CN107607943A - The high method of survey of delay Doppler radar altimeter based on interferometric phase auxiliary - Google Patents
The high method of survey of delay Doppler radar altimeter based on interferometric phase auxiliary Download PDFInfo
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Abstract
The invention discloses a kind of delay Doppler radar altimeter based on interferometric phase auxiliary to survey high method, solves the problems, such as traditional algorithm precision and resolution ratio is relatively low and dual-antenna system is faced with positive and negative interferometric phase non-coherent addition and causes the angle information of difficult extraction surface units.Realizing step is：Establish the signal model of the delay Doppler radar altimeter based on interferometric phase auxiliary；Echo signal processing：Noise power estimation and detection threshold calculate；Delimit interference window；Extract Interference phase angle, i.e., surface units relative to aerial array normal angle；Highly calculate, the height according to all range cell respective distances and its corresponding ground unit interfered in window relative to the angle estimation carrier aircraft of aerial array normal.The present invention effectively extracts the angle information of surface units by triantennary, significantly improves the altimetry precision and resolution ratio of radar altimeter, reliable and stable, operand is low, for interfering the terrain match of Doppler radar altimeter.
Description
Technical field
The invention belongs to Radar Technology field, and the high method of survey of more particularly to radar altimeter is specifically a kind of based on dry
The high method of survey of the delay Doppler radar altimeter of phase auxiliary is related to, is surveyed available for the radar altimeter based on terrain match
It is high.
Background technology
When traditional radar altimeter is applied to terrain match navigation, its main influence on landform matching performance is：
Conventional radar altimeter ground footprint is big, and it is whole ground footprint that it, which measures obtained height, (pulse is limited or wave beam is limited)
The height average on interior all ground.Therefore, the altimetry precision of conventional radar altimeter and ground resolution are all relatively low.Thus
Higher positioning precision can not be obtained when matching will be caused to position.And the interference delay Doppler radar altimeter system of American R ＆ D
System is only dual-antenna system, because the echo of the equidistant surface units at left and right sides of course line will be overlapped in a range cell,
Dual-antenna system is faced with the problem of positive and negative interferometric phase non-coherent addition, then is difficult to the angle letter of effectively extraction surface units
Breath, cannot be distinguished by the positional information of the equidistant surface units at left and right sides of course line, can not improve the vertical course of radar altimeter
Resolution ratio.
The content of the invention
The problem of it is an object of the invention to exist for the above method, propose that a kind of precision is higher based on interferometric phase
The high method of survey of additional delay Doppler radar altimeter, to obtain the phase of remaining surface units echo, improve altimetry precision
And resolution ratio.
The present invention is that a kind of delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method, and its feature exists
In based on three-antenna system, comprising the following steps：
(1) the Echo in Radar Altitude Meter signal model of three-antenna system is established：Interference delay Doppler radar altimeter
The antenna that antenna is distributed by 3 path in elevations is formed, and the spacing (baseline length) between antenna is d, is earthward launched by antenna 1
Pulse signal, antenna 1,2,3 receive the echo from ground, and the echo signal model of foundation is respectively s1(t)、s2And s (t)3
(t), they are all the echo-signals with time correlation；
Start to handle echo-signal,
(2) detection threshold is determined：Noise power by calculating any one antenna is used to calculate radar echo signal
Detection threshold；
(3) interference window delimited antenna 1：According to the detection threshold being calculated, searched in the echo-signal of antenna 1 high
In the peak point position of detection threshold, since peak point positional distance unit, searched for echo frontier, by all signal amplitudes
Value is included in interference window higher than the range cell of detection threshold, stops when there is range cell that signal amplitude is less than detection threshold
Only search for；It is that interference point is used equally for radar altitude to measure to interfere range cell all in window；
(4) the interference window of antenna 2 and antenna 3 interferes the range cell in window to be defined delimitation by antenna 1；
(5) Interference phase angle θ (n) extraction：By the echo-signal meter of n-th of range cell in the interference window of three antennas
Calculate angle theta (n) of its corresponding surface units relative to the array normal of antenna 1；
(6) radar altitude measures：According to surface units corresponding to all range cells in interference window to the distance R of radar
And its corresponding ground unit calculates radar altitude, is then calculated to all relative to the angle theta (n) of the array normal of antenna 1
Radar altitude be averaging, obtain height of the radar relative to ground.
The present invention uses three-antenna system, solves dual-antenna system and is faced with asking for positive and negative interferometric phase non-coherent addition
Topic, improves angle measurement accuracy, and then improve measurement accuracy and resolution ratio.
