CN107589409A - One kind splits antenna MIMO radar distribution low traffic detection fusion method - Google Patents
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Abstract
The invention discloses one kind to split antenna MIMO radar distribution low traffic detection fusion method, belongs to Radar Technology field.Present invention employs one kind to split antenna MIMO radar distribution low traffic detection method；Feature is to use the Distributed Detection method based on detection information auxiliary, carries out a CFAR detection in each local detectors to the data of each passage first, only retains the voltage amplitude data that each passage crosses the sampled point of thresholding；Remaining data are sent to processing center；Then final detection judgement is made after the heart is searched for using remaining data by grid space in processes；Finally by the final decision at center per treatment be sent to each local detectors be used for correct the thresholding that locally detects next time.Solve in practical application under transmission bandwidth confined condition, can only hop data the problem of causing system detectio performance significantly to decline, so as to realize the high-performance detection for splitting antenna MIMO radar under low-traffic condition.
Description
Technical Field
The invention belongs to the technical field of radars, and relates to a distributed low-traffic detection technology of a split antenna MIMO radar.
Background
With the rapid development of the four major threats (stealth targets, electronic interference, low-altitude ultra-low altitude penetration and anti-radiation missiles), modern radars face more and more challenges. Particularly, ballistic missiles, cruise missiles, stealth airplanes, aerospace planes and the like have the characteristics of long range, high power, high speed, small sectional area and the like, so that the power of the conventional monostatic radar system is suddenly reduced, a large number of monitoring vacuum areas are formed, and great challenges are brought to homeland defense and regional monitoring. Under the background, due to the rapid development of a sensor network communication technology, a multi-radar information fusion processing technology and a resource control technology, a multi-station radar cooperative processing system is widely concerned by a plurality of military strong countries such as the United states, France, Russia and the like, and becomes a necessary trend for future development by virtue of the advantages of anti-stealth, anti-electronic interference, low-altitude penetration resistance, anti-radiation missile resistance and the like.
The detection of a target by using a split antenna MIMO radar is a research key point of multi-station radar cooperative processing, and the traditional multi-station radar detection method mainly transmits all signal level information of multiple channels to a processing center for simultaneous processing for detection. However, since the calculation and communication bandwidths of each radar site in the multi-station radar cooperative system are both limited, the signal level information obtained by each receiving station cannot be completely transmitted to the processing center for centralized processing, and only a distributed detection method is adopted at this time, but the detection performance of the system on the target is greatly reduced while the calculated amount and the communication traffic are reduced by the common distributed detection method. Therefore, inspired by the wireless sensor distributed detection technology, the distributed detection method based on detection information assistance is adopted, and the method is low in calculation complexity, low in transmission communication traffic, simple and easy to implement and convenient to actually apply.
Disclosure of Invention
The invention aims to research and design a distributed low-pass traffic detection fusion method of a MIMO radar with a split antenna aiming at the problem that complete signal level information cannot be transmitted to a processing center due to the limited calculation and communication bandwidth of each radar site, and solve the problems that complete information cannot be transmitted and the detection performance is greatly reduced due to the limited bandwidth in the detection of the MIMO radar.
The solution of the invention is to adopt a distributed detection method based on detection information assistance, firstly, CFAR detection is carried out on data of each channel at each local detector, and only voltage amplitude data of sampling points of each channel which pass a threshold are reserved; transmitting the remaining data to a processing center; then, the processing center makes final detection judgment by utilizing the residual data after searching in a grid space; and finally, transmitting the final decision of each processing center to each local detector for correcting the threshold of the next local detection. The method effectively solves the problem that the detection performance of the system is greatly reduced due to the fact that only partial data can be transmitted under the condition that the transmission bandwidth is limited in practical application, and therefore high-performance detection of the MIMO radar with the split antennas under the condition of low communication traffic is achieved.
For the convenience of describing the present invention, the following terms are first explained:
definitions 1 MIMO Radar
MIMO radar refers to a multiple-input multiple-output radar system in which a transmitting antenna and a receiving antenna are separately disposed.
Definitions 2 Split antenna MIMO Radar
The distance between the antennas of the MIMO radar with the separate antennas is far, the independence between the receiving and transmitting channels is ensured, and the target can be observed in a plurality of different directions, so that the problem of radar scattering cross section (RCS) flicker of the target is effectively solved, and space diversity gain and space multipath gain are obtained.
