CN107340495A - A kind of target direction of arrival method for quick estimating based on array radar - Google Patents
A kind of target direction of arrival method for quick estimating based on array radar Download PDFInfo
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- CN107340495A CN107340495A CN201710510050.8A CN201710510050A CN107340495A CN 107340495 A CN107340495 A CN 107340495A CN 201710510050 A CN201710510050 A CN 201710510050A CN 107340495 A CN107340495 A CN 107340495A
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/143—Systems for determining direction or deviation from predetermined direction by vectorial combination of signals derived from differently oriented antennae
Abstract
The invention discloses a kind of target direction of arrival method for quick estimating based on array radar, its main thought is：Array radar is determined, the array radar includes N number of array element；Array radar receives radar simulation signal, and carries out A/D samplings and process of pulse-compression to the radar simulation signal, obtains pulse compression echo digital signal data vector；The arrival bearing θ of pulse compression echo digital signal data vector is set, and obtains the synthesis steering vector on θ directions；According to the synthesis steering vector on θ directions, the DBF weight vectors of N number of array element are obtained；DBF bigness scales are carried out to pulse compression echo digital signal data vector, obtain DBF bigness scale results, the DBF bigness scales result is the arrival bearing θ of pulse compression echo digital signal data vector elevation location；SVML accurate measurements are carried out to pulse compression echo digital signal data vector according to DBF bigness scales result, obtain the target direction of arrival based on array radar.
Description
Technical field
The invention belongs to metre wave radar signal processing technology field, more particularly to a kind of target ripple based on array radar reaches
Direction method for quick estimating, suitable for practical engineering application.
Background technology
Metre wave radar angle measurement survey height be field of signal processing important branch, radar emission electromagnetic wave and receive come from its prestige
Target echo signal in power coverage, position and the other information of target are then extracted from the echo-signal of reception, with
For detecting, positioning and target identification；Metre wave radar has well anti-because its working frequency range and longer wavelengths of feature
Stealthy and antiradiation missile ability, but simultaneously as metric wave wave beam is wider, the problems such as wave beam " beating ground " and multipath effect be present,
Metre wave radar angle measurement accuracy is had a strong impact on.
The Mutual coupling of early stage target mainly uses digital beam froming (DBF) algorithm, and the angle of DBF algorithms is divided
The aperture of resolution and antenna is inversely proportional, and needs to increase the array aperture of radar antenna to reach preferable angular resolution, this
Any is difficult to；For metre wave radar, direct wave and multipath reflection ripple in low elevation angle region are located at same ripple
In beam width, it can not differentiate, it may appear that direction ambiguity；That is, simple using DBF angle measuring algorithms, arithmetic speed is fast, can
Target direction is measured, but angle measurement accuracy is inadequate.
In order to reach higher angle measurement accuracy, there is a kind of subspace fitting algorithm：Maximum likelihood (ML) algorithm, it is maximum
Likelihood (ML) algorithm can reach more preferable under conditions of target signal to noise ratio is relatively low, fast umber of beats is less compared to other algorithms
Angle measurement performance；But ML algorithms need to carry out the multi-dimensional search in spatial domain, operand is larger, in order to reduce operand, scholars couple
It is improved, and ultimately forms synthesis steering vector (SVML) algorithm, and SVML algorithms are all carried out to through angle and angle of reflection
Search, although target can not be carried out by preferably resolving multipath reflection ripple and direct wave the DBF algorithms in a beam angle valve
The problem of Mutual coupling, but two deficiencies be present：First, it is necessary to carry out two dimension and estimate respectively to through angle and angle of reflection
Meter, amount of calculation is bigger than normal, can not ensure the real-time of signal transacting；Second, the search of big measuring angle, operand is increased, it is difficult to
Meet the real-time of angle measurement.
