CN107607937A - Radar target distance-finding method based on time reversal - Google Patents
Radar target distance-finding method based on time reversal Download PDFInfo
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Abstract
The invention discloses a kind of radar target distance-finding method based on time reversal, solves the problems, such as the accurate ranging of radar target under multi-path environment.Realizing step is：Produce radar emission signal and obtain echo data；Echo data carries out time reversal, inverted signal when obtaining；Set range search scope, calculate different distance point corresponding to pseudo channel model, by when inverted signal be transmitted into corresponding to pseudo channel obtain when back echo signal；Construct contrast signal, back echo signal and contrast signal coefficient correlation when calculating each；It is target range that distance corresponding to maximum correlation coefficient is found in all coefficient correlations.The present invention is to echo data time reversal and is transmitted into pseudo channel, direct wave and multipath ripple are focused in time, back echo and contrast signal correlation are higher when being made using multi-path information corresponding to actual distance, realize the accurate ranging to target, cost is relatively low, suitable for all kinds of delay multipath conditions, for sea low altitude radar point target range measurement.
Description
Technical field
The invention belongs to Radar Technology field, more particularly to object ranging, specifically a kind of target based on time reversal
Distance-finding method, available for the ranging to sea low latitude point target.
Background technology
Radar can be influenceed in sea low latitude environment measurement target range by multipath effect, i.e., the echo that radar receives
Signal includes the direct-path signal from target and the multipath ripple signal from sea surface reflection.If now filtered using traditional matching
Wave method ranging, radar will obtain the range information of mulitpath simultaneously, disturbed by multipath signal, radar will be measured by mistake
Multiple decoys, so as to can not accurately measure the actual distance information of target.
For multipath effect to radar in the influence of sea low latitude environmental goals range measurement, existing method is mainly from sky
Two aspects in domain and time domain suppress multipath signal to obtain the actual distance information of target.In terms of spatial domain, by changing antenna
Placement Strategy, make direct-path signal and multipath signal almost while reach antenna, or design ground-plane antenna, block from antenna
The multipath signal of lower section.Two methods in terms of spatial domain are needed by setting antenna to realize, cost of implementation is higher.In time domain side
Face, using narrow correlation technique, receiver is made to use broader pre-correlation bandwidth and narrower lead-lag correlator interval, but its
Use range has certain limitations, and is only suitable for the suppression of middle long delay multipath.
Influenceed by multipath effect, matched filtering method of the prior art can measure decoy by mistake, and pass through spatial domain
Multipath is suppressed with the method for time domain, there is the problems such as cost is higher, the scope of application is small.
The content of the invention
The purpose of the present invention is the deficiency for the above method, proposes a kind of more accurately sea based on time reversal
The distance-finding method of low latitude point target, ranging is carried out to target using multi-path information.
The present invention is a kind of radar target distance-finding method based on time reversal, it is characterised in that utilizes multi-path information pair
Target carries out ranging, including has the following steps：
(1) radar produces transmission signal st(t) radar return data s, is obtainedr(t)。
(2) by echo data sr(t) time reversal processing, inverted signal s when obtaining are carried outr *(- t), wherein*Accorded with for conjugation
Number.
(3) back echo signal S when radar is calculatedTR,
(4) according to transmission signal st(t) and when back echo signal STR, calculate Pearson correlation coefficient.
4a) according to transmission signal st(t) contrast signal s is constructedt *(-t)。
Back echo signal S when 4b) being calculatedTRIn each echo and contrast signal st *The Pearson correlation coefficient of (- t)
ρ。
(5) found in whole Pearson correlation coefficient ρ maximum coefficient correlation, its corresponding distance be target away from
From completion object ranging.
The present invention compared with prior art, has advantages below：
First, in a multi-path environment, traditional matched filtering method will be disturbed by multipath signal, can not accurately measure mesh
Target distance.The present invention by echo-signal time reversal and is resend in pseudo channel, the phase of back echo signal during utilization
Closing property property, can more accurately measure target range information.
2nd, to weaken influence of the multipath effect to ranging, conventional method takes the method for suppressing multipath effect.The present invention will
When inverted signal be transmitted into pseudo channel, at real goal distance, when back echo in direct-path signal and multipath signal will be
Focusing effect is produced on time.The present invention utilizes multi-path information, measures the actual distance of target.The inventive method cost is relatively low,
And suitable for the situation of various delay multipaths.
Brief description of the drawings
Fig. 1 is the implementation process figure of the present invention.
Fig. 2 is the distance measurement result figure that is obtained using matched filtering method under the target and ambient parameter of setting.
