea clutter is obtained, multiple dimensioned gap characteristic a reference value is obtained according to the sea clutter.Obtaining the mistake of sea clutter
Cheng Zhong, is actually equally to obtain radar echo signal, but under certain environment, can be used on the ocean surface without object
Radar emission electromagnetic wave, the radar echo signal now detected is sea clutter.According to sea clutter using being carried in above-mentioned steps S12
To gap characteristic value calculating method can obtain multiple dimensioned gap characteristic a reference value.
In embodiments of the present invention, obtained according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Multiple dimensioned accumulation gap characteristic difference is obtained, including：According to the multiple dimensioned gap characteristic, the multiple dimensioned gap characteristic benchmark prestored
Value and gap characteristic mathematic interpolation formula obtain multiple dimensioned accumulation gap characteristic difference；
Wherein, the gap characteristic mathematic interpolation formula is
ECFor multiple dimensioned accumulation gap characteristic difference, N is scale of measurement L number, ΛX(n) under a certain scale of measurement L
Calculate the gap characteristic value for obtaining radar echo signal, ΛSFor gap characteristic a reference value.
As can be seen that E from the calculation formulaCFor under each scale of measurement L difference of gap characteristic value and a reference value it is tired
Product result.Because under the conditions of low signal to noise ratio, the possible difference of gap characteristic of target echo and sea clutter under a certain yardstick is not
Greatly, but the high-order feature difference accumulation under multiple yardsticks get up, foundation can be provided for effectively differentiation sea clutter and target echo.
S14, testing result is obtained according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and shown.
In this step, it is necessary to which explanation, in embodiments of the present invention, the acquisition of the predetermined threshold value is concretely：
Obtain sea clutter, the gap characteristic value sequence obtained under N number of scale of measurement；Sequence is obtained according to the gap characteristic value sequence
Standard deviation；Predetermined threshold value is obtained according to the standard deviation and preset multiple.
In embodiments of the present invention, if the standard deviation obtained is σC, predetermined threshold value is 3 σC, the gap characteristic difference of acquisition is
EC, then judge that the judgement formula that object whether there is is：
In order to which comparative illustration Cancers Fractional Dimension Feature and multiple dimensioned accumulation gap characteristic two indices are returned to sea clutter and target
The separating capacity of ripple, it is each (imitative with 200 groups of sea clutters (IPIX radars measured data in 1998) and superposition varying strength target echo
It is true to produce) tested, as a result as shown in table 1：
Separating capacity of the two indices of table 1 to sea clutter and target echo
As shown in Table 1, multiple dimensioned accumulation gap characteristic difference increases and increased with signal to noise ratio, due to combining on each yardstick
High Order Fractal difference, it has more preferable sea clutter and target separating capacity than fractal dimension.To further illustrate this
Detection method is to the performance of dim target detection in sea clutter, and each 200 groups of actual measurement seas employed below in the case of 9 kinds of SCR are miscellaneous
Wave number is according to being verified, as a result as shown in table 2：
Target detection probability P of the table 2 based on Observed sea clutterd
As shown in Table 2, the accuracy in detection of multiple dimensioned accumulation gap characteristic object detection method, which is higher than, utilizes FRACTAL DIMENSION
Several detection methods, when signal to noise ratio is relatively low, this advantage becomes apparent, and gap characteristic is as fractal dimension, with width
Consistency is spent, is difficult to be influenceed by targeted attitude, classification, is a kind of more reliable and practical detection method.
Object detection method, the radar return to be detected by obtaining in a kind of sea clutter that the embodiment of the present invention 1 is provided
Signal, the multiple dimensioned gap characteristic of echo-signal is obtained according to radar echo signal, and according to multiple dimensioned gap characteristic and in advance
The multiple dimensioned gap characteristic a reference value deposited obtains multiple dimensioned accumulation gap characteristic difference；According to multiple dimensioned accumulation gap characteristic difference
Testing result is obtained with predetermined threshold value and is shown, target detection performance is effectively improved, and reaches the accurate mesh for judging targets in ocean thing
's.