The content of the invention
For above-mentioned the shortcomings of the prior art, it is an object of the invention to propose a kind of target based on array radar
Direction of arrival method for quick estimating, target direction of arrival method for quick estimating of this kind based on array radar are that one kind is based on CUDA
DBF and SVML the combination Direction Finding Algorithm of framework, it accurately can quickly estimate target ripple up to side according to target echo information and landform
To, and then metre wave radar angle measurement can be improved and survey high speed and precision.
The main thought of the present invention：The present invention combines DBF algorithms and carries out angle measurement with SVML algorithms, is primarily due to metric wave thunder
Wider up to wave beam, direct wave and multipath reflection ripple in low elevation angle region are located in same beam angle, can not differentiate, although adopting
Direction ambiguity occurs with DBF algorithms, but DBF angle measuring algorithms are fairly simple, arithmetic speed is fast, and the lobe ratio of SVML algorithms
The lobe of DBF algorithms is narrower, and angular resolution is higher；Being capable of advantage so DBF algorithms are combined into progress angle measurement with SVML algorithms
Complementation, DBF algorithms are mainly responsible for bigness scale, and SVML algorithms are responsible for accurate measurement, thus reduce hunting zone, accelerate search for into
Journey, the likelihood value of multiple angles can be calculated simultaneously, on the one hand can improve angle measurement speed, on the other hand, can further subtract
It is small to search for stepped intervals to improve angle measurement accuracy.
To reach above-mentioned technical purpose, the present invention, which adopts the following technical scheme that, to be achieved.
A kind of target direction of arrival method for quick estimating based on array radar, comprises the following steps：
Step 1, array radar is determined, the array radar includes N number of array element；Array radar receives radar simulation signal,
And A/D samplings and process of pulse-compression are carried out to the radar simulation signal, obtain pulse compression echo digital signal data vector；
The arrival bearing θ of pulse compression echo digital signal data vector is set, and obtains the synthesis on θ directions and is oriented to arrow
Amount
Step 2, according to the synthesis steering vector on θ directions, the DBF weight vectors of N number of array element are obtained；
Step 3, DBF bigness scales are carried out to pulse compression echo digital signal data vector, obtains DBF bigness scale results, it is described
DBF bigness scales result is the arrival bearing θ of pulse compression echo digital signal data vector elevation location；
Step 4, SVML accurate measurements are carried out to pulse compression echo digital signal data vector according to DBF bigness scales result, obtained
Target direction of arrival based on array radar.
Beneficial effects of the present invention：
First, the inventive method, which realizes, is combined DBF algorithms and SVML algorithms so that SVML methods hunting zone becomes
It is small, operand is reduced, accelerates arithmetic speed.
Second, the present invention in terms of angle on target measurement accuracy is improved advantageously：On the one hand, DBF algorithm bigness scales are increased,
The approximate range of target direction of arrival is measured using DBF algorithms first, improves angle measurement speed；Then entered using SVML algorithms
Row accurate measurement, so as to reduce angle searching scope, angle measurement speed is improved, solves low Elevation angle fuzzy problem；On the other hand, adopt
Angular surveying is carried out with the implementation method of parallel processing, not only accelerates arithmetic speed, improves signal transacting speed, while can
Bigness scale scope is scanned for smaller stepping within the same time using this parallel feature, improve angle measurement survey it is high accurate
Degree.
Brief description of the drawings
Explanation and embodiment are described in further detail to the present invention below in conjunction with the accompanying drawings.
Fig. 1 is a kind of target direction of arrival method for quick estimating flow chart based on array radar of the present invention；
Fig. 2 (a) is the DBF bigness scale result figures obtained using the inventive method；
Fig. 2 (b) is the SVML accurate measurement result figures obtained using the inventive method；
Fig. 2 (c) is that Fig. 2 (b) likelihood value is converted into unit dB SVML spectrograms.