Fig. 3 is the distance measurement result figure that is obtained with the inventive method under the target and ambient parameter of setting.
Embodiment
Below in conjunction with the accompanying drawings, to the detailed description of the invention：
Embodiment 1
When radar carries out object ranging in the environment of sea low latitude, conventional method carries out matched filtering processing to echo, by
To the influence of multipath effect, the detection that radar is adjusted the distance can measure multiple decoys by mistake by multipath wave interference, can not obtain true
The distance of target.For this present situation, the present invention expands research, and it is relatively low pointedly to propose a kind of cost, can be suitably used for each
The distance-finding method of the sea low latitude point target of kind delay multipath.
The present invention is a kind of radar target distance-finding method based on time reversal, reference picture 1, using multi-path information to target
Ranging is carried out, including is had the following steps：
(1) radar produces transmission signal st(t) radar return data s, is obtainedr(t)。
(2) by echo data sr(t) time reversal processing, inverted signal s when obtaining are carried outr *(- t), wherein*Accorded with for conjugation
Number.
(3) establish pseudo channel model of the radar at different distance and when inverted signal be transmitted into these pseudo channels
In, carry out range search, back echo signal S when radar is calculatedTR。
(4) according to transmission signal st(t) and when back echo signal STR, calculate Pearson correlation coefficient.
4a) according to transmission signal st(t) contrast signal s is constructedt *(- t), it is anti-that temporal conjugation is carried out to transmission signal
Turn.
Back echo signal S when 4b) being calculatedTRIn each echo and contrast signal st *The Pearson correlation coefficient of (- t)
ρ。
(5) found in all Pearson correlation coefficient ρ maximum coefficient correlation, its corresponding distance be target away from
From completion object ranging.
Under the environment of sea low latitude, if being influenceed by multipath signal, traditional matched filtering method will measure multiple vacations
Target, it can not accurately measure the actual distance of target.The present invention leads to echo-signal time reversal and back echo signal when obtaining
Cross calculate when back echo signal and contrast signal Pearson correlation coefficient, find out maximum coefficient correlation corresponding to distance, can
To measure the actual distance of target exactly.
Embodiment 2
Thunder is calculated described in step (3) of the present invention with embodiment 1 in radar target distance-finding method based on time reversal
Up to when back echo signal STR, specifically include：
3a) selected distance scope R, different distance is chosen as Searching point by order from small to large in distance range R.
3b) according to ambient parameter and radar parameter, it is virtual to establish direct wave and multipath ripple of the radar at these Searching points
Channel model H.
3c) by when inverted signal sr *(- t) is transmitted into direct wave and multipath ripple pseudo channel H, back echo when corresponding to acquisition
Signal STR, for calculating the Pearson correlation coefficient with contrast signal.
Wherein, detection range scope R=[R1 … Rk … Rn], R1For the detection range of starting, RkFor the true of target
Distance, RnFor final detection range, meet R1＜ Rk＜ Rn, pseudo channel model is expressed as H=[H1 … Hk … Hn], its
Middle H1,Hk,HnRespectively R1,Rk,RnCorresponding pseudo channel model, when back echo signal STR=[sTR1(t) … sTRk(t) …
sTRn(t)], wherein sTR1(t),sTRk(t),sTRn(t) it is respectively R1,Rk,RnBack echo signal when corresponding.
Usual distance range R is to be directed to target actual distance RkChoose, can be first to RkProgress is estimated so as to set roughly
Substantially hunting zone.
Embodiment 3
Radar target distance-finding method based on time reversal is with embodiment 1-2, step 3c) by when inverted signal sr *(- t) launches
Into direct wave and multipath ripple pseudo channel H, back echo signal S when corresponding to acquisitionTR, including have the following steps：
According to the transmission receptance function h of direct wavek(t) and multipath ripple transmission receptance function hk' (t), when searching
Rope is to target actual distance RkDuring position, the when back echo signal obtained now is：
Wherein st *(- t) is contrast signal,*For conjugate of symbol,For convolution algorithm, RkCorresponding pseudo channel model is Hk
=[hk(t)+hk' (t)], ηkFor the multiple electromagnetic scattering coefficient of multipath ripple channel, τkFor direct wave channel time delay, τk' believe for multipath ripple
Road is delayed, and N (t) is white Gaussian noise signal.When radar parameter, ambient parameter and target location determine, above parameter is
It is confirmable.
