CN107121670A - A kind of anti-unmanned plane system of defense based on synthetic aperture radar - Google Patents
A kind of anti-unmanned plane system of defense based on synthetic aperture 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
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- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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Abstract
The present invention relates to a kind of high-precision system of defense of low complex degree for SUAV, the system carries out 360 ° of Circular test rings to highly unknown spatial domain by mechanical turntable carrying millimeter wave antenna and swept, and sends the linear frequency modulation sawtooth waveforms of fixed-bandwidth.First, end mixing obtains Beat Signal in front of the receiver.Secondly, row distance is entered to Beat Signal to FFT, invents homogenous linear battle array and beam forming to improve signal to noise ratio by aerial array using phase compensation.Reuse elevation angle and distance that cell-average selects the improvement CFAR algorithms of small criterion estimate after signal detection target.The picture that orientation compression obtains unmanned plane is carried out finally according to gained distance and elevation angle.For low-altitude low-speed unmanned plane, radar every revolution can be obtained by a position of target, and then draw the movement locus of target.It is of the invention innovatively to combine SAR imagings and spatial domain signal processing algorithm, highly unknown spatial domain can be carried out to monitor without interruption.
Description
Technical field
The present invention relates to radar signal processing field, more particularly to a kind of anti-unmanned plane based on synthetic aperture radar is prevented
Imperial system.
Background technology
Country's Large Infrastructure Projects, national defence emphasis facility, residential houses, enterprise-essential facility etc. are for periphery low latitude at present
The anti-UAS demand of Prevention-Security is urgent, it is desirable to also more and more higher.Have flight high especially for small-sized unmanned plane
The features such as degree relatively low, small volume, it is difficult to be found during invasion, it is also difficult to the unmanned plane of counter invasion, therefore exists larger
Potential safety hazard.In China, unmanned plane " black to fly " event also occurs repeatedly.On December 28th, 2013,29 days, one, Beijing does not possess
The company of qualification is surveyed and drawn in aeroplane photography, in the case of no application spatial domain, arranges personnel to manipulate unmanned plane lift-off without authorization and shoots,
Many sortie commercial airliners are caused to avoid, be delayed.And on January 29th, 2015, unmanned plane swarmed into the White House, and then in 2015 years
April 24, there is a frame unmanned plane to be fallen at Japanese PM official residence.The anti-unmanned plane system of defense of current various countries, in principle may be used
To be divided into three major types：1. interference blocks class 2. directly to destroy the monitoring and controlling class of class 3., ' AUDS ' system developed using Britain is generation
Table, it is integrated with Ku wave band electron scanning air defense radars, photoelectric indicator, visible ray/infrared camera and target following software, with
Radio frequency suppression/interference system is oriented, the unmanned plane in 8 kilometer ranges can be detected, tracked, recognized, disturb and prevented.
Each system being briefly discussed above emphasizes particularly on different fields, and also has certain guarantee in the validity and accuracy of interception, but all more suitable
For national army's aspect, system is huge, and control instruction is complicated, costs dearly, it is impossible to large-scale use.The application propose be
System exactly attacks this pain spot directly, it is proposed that one is based on low complex degree hardware platform, operates easy to get started, while ensureing to a certain degree
The system of defense of validity.
The content of the invention
In order to solve above-mentioned problem, the present invention provides a kind of anti-unmanned plane defence system based on synthetic aperture radar
System, has that cost is high, volume is big for traditional anti-unmanned plane system of defense, need to manually operate, the problem of defensive range is small, design
A kind of small volume, lightweight, simple in construction, the low unmanned plane system of defense of loss, for up to this purpose, the present invention provides a kind of base
In the anti-unmanned plane system of defense of synthetic aperture radar, comprise the following steps：
Step one：The mechanical turntable of anti-unmanned plane defence installation based on synthetic aperture radar carries antenna with angular velocity omega
Uniform circular motion is done, is swept by 360 degree of rings and launches many repetition signals realizations to the 24h in full territorial sky without interruption monitoring, antenna connects
Echo-signal is received to carry out Beat Signal processing and be sent to signal processing module processing；
Step 2：Take real part in distance to Fast Fourier Transform (FFT) FFT obtained difference frequency signal, be equivalent to distance to pressure
Contracting；
Step 3：The data obtained to step 2 carry out phase compensation and beam forming pretreatment, the antenna that 4 hairs 8 are received
1 × 32 virtual array is equivalent to, while improving signal to noise ratio；
Step 4：The data obtained to step 3 carry out CFAR detections i.e. CFAR detection, and screening reduction is carried out to signal
Data volume, next estimates target range, while being estimated using Capon methods the elevation angle of target；
Step 5：The information obtained based on above-mentioned steps, is carried out imaging to target by orientation compression and shown.