Embodiment
Reference picture 1, for a kind of target direction of arrival method for quick estimating flow chart based on array radar of the present invention；Its
Described in the target direction of arrival method for quick estimating based on array radar, comprise the following steps：
Step 1, array radar is determined, the array radar includes N number of array element；Array radar receives radar simulation signal,
And A/D samplings and process of pulse-compression are carried out to the radar simulation signal, obtain pulse compression echo digital signal data vector.
The sub-step of step 1 is：
Array radar 1a) is determined, array radar is that rice wins radar；The array radar includes N number of array element；Array radar
Target in detection range be present, and array radar transmitting electromagnetic wave and receive radar simulation signal, then the radar to receiving
Analog signal carries out A/D samplings and process of pulse-compression, obtains pulse compression echo digital signal data vector；By the pulse
Compression number of echoes word signal data vector is designated as X (t), X (t)=[x1(t),x2(t),...,xn(t),...,xN(t)], xn(t)
The pulse compression echo digital signal data of n-th of array element is represented, t represents time variable；X (t) ties up for N × P, and N represents array
The array element total number that radar includes, P represents the pulse total number of array radar transmitting, and N, P are respectively the positive integer more than 0.
1b) arrival bearing for assuming pulse compression echo digital signal data vector X (t) is θ, then the synthesis on θ directions
Steering vector isIts expression formula is：
Wherein, κ represents the electromagnetic wave wave number of array radar transmitting, and κ=2 π/λ, λ represent the electromagnetic wave of array radar transmitting
Wavelength, d represent the spacing of adjacent array element in array radar, and N is the array element total number that array radar includes, and subscript T represents transposition
Operation, e represent exponential function, and j represents imaginary unit, and sin represents SIN function.
Step 2, in order to reduce the minor level of array, it is necessary to the synthesis steering vector on θ directionsCarry out adding window
Processing, obtains the synthesis steering vector after windowing process, is designated as the DBF weight vector W of N number of array element, its expression formula is：
Wherein, W=[W1,W2,...,Wn,...,WN]T, n ∈ { 1,2 ..., N }, WnRepresent the DBF power arrows of n-th of array element
Amount, subscript T represent transposition operation, WwinThe window function that length is N is represented, subscript T represents transposition operation.
Step 3, DBF bigness scales are carried out to pulse compression echo digital signal data vector X (t), obtain DBF bigness scale results,
The DBF bigness scales result is pulse compression echo digital signal data vector X (t) arrival bearing θ elevation location.
DBF bigness scales are carried out to pulse compression echo digital signal data vector X (t), its bigness scale process is：
3.1 initialization：Assuming that pulse compression echo digital signal data vector X (t) arrival bearing θ estimations need to search for
Space elevation coverage beOrderIn order that pulse compression echo digital signal data vector X
(t) arrival bearing θ every setting stepping △ θ traversal searches andTo pulse compression echo digital signal data
Vector X (t) arrival bearing θ estimations need the space elevation coverage searched forDivided, obtain ang_num_cu
Angle measurement, it is respectively
Wherein,Expression takesSmallest positive integral, ang_num_cu isThe angle measurement total number inside included；Represent theIndividual angle measurement,Initial value be for the 1, the 1st angle measurementThe ang_num_cu angle measurement beTheIndividual angle measurement is
3.2 calculate theThe output modulus value of individual angle measurementPulse compression echo digital signal data vector X (t) is carried out
Weighted sum, obtainThe output modulus value of individual angle measurementIts expression formula is：
Wherein,Represent theThe DBF weight vectors of individual angle measurement,
RepresentSynthesis steering vector on direction, subscript H represent conjugate transposition operation, WwinRepresent the window that length is N
Function.
3.3 order1 to ang_num_cu is taken respectively, performs 3.2 parallel, and then obtains the output modulus value of the 1st angle measurement simultaneously
y1(t) to the output modulus value y of the ang_num_cu angle measurementang_num_cu(t), it is designated as the output modulus value of ang_num_cu angle measurement Wherein, the output modulus value y of the 1st angle measurement1(t) to ang_num_cu
The output modulus value y of individual angle measurementang_num_cu(t) calculating process is parallel computation.