In order to weaken influence of the multipath effect to ranging, it can place or suppressed using narrow correlation technique by changing antenna
Multipath effect.The present invention by echo-signal progress time reversal obtain when inverted signal, by when inverted signal be re-emitted into virtual letter
Range search is carried out in road.If having searched the position of target actual distance, when back echo in direct wave and multipath signal will
Produce focusing effect in time, now when back echo and contrast signal coefficient correlation produce maximum.The present invention utilizes
Multi-path information, promote at target actual distance when back echo and contrast signal generate higher correlation, so as to realizing
Object ranging.And the inventive method is applied to the situation of various delay multipaths, cost is relatively low.
Embodiment 4
Radar target distance-finding method based on time reversal is the same as embodiment 1-3
To realize the purpose for ensureing range accuracy in a multi-path environment, the technical solution adopted by the present invention includes as follows
Step：
(1) radar emission signal s is producedt(t) radar return data s, is obtainedr(t)。
(2) by echo data sr(t) time reversal processing, inverted signal s when obtaining are carried outr *(- t), wherein*Accorded with for conjugation
Number.Time reversal operation has carried out echo data in the time conjugation reversion, direct wave when this operation causes in back echo
Focusing effect is produced in time with multipath signal.
(3) inverted signal echo S when calculatingTR：
3a) selected distance scope R, each distance is taken to be used as Searching point in order in distance range R.
3b) according to ambient parameter and radar parameter, direct wave and multipath ripple channel of the radar at these Searching points are established
Model H.
3c) by when inverted signal sr *(- t) is transmitted into direct wave and multipath ripple pseudo channel H, inverted signal when corresponding to acquisition
Echo STR。
Wherein, distance range R=[R1,…,Rk,…,Rn], R1For initial detection range, RkFor the actual distance of target,
RnFor final detection range, pseudo channel model H=[H1 … Hk … Hn], H1,Hk,HnRespectively R1,Rk,RnIt is corresponding
Pseudo channel model, when inverted signal echo STR=[sTR1(t) … sTRk(t) … sTRn(t)], sTR1(t),sTRk(t),sTRn
(t) it is respectively R1,Rk,RnInverted signal echo when corresponding.
(4) according to transmission signal st(t) and when inverted signal echo STR, measure the distance of target：
4a) according to transmission signal st(t) contrast signal s is constructedt *(- t), i.e., the conjugation that time domain is carried out to transmission signal are anti-
Turn.
Back echo signal S when 4b) calculatingTRIn each echo and contrast signal st *The Pearson correlation coefficient ρ of (- t).
Any two signal s1And s (t)2(t) Pearson correlation coefficient is that ρ meets following relation：
Wherein cov [s1(t),s2(t)] it is signal s1And s (t)2(t) covariance, var [s1(t)] it is signal s1(t)
Variance, var [s2(t)] it is signal s2(t) variance.
Because the present invention has carried out time reversal operation to echo data, when back echo signal STRMiddle real goal is apart from right
The signal and contrast signal coefficient correlation answered are maximum, and it is target that distance corresponding to maximum is found out in all correlation coefficient ρs
Actual distance.
A more detailed example is given below, the present invention is further described：
Embodiment 5
Radar target distance-finding method based on time reversal is the same as embodiment 1-4, reference picture 1, specific implementation of the invention step
It is rapid as follows：
Step 1：Produce radar emission signal st(t) radar return data s, is obtainedr(t)：
WhereinFor convolution symbol, hk(t) it is direct wave transmission receptance function, hk' (t) is multipath ripple transmission
Receptance function, n (t) are receiver noise signal, can regard white Gaussian noise signal as.τkFor direct wave channel time delay, ηkFor multipath
The multiple electromagnetic scattering coefficient of ripple channel, τk' it is multipath ripple channel time delay.
Step 2：By radar return data sr(t) time reversal processing, inverted signal s when obtaining are carried outr *(-t)：
sr *(- t)=st *(-t-τk)+ηk *st *(-t-τk′)+n*(-t)
Wherein*For conjugate of symbol.
Step 3：Back echo signal S during calculatingTR：
3a) selected distance scope R, different distance is taken as Searching point by order from small to large in distance range R.
Wherein, distance range R=[R1,…,Rk,…,Rn], meet relation R1＜ Rk＜ Rn, R1For initial detection range,
RkFor the actual distance of target, RnFor final detection range.
3b) according to ambient parameter and radar parameter, it is virtual to establish direct wave and multipath ripple of the radar at these Searching points
Channel model H：
H=[H1 … Hk … Hn]
Hk=[hk(t)+hk′(t)]
Wherein H1,Hk,HnRespectively R1,Rk,RnCorresponding channel model, hk(t) letter is responded for the transmission of direct wave
Number, hk' (t) is the transmission receptance function of multipath ripple.