Further, the anti-unmanned plane defence installation based on synthetic aperture radar includes signal transmitting and receiving module and letter
Number processing image-forming module；
The signal transmitting and receiving module, including mechanical turntable, 4 hairs 8 receive millimeter wave antenna, signal transmitting and receiving chip, described
Mechanical turntable, which carries millimeter wave antenna 360 ° of rings of progress, to be swept, and signal transmitting and receiving chip produces pumping signal control antenna and sends linear tune
Frequency continuous wave simultaneously receives echo-signal, while the signal after difference frequency is handled is delivered into signal processing module；
The signal processing module, including distance, to compression, parameter Estimation and SAR imagings, the distance will to compression
The amount of calculation reduction of subsequent treatment signal；Parameter Estimation obtains the information such as range-to-go and elevation angle；SAR imagings obtain target
Azimuth information and imaging obtain target motion track.
Further, the transmission signal in the step one is LFMCW sawtooth waveforms, and number of echoes is obtained to if signal sampling
According to wherein, intermediate-freuqncy signal yi(t) as shown in formula (1)：
In formula (1), v is radial velocity of the target with respect to radar, and A is transmission signal amplitude, A0To receive signal amplitude,It is frequency modulation rate, B is signal bandwidth, and T is signal transmit cycle, and r is target range, and c is the light velocity, f0For carrier frequency, t
For the time, T is the transmit cycle of first group of sawtooth signal, τdIt is delayed for target echo, i represents i-th of transmit cycle.
Further, the transmission signal in the step one is LFMCW sawtooth waveforms, radar emission signal mathematic(al) representation
For：
A in formula0For transmission signal amplitude, f0To launch the carrier frequency of sawtooth waveforms, μ is the slope of sawtooth waveforms, and T is sawtooth
The transmit cycle of ripple, rect () is window function；
It is possible thereby to write out the expression formula of corresponding echo-signal：
In formulaR (t) is the expression formula in formula x, and σ is relevant one of a target flight thing reflectance factor
Individual constant；
Completion is held in the formation of LFMCW SAR difference frequency signal in front of the receiver, and a cycle difference frequency signal is filtered by band logical
It can be expressed as after ripple：
μ be distance to frequency modulation rate, A be difference frequency signal amplitude.
Further, the step 3 specifically includes following steps：
3.1) centering frequency frequency-region signal carries out phase compensation and Wave beam forming, and carrying out can be by array signal after phase compensation
Wave path-difference between virtual linear array, two neighboring antenna is dsin θ, the array antenna in practical situations both receiving 4 hairs 8
In, the wave path-difference between virtual reception antenna 4n and 4n+1 is not equal to dsin θ, and need to carry out phase compensation makes it become homogenous linear
Array；
Phase compensation is carried out to signal：
YVFFC=T ⊙ YVFF(5)；
Wherein,YVFFWhere target
The complex vector of spectrum unit：
3.2) array received signal is received using adding window digital beam-forming technology formation narrow beam, array can be obtained
Clutter reduction interference signal while gain, improves target detection probability；
Assuming that beam center azimuth is θ0, it is considered to the system launches receiving array structure, and spatial domain steering vector is：
Can be by Nt×NrThe virtual reception antenna array element signal of root is weighted summation, and conventional non-self-adapting wave beam is defeated
Going out signal is：
Z=(w ⊙ as(θ0))HYVFFC(7)；
In formula, H represents conjugate transposition, and window function w is NtNr× 1 column vector adds there is provided the data of angle domain Sidelobe Suppression
Power, steering vector as(θ0) provide to from θ0All distance-speed units are entered traveling wave by the maximum coherence accumulation of direction signal
Beam shaping, is obtained
Further, the step 4 specifically includes following steps：
4.1) CFAR detection is carried out to target, the improvement CFAR algorithms for selecting small criterion using cell-average carry out signal inspection
Survey；CFAR detections amount of calculation is carried out to all distances-speed unit larger, the range cell is first judged before CFAR detections
Whether range value is plots peak, can avoid the processing to garbage signal；
Input block signal is Zc=Z ⊙ Z*, symbol * represents the conjugation of vector, by ZcThe value of each distance-speed unit and
Threshold value is compared, if more than threshold value, then it is assumed that the point is with the presence of target；
Wherein thresholding Product-factor calculation formula is：
N in formulacFor unit number, pfaFor false-alarm probability；
4.2) Capon method angle measurements are carried out in elevation angle dimension, traversal scope selection beam forming gain reaches the angle of maximum
Scope is spent to reduce amount of calculation, draws the estimate angle_E of elevation angle.Summation is weighted to the data that elevation angle is tieed up, weighed
Value is the steering vector that elevation angle estimate is write out, and then estimates target and the beeline of radar using following formula
WhereinFor target and the estimate of distance by radar, fmaxFor the signal peak after beam forming and CFAR detections
Representative frequency；
WillBring formula (4) into and obtain approximate orientation frequency modulation rateEntering row interpolation
Orientation compression is carried out after range migration correction to target imaging.
