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 Radar Technology field, is related to and splits antenna MIMO radar distribution low traffic detection technique.
Background technology
With the rapid hair of " four big threats " (Stealthy Target, electronic interferences, low latitude ultra-low altitude penetration and antiradiation missile)
Exhibition, modern radar are faced with increasing challenge.Especially, because ballistic missile, cruise missile, invisbile plane and empty day fly
The characteristics such as machine etc. has far firing range, power is big, speed is fast, sectional area is small, cause existing monostatic radar systems power rapid drawdown, shape
Into a large amount of monitoring regions of no pressure, to territorial protection, the huge challenge of area monitoring band.Under this background, sensor is had benefited from
The fast development of the network communications technology, more radar information fusion treatment technologies and resources control technology, multistation radar collaboration processing
System receives the extensive concern of numerous military powers such as the U.S., France, Russia, and by its anti-stealthy, Anti-amyloid-β antibody,
The advantages that anti-low-altitude penetration capability and Anti-antiradiation missile, turn into a kind of inexorable trend of future development.
The research emphasis that detection is the collaboration processing of multistation radar is carried out to target using antenna MIMO radar is split, is passed
The multistation radar detecting method of system is mainly handled whole signal level information transmissions of multichannel to processing center simultaneously,
For detecting.But because the calculating of each radar website in multistation radar cooperative system and communication bandwidth are limited, can not be by respectively
The signal level information completely that receiving station obtains is sent to processing center and focused on, and can only now use Distributed Detection side
Method, but common Distributed Detection method is reducing amount of calculation with being greatly reduced inspection of the system to target while the traffic
Survey performance.Therefore, inspired by wireless senser Distributed Detection technology, using the Distributed Detection side aided in based on detection information
Method, this method computation complexity is low, traffic carried is low, and method is simple and easy, is easy to practical application.
The content of the invention
The purpose of the present invention is to be limited for the calculating of each radar website and communication bandwidth and can not transmit complete signal level
The problem of information to processing center, research and design one kind split antenna MIMO radar distribution low traffic detection fusion method,
Because Bandwidth-Constrained leads to not transmit complete information, the problem of detection performance is greatly reduced when solving MIMO radar detection.
The solution of the present invention is to use the Distributed Detection method based on detection information auxiliary, first to each passage
Data carry out a CFAR detection in each local detectors, only retain the voltage amplitude data that each passage crosses the sampled point of thresholding；
Remaining data are sent to processing center；Then made most after the heart is searched for using remaining data by grid space in processes
Whole detection judgement；Finally by the final decision at center per treatment be sent to each local detectors be used for correct next time locally
The thresholding of detection.It is efficiently solved in actual applications under transmission bandwidth confined condition, can only hop data cause
The problem of system detectio performance significantly declines, so as to realize the high-performance for splitting antenna MIMO radar under low-traffic condition
Detection.
The content described in order to facilitate the description present invention, does following term and explains first：
Define 1.MIMO radars
MIMO radar refers to the multi-input multi-output radar system that transmitting antenna and reception antenna are split.
Define 2. and split antenna MIMO radar
Split that the antenna of antenna MIMO radar is apart from each other, ensure that the independence between each transceiver channel, can it is multiple not
Target is observed on equidirectional, so as to effectively antagonize the Radar Cross Section of target (RCS) flicker problem, obtains space
Diversity gain and space multi-way gain.
Define 3.CFAR detections
CFAR detections are invariable false alerting (Constant False Alarm Rate) detection, when external interference intensity becomes
During change, its sensitivity of radar energy adjust automatically, the false-alarm probability of radar is set to keep constant, also known as " adaptive threshold detecting ".