3.4 obtain DBF bigness scale results：In the output modulus value of ang_num_cu angle measurementMiddle search maximum output modulus value
Corresponding angle measurement, is designated as For pulse compression echo digital signal data vector X (t) arrival bearing θ elevation location；
That is when DBF weight vectors the facing upward to pulse compression echo digital signal data vector X (t) arrival bearing θ of N number of array element
Angle PositionSignal on direction realizes in-phase stacking, i.e.,When, output modulus value is maximum；RepresentConjunction on direction
Into steering vector, W' is representedDBF weight vectors on direction.
The arrival bearing θ of the pulse compression echo digital signal data vector X (t) elevation locationFor DBF bigness scale knots
Fruit.
Step 4, to carrying out SVML accurate measurements to pulse compression echo digital signal data vector according to DBF bigness scales result, obtain
To the target direction of arrival based on array radar.
(4a) determines pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement scope, its process
For：IfThen pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement scope isIfThen pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement model
Enclose forσ represents the angle of setting, typically takes σ≤2 °.
For convenience of description, pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement scope is made
For [α1,α2], ifThenIfα1=0,In arteries and veins
It is step-length that △ η are made in the range of punching press retraction ripple digital signal data vector X (t) arrival bearing θ accurate measurement, △ η ＜ △ θ；Order
Ang_num is [α1,α2] in the angle measurement total number that includes, Expression takes's
Smallest positive integral.
Initialization：Make θtT-th of angle measurement is represented, t ∈ { 1,2 ..., ang_num }, t initial value are the 1, the 1st angle measurement θ1
For α1, the ang_num angle measurement θang_numFor α2, t-th of angle measurement θtFor α1+ (t-1) △ η, α2=α1+ (ang_num-1) △ η,
Ang_num represents pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement scope [α1,α2] in include
Angle measurement total number, ang_num is positive integer more than 0.
(4b) calculates t-th of angle measurement θtDirect wave and t-th of angle measurement θtThe wave path-difference △ r of back wavet, and t-th of survey
Angle θtBack wave angle, θtr, its expression formula is respectively：
△rt=rt1+rt2-rd
Wherein, t-th of angle measurement θtReflection path include two sections, respectively t-th of angle measurement θtThrough entering before reflection point reflection
Penetrate section and t-th of angle measurement θtReflecting segment after reflecting point reflection, and t-th of angle measurement θ is designated as respectivelytThe incident section of reflection path
With t-th of angle measurement θtThe reflecting segment of reflection path, rt1Represent t-th of angle measurement θtThe incident section of reflection path, rt2Represent t-th of survey
Angle θtReflection path reflecting segment, rdTarget and the air line distance of array radar are represented, subscript -1 represents inversion operation, cos tables
Show that complementation string operates.
Then t-th of angle measurement θ is calculatedtSynthesis steering vector a (θt), its expression formula is：
Wherein, ad(θt) represent t-th of angle measurement θtDirect wave steering vector, ar(θtr) represent t-th of angle measurement θtReflection
Ripple steering vector, ρ represent the reflectance factor of setting, often take -0.95；λ represents the electromagnetic wavelength of array radar transmitting, subscript j
Imaginary unit is represented, e represents exponential function, and subscript r represents reflection.
(4c) utilizes t-th of angle measurement θtSynthesis steering vector a (θt), construct t-th of angle measurement θtOrthogonal intersection cast shadow matrix P
(θt)：
P(θt)=a (θt)[aH(θt)a(θt)](-1)aH(θt)
Wherein, a (θt) represent t-th of angle measurement θtSynthesis steering vector, subscript H represent conjugate transposition operation.