The present invention has the following advantages that compared with prior art：
1st, the present invention utilizes the lateral angles measurement capability of receiving antenna array, measures surface units relative to antenna array
The angle of row normal, improves altimetry precision；
2nd, because the present invention use three-antenna system, solve dual-antenna system be faced with positive and negative interferometric phase it is incoherent fold
The problem of adding, angle measurement accuracy is improved, and then improve measurement accuracy and resolution ratio；
3rd, reduced relative to traditional Height-measuring algorithm, its operand；
Brief description of the drawings
Fig. 1 is the implementation process figure of the present invention；
Fig. 2 is any passage schematic diagram of a scenario in triantennary of the present invention；
Fig. 3 is interference delay doppler altimeter geometrical relationship figure；
Fig. 4 is interferometric phase supplementary height estimation geometric representation；
Fig. 5 is that interference window delimit schematic diagram；
Fig. 6 is 1000m height simulation result figures；
Fig. 7 is 3000m height simulation result figures；
Fig. 8 is 6000m height simulation result figures；
Embodiment
Embodiment 1
Existing double antenna interference delay Doppler radar altimeter system, because the equidistant ground at left and right sides of course line is single
The problem of echo of member will be overlapped in a range cell, and dual-antenna system is faced with positive and negative interferometric phase non-coherent addition,
Then it is difficult to the angle information of effectively extraction surface units, cannot be distinguished by the position letter of the equidistant surface units at left and right sides of course line
Breath, and then the resolution ratio in the vertical course of radar altimeter can not be improved.
In addition, traditional Height-measuring algorithm such as Half-power points, WSG methods, least mean-square error fitting Height Estimation method
Equally accurate is relatively low and operand is larger.
For this present situation, the present invention expands discussion and research, proposes that how general a kind of delay based on interferometric phase auxiliary is
Strangle radar altimeter and survey high method, referring to Fig. 1, the present invention is based on three-antenna system, and wherein antenna 1 is used to launch and receive letter
Number, antenna 2 and antenna 3 are used for reception signal, by taking zero Doppler frequency passage as an example, comprise the following steps：
(1) the Echo in Radar Altitude Meter signal model of three-antenna system is established：Interference delay Doppler radar altimeter
The antenna that antenna is distributed by 3 path in elevations is formed, and the spacing between antenna is that baseline length is d, is earthward launched by antenna 1
Pulse signal, antenna 1,2,3 receive the echo from ground, and the echo signal model of foundation is respectively s1(t)、s2And s (t)3
(t), they are all the echo-signals with time correlation.
Start to handle echo-signal,
(2) detection threshold is determined：Noise power by calculating any one antenna is used to calculate radar echo signal
Detection threshold.
In order to delimit detection threshold, it is necessary to which either the output signal of antenna 2 or antenna 3 calculates noise work(according to antenna 1
Rate, select in this example the output signal of antenna 1 to calculate noise power, detection threshold is then determined according to noise power.
(3) interference window delimited antenna 1：According to the detection threshold being calculated, searched in the echo-signal of antenna 1 high
In the peak point position of detection threshold, the range cell corresponding to peak point is interferes an edge of window, referring to Fig. 5, from peak
Value point positional distance unit starts, and is searched for echo frontier, and all signal amplitude values are equal higher than the range cell of detection threshold
Be included in interference window, when occur signal amplitude be less than detection threshold range cell when stop search, herein be interference window it is another
Edge.It is that interference point is used equally for radar altitude to measure to interfere range cell all in window.
(4) the interference window of antenna 2 and antenna 3 interferes the range cell in window to be defined delimitation by antenna 1.
(5) Interference phase angle θ (n) extraction：By the echo-signal meter of n-th of range cell in the interference window of three antennas
Calculate angle theta (n) of its corresponding surface units relative to the array normal of antenna 1.The range cell that n belongs in interference window.In order to
Interference phase angle is extracted, the present invention reconfigures a new signal i.e. antenna 2 and the reception signal sum of antenna 3, greatly reduced
Operand, while improve angle measurement accuracy.
(6) radar altitude measures：According to surface units corresponding to all range cells in interference window to the distance R of radar
And its corresponding ground unit calculates radar altitude, is then calculated to all relative to the angle theta (n) of the array normal of antenna 1
Radar altitude be averaging, obtain height of the radar relative to ground.
Traditional radar altimeter measurement accuracy and resolution ratio are all relatively low, and double antenna interference delay Doppler radar height
Table is faced with the problem of positive and negative interferometric phase non-coherent addition, then is difficult to the angle information of effectively extraction surface units.
Interference delay Doppler radar altimeter of the present invention based on triantennary, solving dual-antenna system can not effectively obtain
The problem of taking the angle information of aliasing surface units, the angle information of surface units can be effectively obtained, preferably improves thunder
Up to the measurement accuracy and spatial resolution of altimeter.Using the lateral angles measurement capability of receiving antenna array, ground is measured
Unit relative to aerial array normal angle.