The present invention proposes one kind and splits antenna MIMO radar distribution low traffic detection fusion method, including following step
Suddenly：
Step 1, using sensor emission orthogonal signalling, the multi-channel target echo-signal that each local detectors are received
Separated by matched filter；
Step 2, each local detectors sample to the reception signal that step 1 is isolated；
Step 3, the detection threshold according to determination, the signal that each local detectors obtain to step 2 carry out CFAR detections, obtained
To the CFAR testing results of multiple passages, the corresponding passage of a local detectors；
Step 4, cross the sample amplitude when reproduced amplitude data of thresholding and its apart from letter after retaining each channel C FAR detectors detection
Breath, and it is sent to processing center；
All data fusions received are divided into by step 5, the in processes heart to same datum plane, then by datum plane
If dry lattice；The search space according to corresponding to the range information of processing center data determines each grid, find out raster search space
The measurement information of corresponding all range cells；
Step 6, space search is carried out in each grid, and the final mesh of processing center is drawn again by threshold processing excessively
Mark detection judgement；
Step 7, the final judging result of this processing center is sent to each local detectors, should with reference to local detectors
Secondary testing result, update the detection threshold when local detectors next time carry out CFAR detections；
Step 8, repeat step 3- steps 7, repeated detection is carried out to target.
Further, the echo-signal received in the step 1 is：
By positioned at (xj,yj), j=1 ..., N reception radar RjComing from for receiving is located at (xi,yi), i=1 ..., M
Cell site TiThe echo-signal for being transmitted into target is yij(t),
Wherein：Q is launching beam gross energy, and N is the total number for receiving radar, and M is the total number of transmitting radar, αijFor mesh
It is marked on the complex reflection coefficient of ij passages, siFor i-th of transmitting radar emission to the original transmitted signal of target, nij(t) lead to for ij
The white Gaussian noise in road；For splitting antenna MIMO radar, it is desirable to which antenna spacing is remote enough, the noise of different transceiver channels and multiple
Reflectance factor is independent；T is observation interval, τijCorrespond to the time delay of ij passages；
The echo data sequence of the i-th j passages output of echo signal sample in the step 2 is yij,
yij=[yij[1],yij[2],...,yij[NT]]
Wherein, NTFor sampling number；
Local detectors CFAR in the step 3 is detected as；
If system false-alarm probability PfaLimit scope：Pfa＜ αfa, αfaThe maximum false-alarm probability that expression system allows, makes system
Detection probability PDIn the case of maximum, the model of detection represents as follows：
Establish following object function J:
J=(1-PD)-λ(Pfa-αfa)
Wherein, λ is Lagrange coefficient, to reach system performance requirements, then needs to make object function J minimum, obtains each logical
Road CFAR detectors are：
Wherein, f (yij|H1) for the i-th j passages CFAR detectors in H1Conditional probability density under assuming that, f (yij|H0)
For the i-th j passages CFAR detectors in H0Conditional probability density under assuming that, tijFor the thresholding of the i-th j passages.
Further, the more new formula of the CFAR detection thresholds of local detectors is next time in the step 7：
Wherein,The CFAR detection thresholds of n-th of local detectors are represented,For n-th of local detectors
K observation；Represent observation probability density when kth time detection target is not present；Represent kth
Observation probability density in the presence of secondary detection target；For kth time detection detector thresholding；wn=βnISNRn, βn∈ (0,1) is normal
Coefficient,For the signal to noise ratio of the detector, ek-1For the court verdict at -1 detection process center of kth,It is local for n-th
The court verdict of -1 detection of detector kth.
Beneficial effects of the present invention：The method of the present invention first carries out CFAR processing in local detectors, only retains thresholding
Sample point data；Remaining data is reached into processing center and carries out final detection judgement；Then this final detection judgement is utilized
As auxiliary information is detected next time, reach local detectors and be used to correct local detectors detection threshold next time, it is final real
High-performance detection under existing low traffic.
The advantage of the invention is that low traffic multi channel signals can be effectively realized in antenna MIMO radar is split
Level joint-detection, on the basis of the traffic is reduced, ensure that higher detection performance, and algorithm amount of calculation is small, realize simple.This
Invention can apply to the object detection field such as military, civilian.
Brief description of the drawings
Fig. 1 is flow chart provided by the invention.
After Fig. 2 is the low traffic Distributed Detection method of centralization detection, traditional distributed detection with using the present invention
Detection probability curve.