(4d) makes t take 1 to ang_num respectively, parallel to perform (4b) and (4c), and then the 1st angle measurement θ simultaneously1It is orthogonal
Projection matrix P (θ1) to the ang_num angle measurement θang_numOrthogonal intersection cast shadow matrix P (θang_num), it is designated as ang_num angle measurement
Orthogonal intersection cast shadow matrix P (θ), P (θ)=[P (θ1),P(θ2),...,P(θt),...,P(θang_num)]；Wherein, the 1st angle measurement θ1
Synthesis steering vector a (θ1) to the ang_num angle measurement θang_numSynthesis steering vector a (θang_num) calculating process be
Parallel computation.
(4e) is constructed on pulse compression echo data signal according to the orthogonal intersection cast shadow matrix P (θ) of ang_num angle measurement
The arrival bearing θ of data vector X (t) maximum likelihood function Q (θ), its expression formula are：
Q (θ)=tr { P (θ) R }
Wherein, tr {-} represents to ask mark to operate, and R represents pulse compression echo digital signal data vector X (t) auto-correlation
Matrix, θ represent pulse compression echo digital signal data vector X (t) arrival bearing.
The maximum likelihood function Q of (4f) to the arrival bearing θ on pulse compression echo digital signal data vector X (t)
(θ) carries out spectrum peak search, and pulse compression echo digital signal data vector X (t) arrival bearing θ estimate is calculated
Wherein,Represent to solve the arrival bearing θ on pulse compression echo digital signal data vector X (t)
Maximum likelihood function Q (θ) in arrival bearing's operation corresponding to maximum spectral peak；The pulse compression echo digital signal data
Vector X (t) arrival bearing θ estimateFor the target direction of arrival based on array radar.
Further checking explanation is done to effect of the present invention with reference to emulation experiment.
1. simulated conditions
The operating system of this experiment is the SP1 of Windows 7, and video card is the NVIDIA Tesla that computing capability is 2.0
Carried out under C2050, the video card supports double-precision floating point computing.Emulation platform is used as by using VS2013+CUDA 7.5, it is real
The now target Mutual coupling based on array radar；Target real angle is 1.4 ° in this experiment.
2. emulation content
First, DBF bigness scales are carried out, obtain Fig. 2 (a) DBF bigness scale result figures；Then, using DBF bigness scale results, carry out
SVML accurate measurements, obtain Fig. 2 (b) SVML spectrograms；It is unit that Fig. 2 (b) likelihood value is converted into dB, obtains Fig. 2 (c) result
Figure.
3. brief description of the drawings
Fig. 2 (a) is the DBF bigness scale result figures obtained using the inventive method；Wherein, abscissa represents direct wave incidence angle
Degree, ordinate represent normalization range value, can be seen that from Fig. 2 (a) that when target is in low elevation angle area, DBF lobes are wider,
Target elevation can not accurately be measured.
Fig. 2 (b) is the progress SVML accurate measurements in DBF bigness scale results, and obtained SVML spectrograms, Fig. 2 (b) is using the present invention
The SVML accurate measurement result figures that method obtains；Wherein, abscissa represents direct wave incident angle, and ordinate represents SVML likelihood functions
Value, by can be seen that in Fig. 2 (b), at low elevation angle area, SVML lobes are narrower, still keep good angle measurement accuracy, can be more
It is accurately obtained target elevation.
Fig. 2 (c) is that Fig. 2 (b) likelihood value is converted into unit dB SVML spectrograms, wherein, abscissa represents direct wave
Incident angle, ordinate are the SVML likelihood function values in units of dB.
Contrasted by Fig. 2 (c) and Fig. 2 (a), can intuitively find out low elevation angle area, SVML algorithms are with respect to DBF algorithms
For angle measurement accuracy it is higher.
4. form explanation
Table 1 is different Height-measuring algorithms angle measurement time statistics in different platform in present example, in present example,
The low elevation angle area true elevation angle of target is set as 1.4 °.