Embodiment 2
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1, step (1) of the present invention
In foundation based on interferometric phase aid in delay Doppler radar altimeter echo signal model：
Reference picture 2, Fig. 2 are any passage schematic diagram of a scenario in triantennary, and three interval phases are disposed along vertical course direction
Same antenna, antenna 1 send and receive signal, and antenna 2,3 is used for reception signal,
The echo signal model of antenna 1：
The echo signal model of antenna 2：
The echo signal model of antenna 3：
In formula, c is the light velocity, and λ is wavelength, LPFor propagation attenuation, H is carrier aircraft height, and G (ρ, φ) is that polar coordinates ρ, φ are corresponding
Surface units antenna gain, σ (ρ, φ) is ground unit area scattering coefficient, P corresponding to polar coordinates ρ, φp(t) it is point
Target echo waveform, R1(ρ, φ) is the distance that antenna 1 arrives surface units corresponding to polar coordinates ρ, φ, and d is baseline length, θ (ρ,
It is φ) surface units corresponding to polar coordinates ρ, φ and the angle of the normal of antenna 1.
They are all the echo-signals with time correlation, and the present invention is due to using three-antenna system, radar altimeter tool
Standby horizontal angle measurement ability, by measuring the angle of surface units and aerial array normal, and then calculates radar altitude.Wherein by
In constructing a kind of new signal so that amount of calculation substantially reduces, and uses Doppler beam sharpening technology when due to signal transacting
So that the spatial resolution of radar altimeter improves.
The present invention utilizes the lateral angles measurement capability of receiving antenna array, measures surface units relative to aerial array
The angle of normal, improves altimetry precision.
Embodiment 3
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1, any in step 2
The noise power calculation of antenna, with the noise power of antenna 1 in this exampleExemplified by：
Wherein, N1 be noise window originate range cell sequence number, M be noise window length, s1Believe for the reception of antenna 1
Number, l is the sequence number of range cell in noise window；
The thresholding U of subsequent detection is determined according to detection probabilityT：
P in formulafaFor detection probability.
Although calculating noise power with the output signal of antenna 1 in this example, antenna 2 or day can also be used in practical operation
The output signal of line 3 calculates noise power, and calculation formula and antenna 1 are identical, the noise work(calculated with antenna 2 or antenna 3
Rate may also be used for calculating detection threshold.
Embodiment 4
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1-3 wherein steps (5)
In extraction to Interference phase angle, carry out as follows：
(5.1) the output ground echo signal for the antenna 1,2,3 interfered in window is designated as respectively：
s1(N2-P+1),s1(N2-P+2),…,s1(N2)；
s2(N2-P+1),s2(N2-P+2),…,s2(N2)；
s3(N2-P+1),s3(N2-P+2),…,s3(N2)；
Here N2For the position of peak point, P is the range cell number in interference window；
(5.2) n-th of (n ∈ [N2-P+1,N2]) the corresponding ground unit of range cell relative to aerial array normal folder
Angle θ (n) is calculated by following formula：
When extracting Interference phase angle, due to taking conjugate multiplication method in the prior art, operand is larger, present invention construction
One new signal, i.e. antenna 2 and the echo-signal sum of antenna 3, then carry out ratio proccessing, operand with the echo-signal of antenna 1
Substantially reduce, angle measurement accuracy is also higher.
Embodiment 5
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1-4, wherein step (6)
Described in surface units corresponding to all range cells to radar distance R and its corresponding ground unit relative to the array of antenna 1
The angle theta (n) of normal, radar altitude is calculated, is carried out as follows：
All radar altitudes being calculated are averaging, obtain height of the radar relative to ground：
In formula, n is the sequence number of range cell in interference window, and c is the light velocity, and B is signal bandwidth.
All range cells in interference window may serve to calculate radar altitude, so take full advantage of in interference window
Range cell, substantially increase altimetry precision.
Embodiment 6
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1-5,
(1) echo signal model of the delay Doppler radar altimeter based on interferometric phase auxiliary is established；
Start to handle echo-signal,
(2) noise power estimation of antenna 1 and the calculating of detection threshold are calculated：In order to which subsequent detection needs, height is being carried out
Needed before degree measurement processing first in the place windowing estimating noise power away from echo frontier.It is assumed that noise window starting distance is single
First serial number N1, noise window length are M, s1For the reception signal of antenna 1, l is the sequence number of range cell in noise window, that
Noise power is：
The thresholding of subsequent detection can be determined according to detection probability：
Wherein PfaFor detection probability.
(3) interference window delimited：Peak point position of the search higher than detection threshold in echo-signal.So, from peak point
Positional distance unit starts, and is searched for echo frontier, and range cell of all signal amplitude values higher than detection threshold is included in
Interfere window, when occur signal amplitude be less than detection threshold range cell when stop search.
(4) interferometric phase θ (n) extraction：The corresponding ground unit of n-th of range cell is calculated relative to aerial array method
The angle theta (n) of line.
(5) radar altitude measures：According to all range cells correspondence and distance and its corresponding ground unit in interference window
Relative to the height of the angle estimation carrier aircraft of aerial array normal：
The present invention triantennary interference delay Doppler radar altimeter, can effectively solve dual-antenna system exist it is positive and negative
The problem of interferometric phase non-coherent addition, the angle information of surface units is effectively extracted, and relative to traditional high method of survey
Its altimetry precision is higher, and operand is lower, and improves the resolution ratio in the vertical course of radar altimeter.