Embodiment
It is of the invention mainly to be verified that all steps, conclusion are all in MATLAB-R2012a using the method for Computer Simulation
Upper checking is correct.Specific implementation step is as follows：
Step 1, using sensor emission orthogonal signalling, the multi-channel target echo-signal that each local detectors are received
Separated by matched filter
By positioned at (xrj,yrj) (j=1 ..., N) reception radar RjComing from for receiving is located at (xti,yi) (i=
1 ..., M) cell site TiThe echo-signal for being transmitted into target is ylg(t),
Q is launching beam gross energy in above formula, and M is to launch radar number, αijFor target ij passages complex reflection coefficient,
siFor i-th of transmitting radar emission to the original transmitted signal of target, nij(t) it is the white Gaussian noise of ij passages.For splitting
Antenna MIMO radar, it is desirable to which antenna spacing is remote enough, and the noise and complex reflection coefficient of different transceiver channels are independent.T is observation
Time interval, τijThe time delay of ij passages is corresponded to, is defined as follows formula：
Wherein, (xg,yg) it is coordinates of targets, c is the light velocity；
Step 2, sampled echo signals：
Receives echo-signal is sampled, the echo data sequence of the output of the i-th j passages is yij,
yij=[yij[1],yij[2],...,yij[NT]]
Wherein, NTFor sampling number.
Step 3, local detectors CFAR detections：
Assuming that system false-alarm probability PfaLimit within the specific limits, i.e. Pfa＜ αfa, now need to make system detectio general as far as possible
Rate PDMaximum, the then model detected represent as follows：
Following object function J can be established:
J=PM-λ(Pfa-αfa)=(1-PD)-λ(Pfa-αfa)
Wherein, PMFor system false dismissal probability, λ is Lagrange coefficient, to reach system performance requirements, then needs to make target letter
Number J is minimum, i.e. min { J }
Obtaining each Local C FAR detectors is：
Wherein, f (yn|H1) for n-th of local detectors in H1Conditional probability density under assuming that, f (yn|H0) it is n-th
Local detectors are in H0Conditional probability density under assuming that, tnFor thresholding.
Step 4, retain the sample amplitude when reproduced amplitude data that thresholding is crossed after each local detectors CFAR is detected and its distance letter
Breath, and it is sent to processing center；
Step 5, according to the range information of processing center data determine that each grid corresponds to the raster search space of each passage, look for
Go out the measurement information of all range cells corresponding to raster search space；
Step 6, grid space search is carried out, and show that the final detection of processing center is adjudicated again by threshold processing is crossed
e；
Step 7, the final judging result of this processing center is sent to each local detectors, for correcting office next time
The thresholding of portion's detector：
Wherein,For the local detectors kth time observation；When representing that kth time detection target is not present
Observation probability density；Represent the observation probability density in the presence of kth time detection target；For kth time detection inspection
Survey device thresholding；wn=βnISNRn, βn∈ (0,1) is constant coefficient,For the signal to noise ratio of the detector, ek-1At -1 detection of kth
The court verdict at reason center,For the court verdict of -1 detection of n-th of local detectors kth.
Step 8, repeat step 3- steps 7, repeated detection, the conclusive judgement of the processing center detected every time are carried out to target
Determined by this each local detectors observation and last time each localized sensor court verdict.
Pass through above step, it is possible to which realization splits the detection of antenna MIMO radar distribution low traffic high-performance.
In above-mentioned emulation, traditional distributed detection, Distributed Detection and centralized detection using the inventive method
Probability curve is as shown in Figure 2.As shown in Figure 2, compared with centralized detection algorithm when detection probability is 0.8, traditional distributed
The snr loss of detection 1.5dB, the signal to noise ratio almost free of losses of the Distributed Detection based on detection information auxiliary, it is detected
Probability curve is almost completely superposed with centralization detection detection probability curve.Meanwhile centralization detection is adopted four passages are all
Sample data are all transferred to processing center, and each passage shares 10000 sampled points, if each sample amplitude when reproduced amplitude needs altogether
With 64 binary transmissions, then total traffic capacity is 2.56 × 106；And traditional distributed detection first does one to each channel data
Secondary detection, data to the processing center for being only transmitted across the point of thresholding do conclusive judgement, and each sample amplitude when reproduced amplitude is still with 64
Binary transmissions, then can be calculated the traffic is only 1.024 × 103, the traffic is reduced to 0.04%；Aided in based on detection information
Distributed Detection one-time detection is first done to each channel data, data to the processing center for being transmitted across the point of thresholding is done finally
Adjudicate and conclusive judgement is passed back to each local detectors again and be used to detect next time, each sample amplitude when reproduced amplitude is still with 64
Binary transmissions, then the traffic is can be calculated as 1.28 × 103, the traffic is reduced to 0.05%.Understand institute's extracting method of the present invention
Higher detection performance can be ensured while the traffic is substantially reduced.