Further, CFAR detection is concretely comprised the following steps in the step 4.1：
The 1st, protection location number G is setc=2, number of reference Nc=32；
2nd, by formula zm=z ⊙ z*Calculate frequency spectrum each point amplitude modulus value square；
3rd, jth unit is detected, calculatedJth -17 arrive j-2 units average x1And jth+2 is mono- to j+17
The average x of member2If,Then think that the point has target.Detected for edge data, such as j ＜ 17, then
Calculate the average in all reference units.
A kind of anti-unmanned plane system of defense based on synthetic aperture radar of the present invention, the unmanned plane system of defense design of proposition
It is mounted in two width on rotatable round platform and is operated in two hairs four of K-band and receive antennas, is realized by mechanical rotation scan ground-to-air
360 ° of comprehensive scannings, realize small volume, lightweight, simple in construction, the characteristics of being lost low.Signal processing algorithm has as follows
Four advantages：
1) wide area Circular test ring is swept, and 360 ° of radiation scope can be formed by rotating a circle, and expand scanning area；
2) spatial domain parameter Estimation is combined with SAR classics RD algorithms, and solving tradition SAR can only be detected on a surface target
Blind area；
3) signal transacting first with the mixing of original transmitted signal and it is unconventional be mixed with carrier frequency, drop significantly
Low computation complexity and amount of calculation；
4) virtual array, the application of Wave beam forming improves performance of the whole system under low signal-to-noise ratio environment.
Brief description of the drawings
Fig. 1 show inventive algorithm flow chart；
Fig. 2 show present system structural representation；
Fig. 3 show the waveform diagram of the different sawtooth waveforms of present invention transmitting；
Fig. 4 show virtual array schematic diagram algorithm flow chart of the present invention；
Fig. 5 show present invention pretreatment pre-echo signal graph；
Fig. 6, which show gained after fast time dimension FFT of the invention and beam forming, to scheme；
Fig. 7 show CFAR detection simulations figure of the present invention；
Fig. 8 show coordinates of targets estimation analogous diagram of the present invention；
Fig. 9 show CFAR schematic diagrames of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
The present invention relates to a kind of high-precision system of defense of low complex degree for SUAV and target detection and ginseng
Number calculating method.System carries out 360 ° of Circular test rings to highly unknown spatial domain by mechanical turntable carrying millimeter wave antenna and swept,
Send the linear frequency modulation sawtooth waveforms of fixed-bandwidth as shown in Figure 3.As shown in Figure 1 first, mixing is held to obtain difference in front of the receiver
Clap signal.Secondly, row distance is entered to Beat Signal to FFT, using phase compensation by aerial array invent homogenous linear battle array and
Beam forming is to improve signal to noise ratio.Reusing cell-average selects the improvement CFAR algorithms of small criterion estimate after signal detection
The elevation angle and distance of target.The picture that orientation compression obtains unmanned plane is carried out finally according to gained distance and elevation angle.For
Low-altitude low-speed unmanned plane, radar every revolution can be obtained by a position of target, and then draw the movement locus of target.This
SAR imagings and spatial domain signal processing algorithm are combined to innovation, highly unknown spatial domain can be carried out to monitor without interruption.