3c) by when inverted signal sr *(- t) is transmitted into direct wave and multipath ripple pseudo channel H, back echo when corresponding to acquisition
Signal STR：
STR=[sTR1(t) … sTRk(t) … sTRn(t)]
Wherein, sTR1(t),sTRk(t),sTRn(t) it is respectively R1,Rk,RnBack echo signal when corresponding, st *(- t) is contrast
Signal,*For conjugate of symbol,For convolution algorithm, ηkFor the multiple electromagnetic scattering coefficient of multipath ripple channel, τkFor direct wave channel time delay,
τk' it is multipath ripple channel time delay, N (t) is noise signal.
Step 4：According to transmission signal st(t) and when back echo signal STR, calculate Pearson correlation coefficient.
4a) according to transmission signal st(t) contrast signal s is constructedt *(-t)。
Back echo signal S when 4b) calculatingTRIn each echo and contrast signal st *The Pearson correlation coefficient ρ of (- t).
Step 5：Due to having carried out time reversal to echo-signal and being re-emitted into different pseudo channels, target is true
The Pearson correlation coefficient of back echo and contrast signal is maximum when corresponding to real distance, in all Pearson correlation coefficient ρ
In find out maximum coefficient correlation, its corresponding distance is the actual distance of target, it is achieved thereby that the accurate survey to target
Away from.
In a multi-path environment, traditional matched filtering distance-finding method can not accurately measure distance, can measure decoy by mistake, and
The present invention is by echo-signal time reversal and resend in pseudo channel, the correlation of back echo during utilization
Matter accurately measures target range information.To weaken influence of the multipath effect to ranging, conventional method, which is taken, suppresses multipath effect
Method, and the present invention then carries out ranging by using multi-path information, and cost is relatively low, suitable for the situation of various delay multipaths.
The technique effect of the present invention is explained again below by emulation experiment and data.
Embodiment 6
Radar target distance-finding method based on time reversal is surveyed with embodiment 1-5, the present invention to the target under multi-path environment
Pass through following emulation further checking away from performance.
(1) experiment scene：
In the case of identical ambient parameter, radar parameter, traditional matched filtering distance-finding method and Ben Fa are taken respectively
The bright radar target distance-finding method based on time reversal carries out emulation experiment.
(2) experiment content and analysis of experimental results：
Experiment condition：The ranging to sea low latitude point target is simulated in a computer, and ambient parameter, radar parameter are set such as
Following table.
In the case of above-mentioned parameter, influence of the multipath to single goal ranging is only considered, transmission signal is horizontal polarization
Mode, ranging is carried out using traditional matched filtering method, obtains distance measurement result figure as shown in Fig. 2 wherein abscissa is distance
Value, ordinate are normalization matched filtering amplitude.From figure 2 it can be seen that influenceed by multipath effect, matched filtering ranging
Occur 2 spikes in result figure, the amplitude of the two spikes is more or less the same, accurately object ranging, radar will can not be detected
Decoy.
Under same simulated conditions, ranging is carried out using radar target distance-finding method of the present invention based on time reversal, obtained
To distance measurement result figure as shown in figure 3, wherein abscissa is distance value, ordinate is normalizated correlation coefficient.Can from Fig. 3
Go out, find out coefficient correlation maximum corresponding to distance value be target range, distance corresponding to coefficient correlation peak point is in figure
30000m, it is 30000m to measure target range, identical with target actual distance, it is achieved thereby that the accurate survey to target range
Amount, distance measurement result error are minimum.
Object ranging is carried out using traditional matched filtering method, due to the interference of multipath signal, occurred in distance measurement result
Spike similar in multiple amplitudes, radar can not accurately measure the distance of target.Ranging, distance measurement result are carried out using the inventive method
In have that the coefficient correlation of a spike is big more than the coefficient correlation at other positions, only need to find out distance corresponding to spike, be
The actual distance of target, is not influenceed by decoy.And inventive method, without being configured to antenna, cost is relatively low, is applied to
The situation of different delays multipath.