By the specific implementation of the present invention as can be seen that this method takes full advantage of and splits antenna MIMO radar multichannel
Target effective echo information, data traffic during detection is reduced, while ensure that higher detection performance.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
The specific deformation of kind and combination, these deform and combined still within the scope of the present invention.
Claims (3)
1. one kind splits antenna MIMO radar distribution low traffic detection fusion method, comprise the following steps：
Step 1, using sensor emission orthogonal signalling, the multi-channel target echo-signal that each local detectors receive is passed through
Matched filter is separated；
Step 2, each local detectors sample to the reception signal that step 1 is isolated；
Step 3, the detection threshold according to determination, the signal that each local detectors obtain to step 2 carry out CFAR detections, obtained more
The CFAR testing results of individual passage, the corresponding passage of a local detectors；
Step 4, retain the sample amplitude when reproduced amplitude data and its range information that thresholding is crossed after each channel C FAR detectors detect, and
It is sent to processing center；
All data fusions received to same datum plane, then datum plane are divided into some by step 5, the in processes heart
Grid；The search space according to corresponding to the range information of processing center data determines each grid, it is corresponding to find out raster search space
All range cells measurement information；
Step 6, space search is carried out in each grid, and show that the final goal of processing center is examined again by threshold processing is crossed
Survey judgement；
Step 7, the final judging result of this processing center is sent to each local detectors, with reference to this inspection of local detectors
Result is surveyed, updates the detection threshold when local detectors next time carry out CFAR detections；
Step 8, repeat step 3- steps 7, repeated detection is carried out to target.
2. one kind as claimed in claim 1 splits antenna MIMO radar distribution low traffic detection fusion method, its feature
It is in the echo-signal received in the step 1：
By positioned at (xj,yj), j=1 ..., N reception radar RjComing from for receiving is located at (xi,yi), i=1 ..., M hair
Penetrate station TiThe echo-signal for being transmitted into target is yij(t),
Wherein：Q is launching beam gross energy, and N is the total number for receiving radar, and M is the total number of transmitting radar, αijExist for target
The complex reflection coefficient of ij passages, siFor i-th of transmitting radar emission to the original transmitted signal of target, nij(t) it is ij passages
White Gaussian noise；For splitting antenna MIMO radar, it is desirable to which antenna spacing is remote enough, the noise and interflection of different transceiver channels
Coefficient is independent；T is observation interval, τijCorrespond to the time delay of ij passages；
The echo data sequence of the i-th j passages output of echo signal sample in the step 2 is yij,
yij=[yij[1],yij[2],...,yij[NT]]
Wherein, NTFor sampling number；
Local detectors CFAR in the step 3 is detected as；
If system false-alarm probability PfaLimit scope：Pfa＜ αfa, αfaThe maximum false-alarm probability that expression system allows, makes system detectio
Probability PDIn the case of maximum, the model of detection represents as follows：
Establish following object function J:
J=(1-PD)-λ(Pfa-αfa)
Wherein, λ is Lagrange coefficient, to reach system performance requirements, then needs to make object function J minimum, obtains each passage
CFAR detectors are：
Wherein, f (yij|H1) for the i-th j passages CFAR detectors in H1Conditional probability density under assuming that, f (yij|H0) it is the i-th j
The CFAR detectors of passage are in H0Conditional probability density under assuming that, tijFor the thresholding of the i-th j passages.
3. one kind as claimed in claim 1 or 2 splits antenna MIMO radar distribution low traffic detection fusion method, it is special
Sign is the more new formula of the CFAR detection thresholds of local detectors is next time in the step 7：
Wherein,The CFAR detection thresholds of n-th of local detectors are represented,For n-th of local detectors kth time
Observation；Represent observation probability density when kth time detection target is not present；Represent kth time inspection
The observation probability density surveyed in the presence of target；For kth time detection detector thresholding；wn=βnISNRn, βn∈ (0,1) is often system
Number,For the signal to noise ratio of the detector, ek-1For.
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