In this specific implementation method, the aerial array that radar is received using four hairs eight, transmission signal uses transmission signal for one
Group carrier frequency is f0There is certain swept bandwidth B sawtooth signal in transmit cycle T, multiple transmitting antennas are launched identical successively
Sawtooth signal.Systematic parameter is as shown in the table：
Table 1：System emulation parameter
Anti- unmanned plane defence installation based on synthetic aperture radar described in this specific implementation method includes letter as shown in Figure 2
Number transmitting and receiving module and signal transacting image-forming module；
Signal transmitting and receiving module of the present invention, including mechanical turntable, four hairs eight receive millimeter wave antenna, signal transmitting and receiving core
Piece, the mechanical turntable, which carries millimeter wave antenna 360 ° of rings of progress, to be swept, and signal transmitting and receiving chip produces pumping signal control antenna hair
Send linear frequency modulation continuous wave and receive echo-signal, while the signal after difference frequency is handled is delivered into signal processing module；
Signal processing module of the present invention, including distance is to compression, parameter Estimation and SAR imagings, the distance to
Compressing reduces the amount of calculation of subsequent treatment signal；Parameter Estimation obtains the information such as range-to-go and elevation angle；SAR is imaged
The track of target motion is obtained to the azimuth information of target and imaging.
Present embodiment discloses a kind of solution velocity ambiguity method suitable for LFMCW radar system, such as
Shown in Fig. 1, comprise the following steps：
Step one：The mechanical turntable of anti-unmanned plane defence installation based on synthetic aperture radar carries antenna with angular velocity omega
Uniform circular motion is done, is swept by 360 degree of rings and launches many repetition signals realizations to the 24h in full territorial sky without interruption monitoring, antenna connects
Echo-signal is received to carry out Beat Signal processing and be sent to signal processing module processing；
Step 2：Take real part in distance to Fast Fourier Transform (FFT) FFT obtained difference frequency signal, be equivalent to distance to pressure
Contracting；
Step 3：The data obtained to step 2 carry out phase compensation and beam forming pretreatment, the day that four hairs eight are received
Line is equivalent to 1 × 32 virtual array, while improving signal to noise ratio.
Step 4：The data obtained to step 3 carry out CFAR detections i.e. CFAR detection, and screening reduction is carried out to signal
Data volume, next estimates target range, while being estimated using Capon methods the elevation angle of target；
Step 5：The information obtained based on above-mentioned steps, is carried out imaging to target by orientation compression and shown.
Transmission signal wherein in step one is as shown in figure 3, obtain echo data to if signal sampling wherein, and intermediate frequency is believed
Number yi(t) as shown in formula (1)：
In formula (1), v is radial velocity of the target with respect to radar, and A is transmission signal amplitude, A0To receive signal amplitude,It is frequency modulation rate, B is signal bandwidth, and T is signal transmit cycle, and r is target range, and c is the light velocity, f0For carrier frequency, t
For the time, T is the transmit cycle of first group of sawtooth signal, τdIt is delayed for target echo, i represents i-th of transmit cycle.
Transmission signal wherein in step one is LFMCW sawtooth waveforms, and radar emission signal mathematic(al) representation is；
A in formula0For transmission signal amplitude, f0To launch the carrier frequency of sawtooth waveforms, μ is the slope of sawtooth waveforms, and T is sawtooth
The transmit cycle of ripple, rect () is window function.
It is possible thereby to write out the expression formula of corresponding echo-signal：
In formula(R (t) is the expression formula in formula x), σ is relevant one of a target flight thing reflectance factor
Individual constant.
Completion is held in the formation of LFMCW SAR difference frequency signal in front of the receiver, and a cycle difference frequency signal is filtered by band logical
It can be expressed as after ripple：
μ be distance to frequency modulation rate, A be difference frequency signal amplitude.
Step 3 specifically includes following steps：
3.1) centering frequency frequency-region signal carries out phase compensation and Wave beam forming, and carrying out can be by array signal after phase compensation
Invent 1 × 32 linear array.Wave path-difference between two neighboring antenna is dsin θ, in practical situations both receives four hairs eight
In array antenna, the wave path-difference between virtual reception antenna 4n and 4n+1 is not equal to dsin θ, and need to carry out phase compensation becomes it
Uniform linear array.Phase compensation is carried out to signal：
YVFFC=T ⊙ YVFF(5)；
Wherein,YVFFFrequency where target
Compose the complex vector of unit：
By taking virtual reception antenna 4 and 5 as an example, the phase of virtual-antenna 4,5,6 is respectivelyWe can obtain
To phase difference：Δφ1=φ5-φ4=alpha+beta, Δ φ2=φ6-φ5=α, α are phase difference caused by antenna spacing, and β is other
Phase difference caused by factor, therefore the phase of compensation is：Virtual array is as shown in Figure 4.
3.2) array received signal is received using adding window digital beam-forming technology formation narrow beam, array can be obtained
Clutter reduction interference signal while gain, improves target detection probability.