Table 1 contrasts (unit for different Height-measuring algorithms in present example in CPU and GPU institutes run time：ms)
From list data as can be seen that GPU is more efficient than CPU data operation.It is noted that DBF is thick in form
Survey a column bracket inner digital and represent there is 0.096ms to be used for data transfer between GPU and CPU in total time 0.242ms, that is to say, that
GPU has a big chunk time to be used in data transfer.So in GPU calculating processes, when should subtract data transfer as far as possible
Between.
Table 1 contrasts (unit for different Height-measuring algorithms in present example in CPU and GPU institutes run time：Ms), wherein,
Last is classified as speed-up ratios of the GPU relative to CPU, and as can be seen from the table, SVML algorithm speed-up ratios reach 292.444 times,
Total speed-up ratio reaches 39.748 times, it was demonstrated that the validity of this method.
Claims (5)
1. a kind of target direction of arrival method for quick estimating based on array radar, it is characterised in that comprise the following steps：
Step 1, array radar is determined, the array radar includes N number of array element；Array radar receives radar simulation signal, and right
The radar simulation signal carries out A/D samplings and process of pulse-compression, obtains pulse compression echo digital signal data vector；
The arrival bearing θ of pulse compression echo digital signal data vector is set, and obtains the synthesis steering vector on θ directions；
Step 2, according to the synthesis steering vector on θ directions, the DBF weight vectors of N number of array element are obtained；
Step 3, DBF bigness scales are carried out to pulse compression echo digital signal data vector, obtains DBF bigness scale results, the DBF is thick
Survey elevation location of the result for the arrival bearing θ of pulse compression echo digital signal data vector；
Step 4, SVML accurate measurements are carried out to pulse compression echo digital signal data vector according to DBF bigness scales result, be based on
The target direction of arrival of array radar.
A kind of 2. target direction of arrival method for quick estimating based on array radar as claimed in claim 1, it is characterised in that
In step 1, the pulse compression echo digital signal data vector is designated as X (t), X (t)=[x1(t),x2(t),...,xn
(t),...,xN(t)], xn(t) the pulse compression echo digital signal data of n-th of array element is represented, t represents time variable；X(t)
Tieed up for N × P, N represents the array element total number that array radar includes, and P represents the pulse total number of array radar transmitting, and N, P points
Positive integer that Wei be more than 0；
Synthesis steering vector on the θ directions isIts expression formula is：
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Wherein, κ represents the electromagnetic wave wave number of array radar transmitting, and κ=2 π/λ, λ represent the electromagnetic wavelength of array radar transmitting,
D represents the spacing of adjacent array element in array radar, and N is the array element total number that array radar includes, and subscript T represents transposition operation, e
Exponential function is represented, j represents imaginary unit, and sin represents SIN function.
A kind of 3. target direction of arrival method for quick estimating based on array radar as claimed in claim 2, it is characterised in that
In step 2, the DBF weight vectors for obtaining N number of array element are designated as W, its expression formula is：
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Wherein, W=[W1,W2,...,Wn,...,WN]T, n ∈ { 1,2 ..., N }, WnThe DBF weight vectors of n-th of array element are represented, on
Mark T and represent transposition operation, WwinThe window function that length is N is represented, subscript T represents transposition operation.
