CN107748357B - A kind of radar fine day G- Design method of FIR filter - Google Patents
A kind of radar fine day G- Design method of FIR filter Download PDFInfo
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- CN107748357B CN107748357B CN201710778307.8A CN201710778307A CN107748357B CN 107748357 B CN107748357 B CN 107748357B CN 201710778307 A CN201710778307 A CN 201710778307A CN 107748357 B CN107748357 B CN 107748357B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
Abstract
The invention discloses the radar fine day G- Design methods of FIR filter, including calculating radar parameter: according to the operating mode and system parameter of radar.FIR processing: being low-velocity scanning by tested rotating platform, be filtered to pulse echo, calculates land clutter estimation.Modulus takes logarithm: data are converted to logarithm, and for carrying out, succeeding target is rejected and clutter energy is estimated.Target is rejected: being carried out threshold processing to sector data, and was removed the narrow pulse signal that distance tieed up thresholding.Distance merges: the big processing of cell data of adjusting the distance choosing obtains fine day map distance cell data.The amendment of fine day figure and update: the Communication Jamming rejected in fine day figure influences, and updates fine day figure by the method that clutter map is accumulated, obtains accurate fine day figure valuation.Present method solves Clutter Background static under bad weather can not accurate valuation problem, guarantee that radar accurately identifies Radar Clutter Background under any weather condition and obtains radar fine day figure.
Description
Technical field
The present invention relates to radar fine day G- Design method, in particular to the radar fine day G- Design sides of a kind of FIR filter
Method.
Background technique
Radar return not only includes a large amount of target information, while also including ground clutter, sea clutter, meteorological clutter, doing
The information such as disturb.In radar work, usually the clutter echo amplitude in ambient enviroment is had according to distance and bearing two-dimensional surface
It stores to sequence, to establish clutter map.The background clutter power of each range-azimuth unit is stored using clutter map, it is right
The estimated value in different scanning period makees iteration average treatment respectively, calculates clutter background valuation.
Carry out radar fine day G- Design and establish Radar Ground Clutter figure, to clutter valuation and carries out clutter subregion meaning weight
Greatly.Fine day G- Design has the effect that
(1) by carrying out subregion and Clutter Characteristic Analysis to clutter map, clutter power estimation can be carried out, clutter distribution is sentenced
Fixed, interference type judgement etc..
(2) by clutter strength distribution carry out clutter subregion, can distinguish without clutter area, weak clutter area, strong clutter area and
Superpower clutter area, different clutter regions determine to carry out the weight coefficient of correlative accumulation filter, can obtain maximum and accumulate gain.
In general, equal-weight filter is used in no clutter area, in clutter area using the filter of weighting.
(3) clutter subregion determines the object detection method of different zones: different clutter types use different processing modes,
Noise range uses slow Threshold detection, and land clutter area is detected using super clutter, and interference range, sexual intercourse clutter area use CFAR detection.
(4) it determines target detection thresholding: different clutter areas, not only to use specific object detection method, and adopt
It is arranged with specific detection threshold.With the variation of clutter environment, clutter map is constantly updated, and clutter subregion also needs in this case
Update and bring the adjustment of detection threshold.Thresholding adjustment must satisfy constant false alarm rate criterion, threshold variation value with it is actual miscellaneous
Wavelength-division cloth is related.
Existing fine day figure mostly uses radar zero-channel zoning method under sunny environment, haves the shortcomings that following:
(1) strong to environmental factor dependence, when weather condition is severe, it is difficult to obtain the radar return number of fair weather in the short time
According to fine day figure can not be obtained.
(2) existing clutter map subregion is all based on signal amplitude and rises and falls and updates, when, there are when point target, will affect in clutter
The correct valuation of clutter map.
(3) when existing static land clutter estimation, if there is Communication Jamming, TV interference etc., it will affect clutter map and estimate
Meter, needs to be modified clutter map.
Summary of the invention
The purpose of the present invention is design a kind of simple algorithm, strong applicability, the one kind for working well and being suitble to Project Realization
The radar fine day G- Design method of FIR filter.