Assuming that beam center azimuth is θ0, it is considered to the system launches receiving array structure, and spatial domain steering vector is：
Can be by the way that 4 × 8 virtual reception antenna array element signals be weighted with summation, conventional non-self-adapting wave beam output
Signal is：
Z=(w ⊙ as(θ0))HYVFFC(7)；
In formula, H represents conjugate transposition, and window function w is NtNr× 1 column vector adds there is provided the data of angle domain Sidelobe Suppression
Power, steering vector as(θ0) provide to from θ0All distance-speed units are entered traveling wave by the maximum coherence accumulation of direction signal
Beam shaping, is obtained
Fig. 5, Fig. 6 are to the time-domain diagrams of data respectively and carry out the figure of fast time dimension FFT and beam forming, it can be seen that letter
Number pretreatment front signal be submerged in completely in noise, signal to noise ratio is significantly improved after pretreatment.
Step 4 specifically includes following steps：
4.1) CFAR detection is carried out to target, the improvement CFAR algorithms for selecting small criterion using cell-average carry out signal inspection
Survey.CFAR detections amount of calculation is carried out to all distances-speed unit larger, the range cell is first judged before CFAR detections
Whether range value is plots peak, can avoid the processing to garbage signal, CFAR detection principle diagrams such as Fig. 9
It is shown；Input block signal is Zc=Z ⊙ Z*, symbol * represent vector conjugation.By ZcEach distance-speed unit
Value is compared with threshold value, if more than threshold value, then it is assumed that the point is with the presence of target；Wherein thresholding Product-factor calculation formula
For：
N in formulacFor unit number, pfaFor false-alarm probability.
CFAR detection is concretely comprised the following steps：
The 1st, protection location number G is setc=2, number of reference Nc=32；
2nd, by formula zm=z ⊙ z*Calculate frequency spectrum each point amplitude modulus value square；
3rd, jth unit is detected, calculatedJth -17 arrive j-2 units average x1And jth+2 is mono- to j+17
The average x of member2If,Then think that the point has target.Detected for edge data, such as j ＜ 17, then
Calculate the average in all reference units.
Fig. 7 is CFAR detection simulation results.
4.2) Capon method angle measurements are carried out in elevation angle dimension, traversal scope selection beam forming gain reaches the angle of maximum
Scope is spent to reduce amount of calculation, draws the estimate angle_E of elevation angle.Summation is weighted to the data that elevation angle is tieed up, weighed
Value is the steering vector that elevation angle estimate is write out, and then estimates target and the beeline of radar using following formula
WhereinFor target and the estimate of distance by radar, fmaxFor the signal peak after beam forming and CFAR detections
Representative frequency；
WillBring formula (4) into and obtain approximate orientation frequency modulation rateLast progress side
Position is to compression to target imaging.
Fig. 8 is the imaging of the SAR by distance target last to after being compressed with orientation, it can be seen that target can be very
Substantially mutually distinguished with noise, imaging effect is obvious, and parameter Estimation has also reached certain degree of accuracy, the elevation angle obtained by estimation
For 0.675rad, distance is 68.2m and the error of actual result is all in controlled range, illustrates the correctness of this method.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and any modification made according to technical spirit of the invention or equivalent variations, still fall within model claimed of the invention
Enclose.
Claims (7)
1. a kind of anti-unmanned plane system of defense based on synthetic aperture radar, comprises the following steps, it is characterised in that：
Step one：The mechanical turntable of anti-unmanned plane defence installation based on synthetic aperture radar carries antenna and does even with angular velocity omega
Fast circular motion, is swept by 360 degree of rings and launches many repetition signals realizations to the 24h in full territorial sky without interruption monitoring, antenna is received back to
Ripple signal carries out Beat Signal processing and is sent to signal processing module processing；
Step 2：Take real part in distance to Fast Fourier Transform (FFT) FFT obtained difference frequency signal, be equivalent to distance to compression；
Step 3：The data obtained to step 2 carry out phase compensation and beam forming pretreatment, by NTSend out NRThe electric wire of receipts is equivalent
In 1 × NTNRVirtual array, while improve signal to noise ratio, wherein, NRFor reception antenna number, NTFor transmitting antenna number；
Step 4：The data obtained to step 3 carry out CFAR detections i.e. CFAR detection, and carrying out screening to signal reduces data
Amount, is next estimated target range, while being estimated using Capon methods the elevation angle of target；
Step 5：The information obtained based on above-mentioned steps, is carried out imaging to target by orientation compression and shown.