Fig. 3 show the embodiment of the present invention 2 provide a kind of sea clutter in object detecting device, including acquisition module 21,
First processing module 22, Second processing module 23 and detection module 24, wherein：
Acquisition module 21, the radar echo signal to be detected for obtaining, the radar echo signal is believed including sea clutter
Number and target echo signal；
First processing module 22, the multiple dimensioned gap characteristic for obtaining echo-signal according to the radar echo signal；
Second processing module 23, for according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Obtain multiple dimensioned accumulation gap characteristic difference；
Detection module 24, for obtaining testing result according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and showing
Show.
During target detection, acquisition module 21 is gathered after radar echo signal to be detected, by radar echo signal
It is sent to first processing module 22.First processing module carries out the multiple dimensioned seam that processing obtains echo-signal to radar echo signal
Gap feature, and multiple dimensioned gap characteristic is sent to Second processing module 23.Second processing module is according to multiple dimensioned gap characteristic
Multiple dimensioned accumulation gap characteristic difference is obtained with the multiple dimensioned gap characteristic a reference value that prestores, and by multiple dimensioned accumulation gap characteristic
Difference is sent to detection module 24.Detection module obtains testing result according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value
And show.
In the embodiment of the present invention 2 in a kind of sea clutter object detecting device specific work process, may be referred to above-mentioned
A kind of sea clutter in specific detailed content described by object detection method, this is no longer going to repeat them.
It should be noted that can be by hardware processor (hardware processor) come real in the embodiment of the present invention
Existing related function module.
Object detecting device, the radar return to be detected by obtaining in a kind of sea clutter that the embodiment of the present invention 2 is provided
Signal, the multiple dimensioned gap characteristic of echo-signal is obtained according to radar echo signal, and according to multiple dimensioned gap characteristic and in advance
The multiple dimensioned gap characteristic a reference value deposited obtains multiple dimensioned accumulation gap characteristic difference；According to multiple dimensioned accumulation gap characteristic difference
Testing result is obtained with predetermined threshold value and is shown, target detection performance is effectively improved, and reaches the accurate mesh for judging targets in ocean thing
's.
Although in addition, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of be the same as Example does not mean in of the invention
Within the scope of and form different embodiments.For example, in the following claims, times of embodiment claimed
One of meaning mode can be used in any combination.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" is not excluded the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and coming real by means of properly programmed computer
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
One of ordinary skill in the art will appreciate that：Various embodiments above is merely illustrative of the technical solution of the present invention, and
It is non-that it is limited；Although the present invention is described in detail with reference to foregoing embodiments, one of ordinary skill in the art
It should be understood that：It can still modify to the technical scheme described in foregoing embodiments, or to which part or
All technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this hair
Bright claim limited range.
Claims (10)
1. object detection method in a kind of sea clutter, it is characterised in that including：
Radar echo signal to be detected is obtained, the radar echo signal includes sea clutter signal and target echo signal；
The multiple dimensioned gap characteristic of echo-signal is obtained according to the radar echo signal；
Multiple dimensioned accumulation gap characteristic is obtained according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Difference；
Testing result is obtained according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and shown.
2. according to the method described in claim 1, it is characterised in that echo-signal is being obtained according to the radar echo signal
Before multiple dimensioned gap characteristic, the radar echo signal to be detected of preset times, the accumulation of traveling wave of going forward side by side shape are obtained.
3. according to the method described in claim 1, it is characterised in that the acquisition of the multiple dimensioned gap characteristic a reference value, including：
Sea clutter is obtained, multiple dimensioned gap characteristic a reference value is obtained according to the sea clutter.
4. according to the method described in claim 1, it is characterised in that according to the multiple dimensioned gap characteristic and prestore it is multiple dimensioned
Gap characteristic a reference value obtains multiple dimensioned accumulation gap characteristic difference, including：According to the multiple dimensioned gap characteristic, prestore it is many
Yardstick gap characteristic a reference value and gap characteristic mathematic interpolation formula obtain multiple dimensioned accumulation gap characteristic difference；
Wherein, the gap characteristic mathematic interpolation formula is
ECFor multiple dimensioned accumulation gap characteristic difference, N is scale of measurement L number, ΛX(n) it is calculating under a certain scale of measurement L
Obtain the gap characteristic value of radar echo signal, ΛSFor gap characteristic a reference value.