A more complete and detailed example is given below, the present invention is further described,
Embodiment 7
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1-6, referring to Fig. 1, sheet
The implementation of invention includes following steps：
Step 1, the signal model for establishing the delay Doppler radar altimeter based on interferometric phase auxiliary:
Reference picture 3, Fig. 3 interference delay doppler altimeter geometrical relationship figures, three intervals are disposed along vertical course direction
Identical antenna, antenna 1 send and receive signal, and antenna 2,3 is used for reception signal, it is assumed that it is how general that radar altimeter is used for delay
The umber of pulse for strangling processing is N, pulse recurrence frequency Fr, λ is wavelength, and carrier aircraft is highly H, and carrier aircraft speed is va, baseline length is
D, under flat ground assumed condition, it is assumed that ground strips scope corresponding to n-th of Doppler's passage is yn~yn+1, referring to Fig. 2
Doppler's passage of dash area, ynAnd yn+1It can be expressed as：
For Height Estimation, optimal selection is selection N/2 Doppler passage (zero Doppler frequency) output
Signal is handled.In order to without loss of generality, the letter that is exported with the N/2+1 Doppler passage adjacent with zero Doppler's passage
Exemplified by number, referring to Fig. 4, dash area is Doppler's passage below Fig. 4,
Due to following approximation relation near zero Doppler frequency be present：
For ease of analysis, it is assumed that ground scatter unit is distributed only on the center line of ground strips in i.e. Fig. 4 where A, B point
On straight line, A, B are on symmetrical two surface units in course line, and center line coordinates corresponding to N/2+1 Doppler's passages is：
Ripple is received back to antenna and carries out down coversion, pulse compression and delay doppler processing respectively,
The echo signal model of antenna 1：
The echo signal model of antenna 2：
The echo signal model of antenna 3：
C is the light velocity, and λ is wavelength, LPFor propagation attenuation, H is carrier aircraft height, and G (x) is that coordinate is surface units corresponding to x
Antenna gain, σ (x) is unit area scattering coefficient in ground corresponding to coordinate x, and d is baseline length, and θ (x) is coordinate x corresponding
Surface units and the normal of antenna 1 angle.For the same scattering unit on ground, antenna 2,3 output signal phases
Two interferometric phase items will be had more than antenna 1：e-j2πdsinθ(x)/λAnd ej2πdsinθ(x)/λ.It is assumed that after echo-signal discrete sampling
Oblique distance corresponding to i range cell is Ri=ic/2B, if it is possible to calculate some range cell of echo-signal in three antennas
Interferometric phase, then can calculate surface units corresponding to the range cell relative to the angle theta (x) of aerial array, then just
The height of radar can be calculated relative to the angle theta (x) of aerial array by the oblique distance R and surface units of antenna to surface units
Degree：
Reference picture 4, for symmetrical two surface units A and B on course line, it arrives the distance phase of radar altimeter
Deng its echo will be added in same range cell.Surface units A and B it is equal relative to the corner dimension of antenna normal and
Symbol contrast.It is assumed that surface units A and B complex scattering coefficients areWithTherefore, it is on three antennas
Output can be simplified shown as：
To extract interferometric phase, following new signal is constructed：
Ratio proccessing is now carried out again：
Now, it becomes possible to the π d sin θs (x) of Interference phase angle 2/λ is extracted, so as to estimate surface units relative to antenna array
The angle of row normal, and then by the height of oblique distance recovery carrier aircraft.
The present invention reduces relative to traditional Height-measuring algorithm, its operand.
Echo-signal is handled, comprised the following steps：
Step 2, noise power estimation and detection threshold calculate.In order to which subsequent detection needs, Height Estimation processing is being carried out
It is preceding to need first in the place windowing estimating noise power away from echo frontier.It is assumed that window originates range cell serial number N1, it is long
Spend for M, then noise power is：
The thresholding of subsequent detection can be determined according to detection probability：
P in formulafaFor detection probability.
Step 3, reference picture 5, peak point position of the search higher than detection threshold in echo-signal.It is assumed that where peak point
Range cell serial number N2.So, since N2 range cells, searched for echo frontier, all signal amplitude values are higher than
The range cell of detection threshold is included in interference window, when occur signal amplitude be less than detection threshold range cell when stop search
Rope.
Step 4, extraction Interference phase angle.Referring to Fig. 5, the ground echo signal point for interfering the antenna 1,2,3 in window to export
It is not designated as：
s1(N2-P+1),s1(N2-P+2),…,s1(N2)；s2(N2-P+1),s2(N2-P+2),…,s2(N2)；s3(N2-P+
1),s3(N2-P+2),…,s3(N2), P is the range cell number in interference window here.Referring to Fig. 4, n-th of (n ∈ [N2-P+
1,N2]) the corresponding ground unit of range cell calculates relative to the angle of aerial array normal by following formula：
In Fig. 4, because surface units are along course line into symmetrical, A and B is equal relative to the corner dimension of antenna normal and symbol
On the contrary, value of the present invention just with phase angle.