2. a kind of anti-unmanned plane system of defense based on synthetic aperture radar according to claim 1, it is characterised in that：Institute
Stating the anti-unmanned plane defence installation based on synthetic aperture radar includes signal transmitting and receiving module and signal transacting image-forming module；
The signal transmitting and receiving module, including mechanical turntable, 4 hairs 8 receive millimeter wave antenna, signal transmitting and receiving chip, the machinery
Turntable, which carries millimeter wave antenna 360 ° of rings of progress, to be swept, and signal transmitting and receiving chip produces pumping signal control antenna transmission linear frequency modulation and connected
Continuous ripple simultaneously receives echo-signal, while the signal after difference frequency is handled is delivered into signal processing module；
The signal processing module, including distance, to compression, parameter Estimation and SAR imagings, the distance will be follow-up to compression
The amount of calculation reduction of process signal；Parameter Estimation obtains the information such as range-to-go and elevation angle；SAR is imaged the side for obtaining target
Position information is simultaneously imaged the track for obtaining target motion.
3. a kind of anti-unmanned plane system of defense based on synthetic aperture radar according to claim 1, it is characterised in that：Institute
The sawtooth waveforms that the transmission signal in step one is LFMCW is stated, echo data is obtained to if signal sampling wherein, intermediate-freuqncy signal yi
(t) as shown in formula (1)：
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<mo>(</mo>
<mrow>
<mi>t</mi>
<mo>-</mo>
<mi>i</mi>
<mi>T</mi>
</mrow>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msub>
<mi>vf</mi>
<mn>0</mn>
</msub>
</mrow>
<mi>c</mi>
</mfrac>
<mi>i</mi>
<mi>T</mi>
<mo>-</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>&mu;</mi>
<mi>v</mi>
<mi>t</mi>
</mrow>
<mi>c</mi>
</mfrac>
<mrow>
<mo>(</mo>
<mrow>
<mi>t</mi>
<mo>-</mo>
<mi>i</mi>
<mi>T</mi>
</mrow>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msub>
<mi>rf</mi>
<mn>0</mn>
</msub>
</mrow>
<mi>c</mi>
</mfrac>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>,</mo>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mi>T</mi>
<mo>+</mo>
<msub>
<mi>&tau;</mi>
<mi>d</mi>
</msub>
<mo>&le;</mo>
<mi>t</mi>
<mo><</mo>
<mi>i</mi>
<mi>T</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
In formula (1), v is radial velocity of the target with respect to radar, and A is transmission signal amplitude, A0To receive signal amplitude,It is
Frequency modulation rate, B is signal bandwidth, and T is signal transmit cycle, and r is target range, and c is the light velocity, f0For carrier frequency, t is time, T
For the transmit cycle of first group of sawtooth signal, τdIt is delayed for target echo, i represents i-th of transmit cycle.
4. a kind of anti-unmanned plane system of defense based on synthetic aperture radar according to claim 3, it is characterised in that：Institute
The sawtooth waveforms that the transmission signal in step one is LFMCW is stated, radar emission signal mathematic(al) representation is：
<mrow>
<msub>
<mi>S</mi>
<mi>t</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>A</mi>
<mn>0</mn>
</msub>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mo>-</mo>
<mi>&infin;</mi>
</mrow>
<mi>&infin;</mi>
</munderover>
<mi>r</mi>
<mi>e</mi>
<mi>c</mi>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mi>t</mi>
<mo>-</mo>
<mi>n</mi>
<mi>T</mi>
</mrow>
<mi>T</mi>
</mfrac>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>exp</mi>
<mo>&lsqb;</mo>
<mi>j</mi>
<mn>2</mn>
<mi>&pi;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>f</mi>
<mn>0</mn>
</msub>
<mi>t</mi>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>&mu;</mi>
<msup>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>n</mi>
<mi>T</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
A in formula0For transmission signal amplitude, f0To launch the carrier frequency of sawtooth waveforms, μ is the slope of sawtooth waveforms, and T is sawtooth waveforms
Transmit cycle, rect () is window function；
It is possible thereby to write out the expression formula of corresponding echo-signal：
<mrow>
<msub>
<mi>S</mi>
<mi>r</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>;</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>&sigma;A</mi>
<mn>0</mn>
</msub>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mo>-</mo>
<mi>&infin;</mi>
</mrow>
<mi>&infin;</mi>
</munderover>
<mi>r</mi>
<mi>e</mi>
<mi>c</mi>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mi>t</mi>
<mo>-</mo>
<mi>n</mi>
<mi>T</mi>
<mo>-</mo>
<mi>&tau;</mi>
</mrow>
<mi>T</mi>
</mfrac>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>exp</mi>
<mo>&lsqb;</mo>
<mi>j</mi>
<mn>2</mn>
<mi>&pi;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>f</mi>
<mn>0</mn>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>&mu;</mi>
<msup>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>-</mo>
<mi>n</mi>
<mi>T</mi>
<mo>-</mo>
<mi>&tau;</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
In formulaR (t) is the expression formula in formula x, σ be a target flight thing reflectance factor relevant one often
Number；
Completion is held in the formation of LFMCW SAR difference frequency signal in front of the receiver, and a cycle difference frequency signal is after bandpass filtering