5. according to the method described in claim 1, it is characterised in that the acquisition of the predetermined threshold value, including：
Obtain sea clutter, the gap characteristic value sequence obtained under N number of scale of measurement；
The standard deviation of sequence is obtained according to the gap characteristic value sequence；
Predetermined threshold value is obtained according to the standard deviation and preset multiple.
6. object detecting device in a kind of sea clutter, it is characterised in that including：
Acquisition module, the radar echo signal to be detected for obtaining, the radar echo signal includes sea clutter signal and mesh
Mark echo-signal；
First processing module, the multiple dimensioned gap characteristic for obtaining echo-signal according to the radar echo signal；
Second processing module, for obtaining many according to the multiple dimensioned gap characteristic and the multiple dimensioned gap characteristic a reference value prestored
Yardstick accumulation gap characteristic difference；
Detection module, for obtaining testing result according to multiple dimensioned accumulation gap characteristic difference and predetermined threshold value and showing.
7. device according to claim 6, it is characterised in that the acquisition module is additionally operable to：Returned according to the radar
Ripple signal is obtained before the multiple dimensioned gap characteristic of echo-signal, obtains the radar echo signal to be detected of preset times, and
Carry out waveform accumulation.
8. device according to claim 6, it is characterised in that Second processing module is additionally operable to, obtains sea clutter, according to institute
State sea clutter and obtain multiple dimensioned gap characteristic a reference value.
9. device according to claim 6, it is characterised in that the Second processing module specifically for：According to described many
Yardstick gap characteristic, the multiple dimensioned gap characteristic a reference value prestored and gap characteristic mathematic interpolation formula obtain multiple dimensioned accumulation seam
Gap feature difference；
Wherein, the gap characteristic mathematic interpolation formula is
ECFor multiple dimensioned accumulation gap characteristic difference, N is scale of measurement L number, ΛX(n) it is calculating under a certain scale of measurement L
Obtain the gap characteristic value of radar echo signal, ΛSFor gap characteristic a reference value.
10. device according to claim 6, it is characterised in that the detection module is additionally operable to：
Obtain sea clutter, the gap characteristic value sequence obtained under N number of scale of measurement；
The standard deviation of sequence is obtained according to the gap characteristic value sequence；
Predetermined threshold value is obtained according to the standard deviation and preset multiple.
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| CN110441752A (en) * | 2019-07-30 | 2019-11-12 | 中国人民解放军海军航空大学 | Method for detecting targets at sea and device |
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| CN113189557A (en) * | 2021-04-20 | 2021-07-30 | 中国人民解放军海军航空大学航空作战勤务学院 | Sea radar target detection refinement processing method and device |
| CN113569695A (en) * | 2021-07-22 | 2021-10-29 | 中国人民解放军海军航空大学航空作战勤务学院 | Sea surface target detection method and system based on bispectrum three characteristics |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110441752A (en) * | 2019-07-30 | 2019-11-12 | 中国人民解放军海军航空大学 | Method for detecting targets at sea and device |
| CN110736971A (en) * | 2019-11-05 | 2020-01-31 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | real-time recognition method for non-cooperative targets in sea clutter measurement area of shore-based radar |
| CN113189557A (en) * | 2021-04-20 | 2021-07-30 | 中国人民解放军海军航空大学航空作战勤务学院 | Sea radar target detection refinement processing method and device |
| CN113569695A (en) * | 2021-07-22 | 2021-10-29 | 中国人民解放军海军航空大学航空作战勤务学院 | Sea surface target detection method and system based on bispectrum three characteristics |
| CN113569695B (en) * | 2021-07-22 | 2024-04-30 | 中国人民解放军海军航空大学航空作战勤务学院 | Sea surface target detection method and system based on bispectrum three characteristics |
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