The invention discloses a kind of radar fine day G- Design methods of FIR filter, include the following steps:
Step 1, radar parameter is calculated: according to pulse sum I in the distance unit sum Rmax and single sector of radar, meter
Calculate distance by radar sampling unit n, fine day figure sector number j that radar fine day figure includes；
Step 2, FIR is handled: being low-velocity scanning by tested rotating platform, is filtered to pulse echo, calculates land clutter
Estimation；
Step 3, modulus takes logarithm: data are converted to logarithm；
Step 4, target is rejected: being carried out threshold processing to sector data, and was removed the narrow pulse signal that distance tieed up thresholding；
Step 5, distance merges: the big processing of cell data of adjusting the distance choosing obtains fine day map distance cell data；
Step 6, the amendment of fine day figure and update: the Communication Jamming rejected in fine day figure influences, the side accumulated by clutter map
Method updates fine day figure, obtains accurate fine day figure valuation.
In step (2) of the present invention, according to the following formula to the pulse echo of pulse serial number i in j-th of fine day figure sector
Data:
xji(n), j=0 ..., J-1；I=0 ..., I-1, wherein I is pulse sum in single sector, and i is in sector
Pulse serial number, J are fine day figure sector total numbers, and j indicates fine day figure sector number, and k is distance numbers；To n=0 ..., Rmax-1
In preceding M scan data and carry out FIR processing, M is less than or equal to I, and Rmax is the distance unit sum individually scanned, to obtain
The filtered output signals y1 of corresponding j-th of fine day figure sector distance by radar sampling unit number nj(n):
Wherein, wiIt is filter factor, for land clutter, wi=1, when umber of pulse is more than M, data stop cumulative.
In step (3) of the present invention, to FIR output data y1j(n) it carries out modulus and takes logarithm process, obtain j-th of sector number
According to y2j(n):
y2j(n)=A*log [abs (y1j], (n)) j=0,1 ..., J-1；N=0,1 ..., Rmax-1
Wherein, A is proportionality coefficient.
In step (4) of the present invention, to j-th of fine day figure sector data y2j(n) threshold processing was carried out, distance dimension is removed
The narrow pulse signal for crossing thresholding obtains data y3 after target is rejectedj(n), comprising:
Step 41, to j-th of fine day figure sector y2j(n) constant false alarm processing is carried out, testing result y2 is obtainedj'(n)；
Step 42, testing result y2 is markedj' burst pulse data in (n), burst pulse discriminant approach: statistic mixed-state result
y2j' be in (n) echo signal pulse width, pulse width is less than given thresholding V3T, then it is determined as burst pulse；
Step 43, it is marked according to burst pulse, by j-th of fine day figure sector y2j(n) zero setting of corresponding position data, obtains in
Correct data y3 in sectorj(n)。
Distance choosing is big in step (5) of the present invention are as follows:
To data y3j(n) make the big processing of choosing in k-th of fine day map distance unit, k=0,1 ..., K-1, K are fine day
Map distance resolution cell sum, obtains the interim fine day diagram data CDM of the present frame of j-th of fine day figure unit (j, k)now(j,
K),
CDMnow(j, k)=max (y3j(2k),y3j(2k-1))
Wherein, j=0,1 ..., J-1；K=0,1 ..., Rmax/2-1.
In step (6) of the present invention, the amendment of fine day figure includes: with update
Step 61, it corrects: containing fixed sector interference in fine day figure, the interference information in fine day figure is removed, obtain
Accurate land clutter and noise zoning；
2) it updates:
The update that fine day figure is realized by the iteration accumulation to Fr frame data, to obtain final fine day diagram data CDM
(j, k), fr frame fine day diagram data CDMfrThe more new formula of (j, k) are as follows:
The fine day figure that final fine day figure, that is, last frame has updated: CDM (j, k)=CDMFr(j, k), in formula, CDMfr-1
(j, k) indicates fr-1 frame fine day diagram data, and the value range of fr is 1~Fr, and α=1/8 is that clutter map updates coefficient, and Fr is fine
Sky maps updates the total data frame number needed.