It can be expressed as：
<mrow>
<msub>
<mi>S</mi>
<mi>m</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>A</mi>
<mi> </mi>
<mi>exp</mi>
<mo>&lsqb;</mo>
<mi>j</mi>
<mn>2</mn>
<mi>&pi;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>f</mi>
<mn>0</mn>
</msub>
<mi>&tau;</mi>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>&mu;</mi>
<mo>(</mo>
<mrow>
<msup>
<mi>&tau;</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<mn>2</mn>
<mi>t</mi>
<mi>&tau;</mi>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>,</mo>
<mi>&tau;</mi>
<mo>&le;</mo>
<mi>t</mi>
<mo>&le;</mo>
<mi>T</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
μ be distance to frequency modulation rate, A be difference frequency signal amplitude.
5. a kind of anti-unmanned plane system of defense based on synthetic aperture radar according to claim 1, it is characterised in that：Institute
State step 3 and specifically include following steps：
3.1) centering frequency frequency-region signal carries out phase compensation and Wave beam forming, and carrying out can be virtual by array signal after phase compensation
Wave path-difference between linear array, two neighboring antenna is dsin θ, empty in the array antenna in practical situations both receiving 4 hairs 8
The wave path-difference intended between reception antenna 4n and 4n+1 is not equal to dsin θ, and need to carry out phase compensation makes it become uniform linear array；
Phase compensation is carried out to signal：
YVFFC=T ⊙ YVFF(5)；
Wherein,YVFFFrequency spectrum where target
The complex vector of unit：
3.2) array received signal is received using adding window digital beam-forming technology formation narrow beam, array gain can be obtained
While clutter reduction interference signal, improve target detection probability；
Assuming that beam center azimuth is θ0, it is considered to the system launches receiving array structure, and spatial domain steering vector is：
<mrow>
<msub>
<mi>a</mi>
<mi>s</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>j&pi;sin&theta;</mi>
<mn>0</mn>
</msub>
</mrow>
</msup>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<mi>j</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>N</mi>
<mi>t</mi>
</msub>
<mo>&times;</mo>
<msub>
<mi>N</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mi>&pi;sin&theta;</mi>
<mn>0</mn>
</msub>
</mrow>
</msup>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>T</mi>
</msup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Can be by Nt×NrThe virtual reception antenna array element signal of root is weighted summation, conventional non-self-adapting wave beam output letter
Number it is：
Z=(w ⊙ as(θ0))HYVFFC(7)；
In formula, H represents conjugate transposition, and window function w is NtNr× 1 column vector there is provided the data weighting of angle domain Sidelobe Suppression,
Steering vector as(θ0) provide to from θ0The maximum coherence accumulation of direction signal, all distances-speed unit are carried out wave beam into
Shape, is obtained
6. a kind of anti-unmanned plane system of defense based on synthetic aperture radar according to claim 1, it is characterised in that：Institute
State step 4 and specifically include following steps：
4.1) CFAR detection is carried out to target, the improvement CFAR algorithms for selecting small criterion using cell-average carry out signal detection；
CFAR detections amount of calculation is carried out to all distances-speed unit larger, the width of the range cell is first judged before CFAR is detected
Whether angle value is plots peak, can avoid the processing to garbage signal；
Input block signal is Zc=Z ⊙ Z*, symbol * represents the conjugation of vector, by ZcThe value and thresholding of each distance-speed unit
Value is compared, if more than threshold value, then it is assumed that the point is with the presence of target；
Wherein thresholding Product-factor calculation formula is：
<mrow>
<mi>&alpha;</mi>
<mo>=</mo>
<msub>
<mi>N</mi>
<mi>c</mi>
</msub>
<mo>/</mo>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msubsup>
<mi>p</mi>
<mrow>
<mi>f</mi>
<mi>a</mi>
</mrow>
<mrow>
<mo>-</mo>
<mn>2</mn>
<mo>/</mo>
<msub>
<mi>N</mi>
<mi>c</mi>
</msub>
</mrow>
</msubsup>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
N in formulacFor unit number, pfaFor false-alarm probability；
4.2) Capon method angle measurements are carried out in elevation angle dimension, traversal scope selection beam forming gain reaches the angle model of maximum
Enclose to reduce amount of calculation, draw the estimate angle_E of elevation angle.Summation is weighted to the data that elevation angle is tieed up, weights are
The steering vector that elevation angle estimate is write out, then estimates target and the beeline of radar using following formula
<mrow>
<msub>
<mover>
<mi>R</mi>
<mo>^</mo>
</mover>
<mn>0</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>cf</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mi>&mu;</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
WhereinFor target and the estimate of distance by radar, fmaxFor signal peak institute's generation after beam forming and CFAR detections
The frequency of table；
WillBring formula (4) into and obtain approximate orientation frequency modulation rateMoved entering row interpolation distance
Orientation compression is carried out after dynamic correction to target imaging.