Step 5, radar altitude measurement.According to all range cells correspondence and distance and its corresponding ground list in interference window
The height of first angle estimation carrier aircraft relative to aerial array normal：
In formula, n is the sequence number of range cell, and c is the light velocity, and B is signal bandwidth.
It is all to have an added value, i.e. y due to being that the signal of N/2+1 passages is handled in this examplenc.When
When taking zero Doppler frequency passage, this is zero.
The present invention can pass through following emulation further checking.
Embodiment 8
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1-7,
Experiment scene：
Simulating scenes of the present invention are as shown in Fig. 2 it includes：3 antennas, i.e. antenna 1, antenna 2 and antenna 3；Radar simulation
Parameter：Speed 150m/s, power 2w, antenna gain 26dB, frequency 6GHz, pulsewidth 100MHz, DBS umber of pulse 16, baseline length
0.08m。
Experiment content and result：
High emulation is highly surveyed in experiment 1,1000m.Under the conditions of carrier aircraft height 1000m, the delay Doppler radar of emulation is high
Spend shown in table echo-signal such as Fig. 6 (a) and (b), Fig. 6 (a) is the distribution of echo-signal interferometric phase, Fig. 6 (b) echo-signals when
Domain figure, the output of zero Doppler frequency passage is selected.Conventional half power points is used respectively to zero Doppler's multi-channel output signal
Height Estimation method, WSG Height Estimations method, least mean-square error fitting Height Estimation method and interferometric phase supplementary height are estimated
Meter method is handled, and shown in obtained Height Estimation result such as Fig. 6 (b)~Fig. 6 (g), wherein Fig. 6 (f) is threeway of the present invention
The interference angle that road interference treatment obtains, interference angle are distributed near 1000m height, and curve is in stable state.Distinct methods obtain
Height Estimation root-mean-square error it is as shown in table 1, because WSG algorithms make use of its precision of more backward energies to be slightly above half work(
Rate point algorithm, and least mean-square error is fitted due to avoiding the ratio computing between ripple door, its precision is higher than WSG algorithms, and does
Relate to the precision highest that phase householder method obtains.
Table 1,1000m condition Height Estimation precision
The measurement accuracy that interferometric phase householder method of the invention obtains as seen from Table 1 highest under the conditions of low clearance.
Embodiment 9
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1-7, simulated conditions and
Content is the same as embodiment 8.
Test 2, under the conditions of carrier aircraft height 3000m, delay Doppler radar altimeter echo-signal such as Fig. 7 of emulation
(a) and shown in (b), Fig. 7 (a) is distributed for echo-signal interferometric phase, the time-domain diagram of Fig. 7 (b) echo-signals, has selected general more than zero
Strangle the output of passage.Zero Doppler's multi-channel output signal is highly estimated using conventional half power points Height Estimation method, WSG respectively
Meter method, least mean-square error fitting Height Estimation method and interferometric phase supplementary height method of estimation are handled, and are obtained
Shown in Height Estimation result such as Fig. 7 (b)~Fig. 7 (g), wherein Fig. 7 (f) is the interference angle that triple channel interference treatment obtains, and is interfered
Angle is distributed near 3000m height, and curve is in stable state.The Height Estimation root-mean-square error that distinct methods the obtain such as institute of table 2
Show.Precision highest highly similar with 1000m, that interferometric phase householder method obtains, secondly it is because least mean-square error is fitted
Method, WSG algorithms and half power points algorithm.
Table 2,3000m condition Height Estimation precision
The measurement accuracy that interferometric phase householder method of the invention obtains as seen from Table 2 highest under the conditions of middle height.
Embodiment 10
Delay Doppler radar altimeter based on interferometric phase auxiliary surveys high method with embodiment 1-7, simulated conditions and
Content is the same as embodiment 8.
Test 3, under the conditions of carrier aircraft height 6000m, delay Doppler radar altimeter echo-signal such as Fig. 8 of emulation
(a) and shown in (b), Fig. 8 (a) is distributed for echo-signal interferometric phase, the time-domain diagram of Fig. 8 (b) echo-signals, has selected general more than zero
Strangle the output of passage.Zero Doppler's multi-channel output signal is highly estimated using conventional half power points Height Estimation method, WSG respectively
Meter method, least mean-square error fitting Height Estimation method and interferometric phase supplementary height method of estimation are handled, and are obtained
Shown in Height Estimation result such as Fig. 8 (b)~Fig. 8 (g), wherein Fig. 8 (f) is the interference angle that triple channel interference treatment obtains, and is interfered
Angle is distributed near 6000m height, and curve is in stable state.The Height Estimation root-mean-square error that distinct methods the obtain such as institute of table 3
Show.Equally, the precision highest that interferometric phase householder method obtains, secondly it is due to least mean-square error approximating method, WSG algorithms
With half power points algorithm.But, the advantage of the relatively minimal mean square error approximating method of interferometric phase householder method reduces here, this
Being primarily due to 6000 meters of height signal to noise ratio reductions causes the reduction of phase estimation precision larger.