A kind of 4. target direction of arrival method for quick estimating based on array radar as claimed in claim 3, it is characterised in that
The sub-step of step 3 is：
3.1 initialization：Assuming that pulse compression echo digital signal data vector X (t) arrival bearing θ estimations need the sky searched for
Between elevation coverage be OrderTo pulse compression echo digital signal data vector X (t) incoming wave
θ estimations in direction need the space elevation coverage searched forDivided, obtain ang_num_cu angle measurement, be respectively
Wherein, Expression, which takes, to be more than or equal toSmallest positive integral, ang_num_cu isThe angle measurement total number inside included；Represent the
Individual angle measurement,Initial value be for the 1, the 1st angle measurementThe ang_num_cu angle measurement beTheIndividual angle measurement is
3.2 calculate theThe output modulus value of individual angle measurementPulse compression echo digital signal data vector X (t) is weighted
Summation, obtain theThe output modulus value of individual angle measurementIts expression formula is：
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Wherein,Represent theThe DBF weight vectors of individual angle measurement,Table
ShowSynthesis steering vector on direction, subscript H represent conjugate transposition operation, WwinRepresent the window letter that length is N
Number；
3.3 order1 to ang_num_cu is taken respectively, performs 3.2 parallel, and then obtains the output modulus value y of the 1st angle measurement simultaneously1(t)
To the output modulus value y of the ang_num_cu angle measurementang_num_cu(t), it is designated as the output modulus value of ang_num_cu angle measurement
3.4 ang_num_cu angle measurement output modulus valueAngle measurement corresponding to middle search maximum output modulus value, is designated as For
Pulse compression echo digital signal data vector X (t) arrival bearing θ elevation location；The pulse compression echo numeral letter
Number vector X (t) arrival bearing θ elevation locationFor DBF bigness scale results.
A kind of 5. target direction of arrival method for quick estimating based on array radar as claimed in claim 4, it is characterised in that
The sub-step of step 4 is：
(4a) determines pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement scope, and its process is：Such as
FruitThen pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement scope isIfThen pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement model
Enclose forσ represents the angle of setting；
The accurate measurement scope for making pulse compression echo digital signal data vector X (t) arrival bearing θ is [α1,α2], ifThenIfα1=0,In pulse compression echo numeral
It is step-length that △ η are made in the range of signal data vector X (t) arrival bearing θ accurate measurement, △ η ＜ △ θ；It is [α to make ang_num1,α2]
The angle measurement total number inside included, Expression, which takes, to be more than or equal toMinimum
Integer；
Initialization：Make θtT-th of angle measurement is represented, t ∈ { 1,2 ..., ang_num }, t initial value are the 1, the 1st angle measurement θ1For α1,
The ang_num angle measurement θang_numFor α2, t-th of angle measurement θtFor α1+ (t-1) △ η, α2=α1+ (ang_num-1) △ η, ang_
Num represents pulse compression echo digital signal data vector X (t) arrival bearing θ accurate measurement scope [α1,α2] in the survey that includes
Angle total number, ang_num are the positive integer more than 0；
(4b) calculates t-th of angle measurement θtDirect wave and t-th of angle measurement θtThe wave path-difference △ r of back wavet, and t-th of angle measurement θt
Back wave angle, θtr, its expression formula is respectively：
△rt=rt1+rt2-rd
<mrow>
<msub>
<mi>&theta;</mi>
<mrow>
<mi>t</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msup>
<mi>cos</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>(</mo>
<mfrac>
<mrow>
<msubsup>
<mi>r</mi>
<mi>d</mi>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>r</mi>
<mrow>
<mi>t</mi>
<mn>1</mn>
</mrow>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>r</mi>
<mrow>
<mi>t</mi>
<mn>2</mn>
</mrow>
<mn>2</mn>
</msubsup>
</mrow>
<mrow>
<mn>2</mn>
<msub>
<mi>r</mi>
<mi>d</mi>
</msub>
<mo>&CenterDot;</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>t</mi>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
<mo>-</mo>
<msub>
<mi>&theta;</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