7. a kind of anti-unmanned plane system of defense based on synthetic aperture radar according to claim 6, it is characterised in that：Institute
CFAR detection in step 4.1 is stated to concretely comprise the following steps：
The 1st, protection location number G is setc=2, number of reference Nc=32；
2nd, by formula zm=z ⊙ z*Calculate frequency spectrum each point amplitude modulus value square；
3rd, jth unit is detected, calculatedJth -17 arrive j-2 units average x1And jth+2 arrives the equal of j+17 units
Value x2If,Then think that the point has target, detected for edge data, such as j ＜ 17 then calculate institute
There is the average in reference unit.
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| CN109283555A (en) * | 2018-09-28 | 2019-01-29 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | It defends and leads Wave beam forming ways for inference prohibition |
| CN109521423A (en) * | 2019-01-21 | 2019-03-26 | 青岛澳波泰克安全设备有限责任公司 | A kind of region security radar equipment and security protection region automatic setting method |
| CN109541595A (en) * | 2018-11-14 | 2019-03-29 | 北京遥感设备研究所 | A kind of velocity error modification method and system based on Circular scanning radar images match |
| CN109581344A (en) * | 2018-11-26 | 2019-04-05 | 厦门精益远达智能科技有限公司 | A kind of superelevation monitoring method, device and equipment based on millimetre-wave radar |
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| CN111344591B (en) * | 2017-11-13 | 2023-12-29 | 罗宾雷达设施有限公司 | Frequency modulated continuous wave radar system, method of generating radar pattern, and unmanned aerial vehicle system |
| CN111656217B (en) * | 2018-01-30 | 2023-06-27 | 傲酷公司 | System and method for virtual aperture radar tracking |
| CN111656217A (en) * | 2018-01-30 | 2020-09-11 | 傲酷公司 | System and method for virtual aperture radar tracking |
| CN110176892A (en) * | 2018-02-21 | 2019-08-27 | 通用汽车环球科技运作有限责任公司 | For controlling method, system and equipment that the electric current for controlling motor is supplied |
| CN110176892B (en) * | 2018-02-21 | 2022-07-26 | 通用汽车环球科技运作有限责任公司 | Method, system and apparatus for controlling current supplied to control a motor |
| CN108387883A (en) * | 2018-05-25 | 2018-08-10 | 中国人民解放军国防科技大学 | Method for calculating angle of moving target of switched antenna array frequency modulation continuous wave radar |
| CN109283555A (en) * | 2018-09-28 | 2019-01-29 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | It defends and leads Wave beam forming ways for inference prohibition |
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| CN109581344B (en) * | 2018-11-26 | 2020-06-05 | 厦门精益远达智能科技有限公司 | Ultrahigh monitoring method, device and equipment based on millimeter wave radar |
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| CN109597070B (en) * | 2018-12-29 | 2022-10-04 | 内蒙古工业大学 | Method and device for spiral scanning type arc array microwave imaging |
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| CN110927717A (en) * | 2019-12-11 | 2020-03-27 | 深圳大学 | Imaging method, device and imaging system of frequency modulated continuous wave radar |
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| CN112230213B (en) * | 2020-08-26 | 2024-02-02 | 北京航空航天大学杭州创新研究院 | Millimeter wave radar, signal processing method and device thereof, and computer readable storage medium |
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| CN112462341A (en) * | 2020-10-20 | 2021-03-09 | 西南石油大学 | Small rotor unmanned aerial vehicle target detection method based on multi-pulse accumulation |
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