Definitions 3.CFAR detection
CFAR detection, i.e., Constant False Alarm Rate (Constant False Alarm Rate) detection, is known as adaptive threshold detection, in which a radar can automatically adjust its sensitivity to keep the False Alarm Rate of the radar Constant when the external interference intensity changes.
The invention provides a distributed low-pass traffic detection fusion method for a MIMO radar with separate antennas, which comprises the following steps:
step 1, transmitting orthogonal signals by using a sensor, and separating multi-channel target echo signals received by each local detector through a matched filter;
step 2, each local detector samples the received signals separated in the step 1;
step 3, according to the determined detection threshold, each local detector performs CFAR detection on the signals obtained in the step 2 to obtain CFAR detection results of a plurality of channels, and one local detector corresponds to one channel;
step 4, reserving the sampling point voltage amplitude data and the distance information of the sampling point voltage amplitude data which passes through the threshold after being detected by each channel CFAR detector, and transmitting the sampling point voltage amplitude data and the distance information to a processing center;
step 5, fusing all the received data to the same data plane in the processing center, and dividing the data plane into a plurality of grids; determining a search space corresponding to each grid according to the distance information of the processing center data, and finding out the measurement information of all distance units corresponding to the grid search space;
step 6, carrying out space search in each grid, and obtaining the final target detection judgment of the processing center through threshold processing again;
step 7, transmitting the final judgment result of the processing center to each local detector, and updating the detection threshold of the local detector for the next CFAR detection by combining the detection result of the local detector;
and 8, repeating the steps 3 to 7, and detecting the target for multiple times.
Further, the echo signals received in step 1 are:
is located at (x)j,yj)，j＝1, a.N receiving radar RjReceived from the station at (x)i,yi) A transmitting station T of M1iThe echo signal transmitted to the target is yij(t),
Wherein Q is total energy of the transmitted beam, N is total number of the received radars, M is total number of the transmitted radars, αijIs the complex reflection coefficient, s, of the target in the ij channeliFor the original transmitted signal of the ith transmitting radar transmitted to the target, nij(t) Gaussian white noise for the ij channel; for the MIMO radar with split antennas, the antennas are required to be far enough apart, and the noise and the complex reflection coefficient of different receiving and transmitting channels are independent; t is the observation time interval, τijCorresponding to the time delay of the ij channel;
the echo data sequence output by the ijth channel of the echo signal sampling in the step 2 is yij，
yij＝[yij[1],yij[2],...,yij[NT]]
Wherein N isTCounting the number of sampling points;
the local detector CFAR in step 3 detects as;
set the false alarm probability P of the systemfaAnd (3) limiting the range: pfa＜αfa，αfaThe maximum false alarm probability allowed by the system is represented, and the system detection probability P is ensuredDIn the maximum case, the model detected is represented as follows:
the following objective function J is established:
J＝(1-PD)-λ(Pfa-αfa)
wherein λ is lagrangian coefficient, in order to meet the system performance requirement, the objective function J needs to be minimized, and the CFAR detector for each channel is obtained as follows:
wherein, f (y)ij|H1) CFAR detector for the ijth channel at H1Conditional probability density under assumption, f (y)ij|H0) CFAR detector for the ijth channel at H0Conditional probability density under assumption, tijIs the threshold of the ijth channel.
Further, the formula for updating the CFAR detection threshold of the next local detector in step 7 is:
wherein,represents the CFAR detection threshold of the nth local detector,the k observed value of the nth local detector;representing the observation probability density when the k-th detection target does not exist;representing the observation probability density when the kth detection target exists;is the kth detection detector threshold; w is an＝βnISNRn，βnE (0,1) is a constant coefficient,is the signal-to-noise ratio of the detector, ek-1For the decision result of the k-1 st detection processing center,is the decision result of the k-1 detection of the nth partial detector.
The invention has the beneficial effects that: in the method, CFAR processing is firstly carried out on a local detector, and only sampling point data which passes a threshold is reserved; transmitting the residual data to a processing center for final detection judgment; and then, the final detection judgment is used as auxiliary information for next detection, and the auxiliary information is transmitted to the local detector to be used for correcting the next detection threshold of the local detector, so that high-performance detection under low traffic is finally realized.
The invention has the advantages that the low-traffic multi-channel signal level joint detection can be effectively realized in the MIMO radar with the separate antennas, the higher detection performance is ensured on the basis of reducing the traffic, the calculation amount of the algorithm is small, and the realization is simple. The invention can be applied to the field of target detection of military, civil use and the like.