Step (61) of the present invention includes:
There is interference in current fine day figure sector, count interfering energy IM (j):
The i value range is to meet condition: 0≤i≤M, and xji(n) set of all i of > 3NoiseVal；
Wherein, NoiseVal is radar noise power estimation, and M indicates that M are scanned data；
It is corrected using following formula:
CDM′now(j, k)=CDMnow(j,k)-IM(j)。
CDMnowInterim fine day diagram data before indicating amendment, CDMnow' indicate revised interim fine day diagram data.
Compared with prior art, the present invention having following remarkable advantage:
(1) this method overcomes the influence of weather, can accurately identify Radar Clutter Background under any weather condition,
Obtain radar fine day figure.(2) when there are point target and Communication Jamming, this method can be quasi- according to point target amplitude and orientation point
Cloth feature rejects point target, and the spatial distribution according to Communication Jamming rejects interference, obtains accurate fine day figure valuation.(3) this hair
A kind of radar fine day G- Design method of bright FIR filter, principle is simple, and design is convenient, and real-time is good, is suitble to Project Realization.
Detailed description of the invention
Fig. 1 is process flow diagram.
Fig. 2 is fine day figure sector schematic diagram.
Fig. 3 is CFAR detection schematic diagram.
Fig. 4 is radar return data.
Fig. 5 is the fine day diagram data for not rejecting interference.
Fig. 6 is fine day diagram data.
Specific embodiment
The present invention relates to a kind of radar fine day G- Design method, in particular to the radar fine day figure of a kind of FIR filter is set
Meter method.This method overcomes in inclement weather, static Clutter Background can not accurate valuation problem, filtered using FIR
Device method guarantees that radar under any weather condition, accurately identifies Radar Clutter Background, obtains radar fine day figure.This method gram
Accurate clutter valuation problem must can be obtained under fair weather by having taken existing radar, and reject point target and Communication Jamming
Influence, for radar clutter subregion and adaptive targets detection provide safeguard.Radar fine day G- Design side based on FIR filter
Method, principle is simple, and design is convenient, and real-time is good, is suitble to Project Realization.
The invention discloses a kind of radar fine day G- Design methods of FIR filter, include the following steps:
Step 1, radar parameter is calculated: according to pulse sum I in the distance unit sum Rmax and single sector of radar, meter
Calculate distance by radar sampling unit n, fine day figure sector number j that radar fine day figure includes；
Step 2, FIR is handled: being low-velocity scanning by tested rotating platform, is filtered to pulse echo, calculates land clutter
Estimation；
Step 3, modulus takes logarithm: data are converted to logarithm；
Step 4, target is rejected: being carried out threshold processing to sector data, and was removed the narrow pulse signal that distance tieed up thresholding；
Step 5, distance merges: the big processing of cell data of adjusting the distance choosing obtains fine day map distance cell data；
Step 6, the amendment of fine day figure and update: the Communication Jamming rejected in fine day figure influences, the side accumulated by clutter map
Method updates fine day figure, obtains accurate fine day figure valuation.
In step (2) of the present invention, according to the following formula to the pulse echo of pulse serial number i in j-th of fine day figure sector
Data:
xji(n), j=0 ..., J-1；I=0 ..., I-1, wherein I is pulse sum in single sector, and i is in sector
Pulse serial number, J are fine day figure sector total numbers, and j indicates fine day figure sector number, and k is distance numbers；To n=0 ..., Rmax-1
In preceding M scan data and carry out FIR processing, M is less than or equal to I, and Rmax is the distance unit sum individually scanned, to obtain
The filtered output signals y1 of corresponding j-th of fine day figure sector distance by radar sampling unit number nj(n):
Wherein, wiIt is filter factor, for land clutter, wi=1, when umber of pulse is more than M, data stop cumulative.
In step (3) of the present invention, to FIR output data y1j(n) it carries out modulus and takes logarithm process, obtain j-th of sector number
According to y2j(n):
y2j(n)=A*log [abs (y1j], (n)) j=0,1 ..., J-1；N=0,1 ..., Rmax-1
Wherein, A is proportionality coefficient.