Wherein, t-th of angle measurement θtReflection path include two sections, respectively t-th of angle measurement θtThrough the incident section before reflection point reflection
With t-th of angle measurement θtReflecting segment after reflecting point reflection, and t-th of angle measurement θ is designated as respectivelytThe incident section and t of reflection path
Individual angle measurement θtThe reflecting segment of reflection path, rt1Represent t-th of angle measurement θtThe incident section of reflection path, rt2Represent t-th of angle measurement θt
Reflection path reflecting segment, rdTarget and the air line distance of array radar are represented, subscript -1 represents inversion operation, and cos is represented
Complementation string operates；Then t-th of angle measurement θ is calculatedtSynthesis steering vector a (θt), its expression formula is：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>a</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>a</mi>
<mi>d</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>&rho;a</mi>
<mi>r</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mrow>
<mi>t</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msup>
<mi>&rho;e</mi>
<mrow>
<mo>-</mo>
<mi>j</mi>
<mfrac>
<mrow>
<mn>2</mn>
<msub>
<mi>&pi;&Delta;r</mi>
<mi>t</mi>
</msub>
</mrow>
<mi>&lambda;</mi>
</mfrac>
</mrow>
</msup>
</mrow>
<mo>)</mo>
</mrow>
<msub>
<mi>a</mi>
<mi>d</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>t</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, ad(θt) represent t-th of angle measurement θtDirect wave steering vector, ar(θtr) represent t-th of angle measurement θtReflection waveguide
To vector, ρ represents the reflectance factor of setting, often takes -0.95；λ represents the electromagnetic wavelength of array radar transmitting, and subscript j is represented
Imaginary unit, e represent exponential function, and subscript r represents reflection；
(4c) utilizes t-th of angle measurement θtSynthesis steering vector a (θt), construct t-th of angle measurement θtOrthogonal intersection cast shadow matrix P (θt)：
P(θt)=a (θt)[aH(θt)a(θt)](-1)aH(θt)
Wherein, a (θt) represent t-th of angle measurement θtSynthesis steering vector, subscript H represent conjugate transposition operation；
(4d) makes t take 1 to ang_num respectively, parallel to perform (4b) and (4c), and then obtains the 1st angle measurement θ simultaneously1Just trade
Shadow matrix P (θ1) to the ang_num angle measurement θang_numOrthogonal intersection cast shadow matrix P (θang_num), it is designated as ang_num angle measurement
Orthogonal intersection cast shadow matrix P (θ), P (θ)=[P (θ1),P(θ2),...,P(θt),...,P(θang_num)]；
(4e) is constructed on pulse compression echo digital signal data according to the orthogonal intersection cast shadow matrix P (θ) of ang_num angle measurement
Vector X (t) arrival bearing θ maximum likelihood function Q (θ), its expression formula are：
Q (θ)=tr { P (θ) R }
Wherein, tr {-} represents to ask mark to operate, and R represents pulse compression echo digital signal data vector X (t) autocorrelation matrix,
θ represents pulse compression echo digital signal data vector X (t) arrival bearing；
(4f) enters to the maximum likelihood function Q (θ) of the arrival bearing θ on pulse compression echo digital signal data vector X (t)
Row spectrum peak search, pulse compression echo digital signal data vector X (t) arrival bearing θ estimate is calculated
Wherein,Represent solve on pulse compression echo digital signal data vector X (t) arrival bearing θ most
Arrival bearing's operation in maximum-likelihood function Q (θ) corresponding to maximum spectral peak；The pulse compression echo digital signal data vector
X (t) arrival bearing θ estimateFor the target direction of arrival based on array radar.
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| CN114428236B (en) * | 2022-04-06 | 2022-07-01 | 南京楚航科技有限公司 | Vehicle-mounted millimeter wave radar angle confidence degree estimation method |
| CN114428236A (en) * | 2022-04-06 | 2022-05-03 | 南京楚航科技有限公司 | Vehicle-mounted millimeter wave radar angle confidence degree estimation method |
| CN114817675A (en) * | 2022-06-20 | 2022-07-29 | 中国电子科技集团公司第五十四研究所 | Target fast searching method using wide area random sparse array wave beam side lobe characteristics |
| CN114817675B (en) * | 2022-06-20 | 2022-09-09 | 中国电子科技集团公司第五十四研究所 | Target fast searching method using wide area random sparse array wave beam side lobe characteristics |
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