In summary, a kind of radar target distance-finding method based on time reversal disclosed by the invention, is solved in multipath
Under environment the problem of target accurate ranging.Implementation step is：1. produce radar emission signal and obtain echo data；2. it will return
Wave number is according to progress time reversal, inverted signal when obtaining；3. setting range search scope, calculate and virtually believe corresponding to different distance point
Road model, by when inverted signal be transmitted into these channels, back echo signal when obtaining；4. contrast signal is constructed, it is anti-when calculating each
The Pearson correlation coefficient of echo-signal and contrast signal；5. found in all coefficient correlations corresponding to maximum correlation coefficient away from
From as with a distance from target.The present invention is by carrying out time reversal to echo data and being transmitted into pseudo channel, by direct wave
Focusing is realized in time with multipath ripple signal, makes back echo and contrast signal when corresponding to actual distance using multi-path information
Correlation is higher, it is achieved thereby that the accurate ranging to target, and cost is relatively low, can suitable for the situation of all kinds of delay multipaths
Measurement for sea low latitude point target distance.
Above description is only example of the present invention, does not form any limitation of the invention, it is clear that for
, all may be without departing substantially from the principle of the invention, structure after present invention and principle has been understood for one of skill in the art
In the case of, the various modifications and changes in progress form and details, but these modifications and variations based on inventive concept
Still within the claims of the present invention.
Claims (3)
1. a kind of radar target distance-finding method based on time reversal, it is characterised in that surveyed using multi-path information to target
Away from, including have the following steps：
(1) radar produces transmission signal st(t) radar return data s, is obtainedr(t)；
(2) by echo data sr(t) time reversal processing, inverted signal s when obtaining are carried outr *(- t), wherein * are conjugate of symbol；
(3) back echo signal S when radar is calculatedTR；
(4) according to transmission signal st(t) and when back echo signal STR, obtain Pearson correlation coefficient：
4a) according to transmission signal st(t) contrast signal s is constructedt *(-t)；
Back echo signal S when 4b) being calculatedTRIn each echo and contrast signal st *The Pearson correlation coefficient ρ of (- t)；
(5) coefficient correlation of maximum is found in whole Pearson correlation coefficient ρ, its corresponding distance is the distance of target,
Complete object ranging.
2. the radar target distance-finding method according to claim 1 based on time reversal, being calculated described in step 3
Back echo signal S during radarTR, specifically include：
3a) selected distance scope R, each distance is taken to be used as Searching point in order in distance range R；
3b) according to ambient parameter and radar parameter, direct wave and multipath ripple pseudo channel of the radar at these Searching points are established
Model H；
3c) by when inverted signal sr *(- t) is transmitted into direct wave and multipath ripple pseudo channel H, back echo signal when corresponding to acquisition
STR；
Wherein, distance range R=[R1,…,Rk,…,Rn], R1For initial detection range, RkFor the actual distance of target, RnFor
Final detection range, channel model H=[H1 … Hk … Hn], wherein H1,Hk,HnRespectively R1,Rk,RnIt is corresponding virtual
Channel model, when back echo signal STR=[sTR1(t) … sTRk(t) … sTRn(t)], wherein sTR1(t),sTRk(t),sTRn
(t) it is respectively R1,Rk,RnBack echo signal when corresponding.
3. the radar target distance-finding method according to claim 2 based on time reversal, wherein step 3c) by when inverted signal
sr *(- t) is transmitted into direct wave and multipath ripple pseudo channel H, back echo signal S when corresponding to acquisitionTR, enter as follows
OK：
According to the transmission receptance function h of direct wavek(t) and multipath ripple transmission receptance function h 'k(t), when searching
RkDuring position, the when back echo signal obtained now is：
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Wherein st *(- t) is contrast signal, and * is conjugate of symbol,For convolution algorithm, RkCorresponding channel model multipath channel models
Hk=[hk(t)+h′k(t)], ηkFor multipath ripple channel electromagnetic scattering coefficient, τkFor direct wave channel time delay, τ 'kBelieve for multipath ripple
Road is delayed, and N (t) is noise signal.
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| CN109031231A (en) * | 2018-08-03 | 2018-12-18 | 西安电子科技大学 | Low-Altitude Target Elevation time reversal is concerned with angle estimating method |
| CN110109092A (en) * | 2019-04-24 | 2019-08-09 | 西安电子科技大学 | Radar velocity measurement method under multi-path environment based on time reversal |
| CN110515052A (en) * | 2019-06-18 | 2019-11-29 | 西安电子科技大学 | A kind of ultra wide band frequency domain unequal interval sampled targets detection method based on time reversal |
| CN111273296A (en) * | 2020-02-27 | 2020-06-12 | 浙江工业大学 | Iterative deconvolution-time reversal target detection and distance estimation method |
| CN111273294A (en) * | 2020-02-19 | 2020-06-12 | 西北工业大学 | Underwater acoustic pulse echo ranging method based on time reversal |
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