Table 3,6000m condition Height Estimation precision
The measurement accuracy that interferometric phase householder method of the invention obtains as seen from Table 3 highest under the conditions of height, but
It is that least mean-square error fitting precision is also improved, but its operand is too big.
To sum up, above-mentioned simulation result shows, on different height, the present invention is estimated based on triantennary interferometric phase supplementary height
The precision of meter method is optimal, and operand is less than least mean-square error approximating method.The precision of least mean-square error is lower slightly
In interferometric phase householder method but in middle height well below WSG methods and half power points method, and operand is larger, but
It is due to only to need an antenna, its system equipment amount is less than interferometric phase householder method.WSG methods and half power points method are only
There is the precision under the conditions of low clearance could be close to interferometric phase householder method and least mean-square error approximating method.
In brief, a kind of delay Doppler radar altimeter based on interferometric phase auxiliary disclosed by the invention surveys Gao Fang
Method, mainly solve traditional algorithm altimetry precision and resolution ratio is relatively low, it is incoherent folded that dual-antenna system is faced with positive and negative interferometric phase
Add, the problem of causing to be difficult to effectively to extract the angle information of surface units.Implementation step is：First, establish and be based on interferometric phase
The signal model of the delay Doppler radar altimeter of auxiliary；2nd, echo-signal is handled, mainly included the following steps that：
1) calculating of noise power estimation and detection threshold；2) interference window delimited, obtains the ground that all range values are higher than detection threshold
Range cell；3) interferometric phase is extracted, obtains angle theta (n) of the surface units relative to aerial array normal；4) Height Estimation,
Angle according to all range cells correspondence and distance and its corresponding ground unit interfered in window relative to aerial array normal
Estimate the height of carrier aircraft.The present invention can effectively solve dual-antenna system and be faced with positive and negative interferometric phase non-coherent addition to cause to be difficult to
The problem of effectively extracting the angle information of surface units, is remarkably improved the altimetry precision of radar altimeter and the property of altimeter
Can, and relative to traditional Height-measuring algorithm, its operand reduces, for interfering the terrain match of Doppler radar altimeter.
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 (5)
- A kind of 1. high method of survey of the delay Doppler radar altimeter based on interferometric phase auxiliary, it is characterised in that based on three Antenna system, comprise the following steps：(1) the Echo in Radar Altitude Meter signal model of three-antenna system is established：The antenna of interference delay Doppler radar altimeter It is made up of the antenna of 3 path in elevation distributions, the spacing between antenna is that baseline length is d, earthward launches pulse by antenna 1 Signal, antenna 1,2,3 receive the echo from ground, and the echo signal model of foundation is respectively s1(t)、s2And s (t)3(t), They are all the echo-signals with time correlation；Start to handle echo-signal,(2) detection threshold is determined：Noise power by calculating any one antenna is used for the detection for calculating radar echo signal Thresholding；(3) interference window delimited antenna 1：According to the detection threshold being calculated, search is higher than inspection in the echo-signal of antenna 1 The peak point position of thresholding is surveyed, since peak point positional distance unit, is searched for echo frontier, all signal amplitude values are high Be included in interference window in the range cell of detection threshold, when occur signal amplitude be less than detection threshold range cell when stop search Rope, it is that interference point is used equally for radar altitude to measure to interfere range cell all in window；(4) the interference window of antenna 2 and antenna 3 interferes the range cell in window to be defined delimitation by antenna 1；(5) Interference phase angle θ (n) extraction：It is calculated by the echo-signal of n-th of range cell in the interference window of three antennas Corresponding surface units relative to the array normal of antenna 1 angle theta (n)；(6) radar altitude measures：According to interference window in all range cells corresponding to surface units to radar distance R and its Corresponding ground unit calculates radar altitude, then to all thunders being calculated relative to the angle theta (n) of the array normal of antenna 1 It is averaging up to height, obtains height of the radar relative to ground.