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FIG. 1 is a flow chart provided by the present invention.
Fig. 2 is a detection probability curve after centralized detection, conventional distributed detection and the low traffic distributed detection method of the present invention.
Detailed Description
The invention mainly adopts a computer simulation method for verification, and all steps and conclusions are verified to be correct on MATLAB-R2012 a. The specific implementation steps are as follows:
step 1, transmitting orthogonal signals by using a sensor, and separating multi-channel target echo signals received by each local detector through a matched filter
Is located at (x)rj,yrj) (j ═ 1.... An.N.) reception radar RjReceived from the station at (x)ti,yi) A transmitting station T of (i 1.., M)iThe echo signal transmitted to the target is ylg(t),
In the above formula, Q is total energy of transmitted beam, M is the number of transmitted radars, αijIs the complex reflection coefficient, s, of the target in the ij channeliFor the original transmitted signal of the ith transmitting radar transmitted to the target, nij(t) is white Gaussian noise for the ij channel. For the MIMO radar with split antennas, the antennas are required to be far enough apart, and the noise and the complex reflection coefficient of different receiving and transmitting channels are independent. T is the observation time interval, τijThe delay corresponding to the ij channel is defined as follows:
wherein (x)g,yg) Is the target coordinate, c is the speed of light;
step 2, sampling echo signals:
sampling the received echo signal, wherein the output echo data sequence of the ijth channel is yij，
yij＝[yij[1],yij[2],...,yij[NT]]
Wherein N isTThe number of sampling points.
Step 3, detecting by a local detector CFAR:
hypothesis System false alarm probability PfaLimited within a certain range, i.e. Pfa＜αfaAt this time, it is necessary to make the system detection probability P as large as possibleDAt maximum, the model detected is then represented as follows:
the following objective function J can be established:
J＝PM-λ(Pfa-αfa)＝(1-PD)-λ(Pfa-αfa)
wherein, PMAnd in order to meet the system performance requirement, the target function J needs to be minimized, namely min { J }.
Each local CFAR detector was obtained as:
wherein, f (y)n|H1) For the nth partial detector at H1Conditional probability density under assumption, f (y)n|H0) For the nth partial detector at H0Conditional probability density under assumption, tnIs a threshold.
Step 4, reserving voltage amplitude data of sampling points which pass through a threshold after being detected by each local detector CFAR and distance information of the sampling points, and transmitting the data to a processing center;
step 5, determining a grid search space of each grid corresponding to each channel according to the distance information of the processing center data, and finding out the measurement information of all distance units corresponding to the grid search space;
step 6, carrying out grid space search, and obtaining the final detection judgment e of the processing center through threshold processing again;
and 7, transmitting the final judgment result of the processing center to each local detector for correcting the threshold of the next local detector:
wherein,is the k-th observation of the local detector;representing the observation probability density when the k-th detection target does not exist;representing the observation probability density when the kth detection target exists;is the kth detection detector threshold; w is an＝βnISNRn，βnE (0,1) is a constant coefficient,is the signal-to-noise ratio of the detector, ek-1For the decision result of the k-1 st detection processing center,is the decision result of the k-1 detection of the nth partial detector.
And 8, repeating the steps 3 to 7, detecting the target for multiple times, wherein the final judgment of the processing center of each detection is determined by the observation value of each local detector at this time and the judgment result of each local sensor at the last time.
Through the steps, distributed low-communication high-performance detection of the MIMO radar with the split antennas can be realized.
In the above simulation, the probability curve of the traditional distributed detection, the distributed detection using the method of the present invention and the centralized detection is shown in fig. 2. As can be seen from fig. 2, compared with the centralized detection algorithm, when the detection probability is 0.8, the signal-to-noise ratio of the conventional distributed detection is lost by 1.5dB, the signal-to-noise ratio of the distributed detection based on the detection information assistance is almost lossless, and the detection probability curve is almost completely overlapped with the centralized detection probability curve. Meanwhile, the centralized detection transmits all the sampling data of four channels to a processing center, each channel has 10000 sampling points, and if the voltage amplitude of each sampling point needs to be transmitted by 64-bit binary system, the total traffic is 2.56 multiplied by 106(ii) a In the traditional distributed detection, each channel data is detected once, only data of points passing a threshold is transmitted to a processing center for final judgment, the voltage amplitude of each sampling point is still transmitted by using 64-bit binary, and the calculated communication traffic is only 1.024 multiplied by 103Traffic was reduced to 0.04%; firstly carrying out primary detection on each channel data based on distributed detection assisted by detection information, transmitting data of points passing a threshold to a processing center for final judgment, transmitting the final judgment to each local detector for next detection, and transmitting the voltage amplitude of each sampling point by using a 64-bit binary system, so that the calculated communication traffic is 1.28 multiplied by 103The traffic volume was reduced to 0.05%. It can be seen that the method provided by the invention can ensure higher detection performance while greatly reducing communication traffic.