- 2. the delay Doppler radar altimeter according to claim 1 based on interferometric phase auxiliary surveys high method, it is special Sign is, the echo signal model for the delay Doppler radar altimeter that the foundation described in step (1) is aided in based on interferometric phase：The echo signal model of antenna 1：<mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <msup> <mi>&lambda;</mi> <mn>2</mn> </msup> <mrow> <msup> <mrow> <mo>(</mo> <mn>4</mn> <mi>&pi;</mi> <mo>)</mo> </mrow> <mn>3</mn> </msup> <msub> <mi>L</mi> <mi>P</mi> </msub> </mrow> </mfrac> <mo>&lsqb;</mo> <munder> <munder> <mrow> <mo>&Integral;</mo> <mo>&Integral;</mo> </mrow> <mrow> <mi>&rho;</mi> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&GreaterEqual;</mo> <msub> <mi>y</mi> <mi>n</mi> </msub> </mrow> </munder> <mrow> <mi>&rho;</mi> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&le;</mo> <msub> <mi>y</mi> <mrow> <mi>n</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> </mrow> </munder> <mi>&delta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mn>2</mn> <msub> <mi>R</mi> <mn>1</mn> </msub> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> <mo>/</mo> <mi>c</mi> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <msup> <mi>G</mi> <mn>2</mn> </msup> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> <mi>&sigma;</mi> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&CenterDot;</mo> <msup> <mi>e</mi> <mrow> <mo>-</mo> <mi>j</mi> <mn>4</mn> <msub> <mi>&pi;R</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mi>&lambda;</mi> </mrow> </msup> <mo>/</mo> <msup> <mrow> <mo>(</mo> <msup> <mi>H</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>&rho;</mi> <mn>2</mn> </msup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mi>d</mi> <mi>&rho;</mi> <mi>d</mi> <mi>&phi;</mi> <mo>&rsqb;</mo> <mo>*</mo> <msub> <mi>P</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>The echo signal model of antenna 2：<mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <msup> <mi>&lambda;</mi> <mn>2</mn> </msup> <mrow> <msup> <mrow> <mo>(</mo> <mn>4</mn> <mi>&pi;</mi> <mo>)</mo> </mrow> <mn>3</mn> </msup> <msub> <mi>L</mi> <mi>P</mi> </msub> </mrow> </mfrac> <mo>&lsqb;</mo> <munder> <munder> <mrow> <mo>&Integral;</mo> <mo>&Integral;</mo> </mrow> <mrow> <mi>&rho;</mi> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&GreaterEqual;</mo> <msub> <mi>y</mi> <mi>n</mi> </msub> </mrow> </munder> <mrow> <mi>&rho;</mi> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&le;</mo> <msub> <mi>y</mi> <mrow> <mi>n</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> </mrow> </munder> <mi>&delta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mn>2</mn> <msub> <mi>R</mi> <mn>1</mn> </msub> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> <mo>/</mo> <mi>c</mi> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <msup> <mi>G</mi> <mn>2</mn> </msup> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> <mo>&CenterDot;</mo> <mi>&sigma;</mi> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&CenterDot;</mo> <msup> <mi>e</mi> <mrow> <mo>-</mo> <mi>j</mi> <mn>4</mn> <msub> <mi>&pi;R</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mi>&lambda;</mi> </mrow> </msup> <mo>&CenterDot;</mo> <msup> <mi>e</mi> <mrow> <mo>-</mo> <mi>j</mi> <mn>2</mn> <mi>&pi;</mi> <mo>&CenterDot;</mo> <mi>d</mi> <mo>&CenterDot;</mo> <mi>sin</mi> <mo>&lsqb;</mo> <mi>&theta;</mi> <mrow> <mo>(</mo> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&rsqb;</mo> <mo>/</mo> <mi>&lambda;</mi> </mrow> </msup> <mo>/</mo> <mn>2</mn> <msup> <mrow> <mo>(</mo> <msup> <mi>H</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>&rho;</mi> <mn>2</mn> </msup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mi>d</mi> <mi>&rho;</mi> <mi>d</mi> <mi>&phi;</mi> <mo>&rsqb;</mo> <mo>*</mo> <msub> <mi>P</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>The echo signal model of antenna 3：<mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>s</mi> <mn>3</mn> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <msup> <mi>&lambda;</mi> <mn>2</mn> </msup> <mrow> <msup> <mrow> <mo>(</mo> <mn>4</mn> <mi>&pi;</mi> <mo>)</mo> </mrow> <mn>3</mn> </msup> <msub> <mi>L</mi> <mi>P</mi> </msub> </mrow> </mfrac> <mo>&lsqb;</mo> <munder> <munder> <mrow> <mo>&Integral;</mo> <mo>&Integral;</mo> </mrow> <mrow> <mi>&rho;</mi> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&GreaterEqual;</mo> <msub> <mi>y</mi> <mi>n</mi> </msub> </mrow> </munder> <mrow> <mi>&rho;</mi> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&le;</mo> <msub> <mi>y</mi> <mrow> <mi>n</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> </mrow> </munder> <mi>&delta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mn>2</mn> <msub> <mi>R</mi> <mn>1</mn> </msub> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> <mo>/</mo> <mi>c</mi> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <msup> <mi>G</mi> <mn>2</mn> </msup> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> <mo>&CenterDot;</mo> <mi>&sigma;</mi> <mo>(</mo> <mrow> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> </mrow> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&CenterDot;</mo> <msup> <mi>e</mi> <mrow> <mo>-</mo> <mi>j</mi> <mn>4</mn> <msub> <mi>&pi;R</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mi>&lambda;</mi> </mrow> </msup> <mo>&CenterDot;</mo> <msup> <mi>e</mi> <mrow> <mi>j</mi> <mn>2</mn> <mi>&pi;</mi> <mo>&CenterDot;</mo> <mi>d</mi> <mo>&CenterDot;</mo> <mi>sin</mi> <mo>&lsqb;</mo> <mi>&theta;</mi> <mrow> <mo>(</mo> <mi>&rho;</mi> <mo>,</mo> <mi>&phi;</mi> <mo>)</mo> </mrow> <mo>&rsqb;</mo> <mo>/</mo> <mi>&lambda;</mi> </mrow> </msup> <mo>/</mo> <mn>2</mn> <msup> <mrow> <mo>(</mo> <msup> <mi>H</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>&rho;</mi> <mn>2</mn> </msup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mi>d</mi> <mi>&rho;</mi> <mi>d</mi> <mi>&phi;</mi> <mo>&rsqb;</mo> <mo>*</mo> <msub> <mi>P</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>In formula, c is the light velocity, and λ is wavelength, LPFor propagation attenuation, H is carrier aircraft height, and G (ρ, φ) is ground corresponding to polar coordinates ρ, φ The antenna gain of face unit, σ (ρ, φ) are ground unit area scattering coefficient, P corresponding to polar coordinates ρ, φp(t) it is point target Echo waveform, R1(ρ, φ) is the distance that antenna 1 arrives surface units corresponding to polar coordinates ρ, φ, and d is baseline length, θ (ρ, φ) For polar coordinates ρ, surface units corresponding to φ and the angle of the normal of antenna 1.