The specific implementation of the invention shows that the method makes full use of the effective target echo information of the MIMO radar multi-channel of the split antenna, reduces the data communication traffic during detection and ensures higher detection performance.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (3)
1. A distributed low-traffic detection fusion method for a MIMO radar with separate antennas comprises the following steps:
step 1, transmitting orthogonal signals by using a sensor, and separating multi-channel target echo signals received by each local detector through a matched filter;
step 2, each local detector samples the received signals separated in the step 1;
step 3, according to the determined detection threshold, each local detector performs CFAR detection on the signals obtained in the step 2 to obtain CFAR detection results of a plurality of channels, and one local detector corresponds to one channel;
step 4, reserving the sampling point voltage amplitude data and the distance information of the sampling point voltage amplitude data which passes through the threshold after being detected by each channel CFAR detector, and transmitting the sampling point voltage amplitude data and the distance information to a processing center;
step 5, fusing all the received data to the same data plane in the processing center, and dividing the data plane into a plurality of grids; determining a search space corresponding to each grid according to the distance information of the processing center data, and finding out the measurement information of all distance units corresponding to the grid search space;
step 6, carrying out space search in each grid, and obtaining the final target detection judgment of the processing center through threshold processing again;
step 7, transmitting the final judgment result of the processing center to each local detector, and updating the detection threshold of the local detector for the next CFAR detection by combining the detection result of the local detector;
and 8, repeating the steps 3 to 7, and detecting the target for multiple times.
2. The distributed low-throughput detection fusion method for the MIMO radar with separate antennas as claimed in claim 1, wherein the echo signals received in step 1 are:
is located at (x)j,yj) N, j 1.jReceived from the station at (x)i,yi) A transmitting station T of M1iThe echo signal transmitted to the target is yij(t),
Wherein Q is total energy of the transmitted beam, N is total number of the received radars, M is total number of the transmitted radars, αijIs the complex reflection coefficient, s, of the target in the ij channeliFor the original transmitted signal of the ith transmitting radar transmitted to the target, nij(t) Gaussian white noise for the ij channel; for a split antenna MIMO radar, inter-antenna is requiredThe distance is far enough, and the noise and the complex reflection coefficient of different receiving and transmitting channels are independent; t is the observation time interval, τijCorresponding to the time delay of the ij channel;
the echo data sequence output by the ijth channel of the echo signal sampling in the step 2 is yij，
yij＝[yij[1],yij[2],...,yij[NT]]
Wherein N isTCounting the number of sampling points;
the local detector CFAR in step 3 detects as;
set the false alarm probability P of the systemfaAnd (3) limiting the range: pfa＜αfa，αfaThe maximum false alarm probability allowed by the system is represented, and the system detection probability P is ensuredDIn the maximum case, the model detected is represented as follows:
the following objective function J is established:
J＝(1-PD)-λ(Pfa-αfa)
wherein λ is lagrangian coefficient, in order to meet the system performance requirement, the objective function J needs to be minimized, and the CFAR detector for each channel is obtained as follows:
wherein, f (y)ij|H1) CFAR detector for the ijth channel at H1Conditional probability density under assumption, f (y)ij|H0) CFAR detector for the ijth channel at H0Conditional probability density under assumption, tijIs the threshold of the ijth channel.
3. The distributed low-throughput detection fusion method of claim 1 or 2, wherein the CFAR detection threshold of the next local detector in step 7 is updated according to the following formula:
wherein,represents the CFAR detection threshold of the nth local detector,the k observed value of the nth local detector;representing the observation probability density when the k-th detection target does not exist;representing the observation probability density when the kth detection target exists;is the kth detection detector threshold; w is an＝βnISNRn，βnE (0,1) is a constant coefficient,is the signal-to-noise ratio of the detector, ek-1Is the first.
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