- 3. the delay Doppler radar altimeter according to claim 1 based on interferometric phase auxiliary surveys high method, it is special Sign is, the noise power calculation of any antenna described in step 2, with the noise power of antenna 1Exemplified by：Wherein, N1 be noise window originate range cell sequence number, M be noise window length, s1For the reception signal of antenna 1, l For the sequence number of range cell in noise window；The thresholding U of subsequent detection is determined according to detection probabilityT：P in formulafaFor detection probability.
- 4. the high method of survey of the delay Doppler radar altimeter according to claim 1 based on interferometric phase auxiliary, its It is characterised by, wherein the extraction in the step (5) to Interference phase angle, is carried out as follows：(5.1) the output ground echo signal for the antenna 1,2,3 interfered in window is designated as respectively：s1(N2-P+1),s1(N2-P+2),…,s1(N2)；s2(N2-P+1),s2(N2-P+2),…,s2(N2)；s3(N2-P+1),s3(N2-P+2),…,s3(N2),Here N2For the position of peak point, P is the range cell number in interference window；(5.2) n-th of (n ∈ [N2-P+1,N2]) the corresponding ground unit of range cell relative to aerial array normal angle theta (n) calculated by following formula：<mrow> <mi>&theta;</mi> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>arcsin</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mo>&lsqb;</mo> <msub> <mi>s</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>s</mi> <mn>3</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>&rsqb;</mo> <mi>&lambda;</mi> </mrow> <mrow> <mn>2</mn> <msub> <mi>&pi;ds</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>)</mo> </mrow> </mrow>
- 5. the high method of survey of the delay Doppler radar altimeter according to claim 1 based on interferometric phase auxiliary, its It is characterised by, distance R and its corresponding ground of the surface units corresponding to all range cells to radar wherein described in step (6) Unit calculates radar altitude, carried out as follows relative to the angle theta (n) of the array normal of antenna 1：All radar altitudes being calculated are averaging, obtain height of the radar relative to ground：<mrow> <mi>H</mi> <mo>=</mo> <mfrac> <mn>1</mn> <mi>P</mi> </mfrac> <munderover> <mo>&Sigma;</mo> <mrow> <mi>n</mi> <mo>=</mo> <msub> <mi>N</mi> <mn>2</mn> </msub> <mo>-</mo> <mi>P</mi> <mo>+</mo> <mn>1</mn> </mrow> <msub> <mi>N</mi> <mn>2</mn> </msub> </munderover> <mi>n</mi> <mo>&CenterDot;</mo> <mfrac> <mi>c</mi> <mrow> <mn>2</mn> <mi>B</mi> </mrow> </mfrac> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mo>&lsqb;</mo> <mi>&theta;</mi> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>&rsqb;</mo> </mrow>In formula, n is the sequence number of range cell in interference window, and c is the light velocity, and B is signal bandwidth.
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| CN112558055A (en) * | 2020-11-13 | 2021-03-26 | 中国电子科技集团公司电子科学研究院 | Target positioning method, device, GMTI system and readable storage medium |
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| CN112558497A (en) * | 2020-12-01 | 2021-03-26 | 中国人民解放军火箭军工程大学 | Anti-interference digital simulation method and system for radar altimeter |
| CN113093187A (en) * | 2021-03-31 | 2021-07-09 | 中国人民解放军国防科技大学 | CSAR ground moving target tracking method without road information assistance |
| CN113093187B (en) * | 2021-03-31 | 2023-07-21 | 中国人民解放军国防科技大学 | Road information-assisted CSAR ground moving target tracking method |
| CN114609633A (en) * | 2022-03-17 | 2022-06-10 | 电子科技大学 | Circumferential beam-bunching mode interference SAR height measurement method |
| CN114609633B (en) * | 2022-03-17 | 2023-09-01 | 电子科技大学 | SAR height measurement method by circumferential beam focusing mode interference |
| CN115453463A (en) * | 2022-07-27 | 2022-12-09 | 西安电子科技大学 | Radar rapid height finding method in forward-looking mode |
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