In step (4) of the present invention, to j-th of fine day figure sector data y2j(n) threshold processing was carried out, distance dimension is removed
The narrow pulse signal for crossing thresholding obtains data y3 after target is rejectedj(n), comprising:
Step 41, to j-th of fine day figure sector y2j(n) constant false alarm processing is carried out, testing result y2 is obtainedj'(n)；
Step 42, testing result y2 is markedj' burst pulse data in (n), burst pulse discriminant approach: statistic mixed-state result
y2j' be in (n) echo signal pulse width, pulse width is less than given thresholding V3T, then it is determined as burst pulse；
Step 43, it is marked according to burst pulse, by j-th of fine day figure sector y2j(n) zero setting of corresponding position data, obtains in
Correct data y3 in sectorj(n)。
Distance choosing is big in step (5) of the present invention are as follows:
To data y3j(n) make the big processing of choosing in k-th of fine day map distance unit, k=0,1 ..., K-1, K are fine day
Map distance resolution cell sum, obtains the interim fine day diagram data CDM of the present frame of j-th of fine day figure unit (j, k)now(j,
K),
CDMnow(j, k)=max (y3j(2k),y3j(2k-1))
Wherein, j=0,1 ..., J-1；K=0,1 ..., Rmax/2-1.
In step (6) of the present invention, the amendment of fine day figure includes: with update
Step 61, it corrects: containing fixed sector interference in fine day figure, the interference information in fine day figure is removed, obtain
Accurate land clutter and noise zoning；
2) it updates:
The update that fine day figure is realized by the iteration accumulation to Fr frame data, to obtain final fine day diagram data CDM
(j, k), fr frame fine day diagram data CDMfrThe more new formula of (j, k) are as follows:
The fine day figure that final fine day figure, that is, last frame has updated: CDM (j, k)=CDMFr(j, k), in formula, CDMfr-1
(j, k) indicates fr-1 frame fine day diagram data, and the value range of fr is 1~Fr, and α=1/8 is that clutter map updates coefficient, and Fr is fine
Sky maps updates the total data frame number needed.
Step (61) of the present invention includes:
There is interference in current fine day figure sector, count interfering energy IM (j):
The i value range is to meet condition: 0≤i≤M, and xji(n) set of all i of > 3NoiseVal；
Wherein, NoiseVal is radar noise power estimation, and M indicates that M are scanned data；
It is corrected using following formula:
CDM′now(j, k)=CDMnow(j,k)-IM(j)。
CDMnowInterim fine day diagram data before indicating amendment, CDMnow' indicate revised interim fine day diagram data.
Embodiment 1
The present invention program is described in further detail with reference to the accompanying drawing.
Fig. 1 is whole process flow diagram.In conjunction with Fig. 1, the method for the present invention the following steps are included:
1. calculating radar parameter: according to pulse sum I in the distance unit sum Rmax and single sector of radar, calculating thunder
Up to fine day map distance n=Rmax/2, azimuth discrimination unit j=I/128, radar noise power estimation NoiseVal.Sector signal
Figure is as shown in Figure 2.
2.FIR processing: being low-velocity scanning by tested rotating platform, to the pulse echo data in j-th of sector, xji(n), j=
0,...,J-1；I=0 ..., I-1, n=0 ..., RmaxA data of scanning of preceding M (M≤I) in -1 carry out FIR processing (generally
Ground M=2/3*I), wherein I is that pulse sum, J are fine day figure sector total numbers in single sector, Rmax be individually scan away from
From unit total number.To obtain the filtered output signals y1 of the sectorj(n)
Wherein, M is the integer less than I, and i is the pulse serial number in sector, and j is sector number, and n is distance numbers, and M is long-pending
Tired umber of pulse；wiIt is filter factor, for land clutter, wi=1.When umber of pulse is more than M, data are no longer cumulative.
3. modulus takes logarithm: to FIR output data y1j(n) it carries out modulus and takes logarithm process, obtain j-th of sector data
y2j(n):
y2j(n)=A*log [abs (y1j], (n)) j=0,1 ..., J-1；N=0,1 ..., Rmax-1
Wherein, A is proportionality coefficient.
The selection of proportionality coefficient A will consider the gain normalization problem of fine day figure.
4. target is rejected: to j-th of sector data y2j(n) threshold processing was carried out, it is few single with 3 resolutions to remove distance
The narrow pulse signal of member obtains data y3 after target is rejectedj(n).The fine day figure for not rejecting interference is as shown in Figure 5.
1) range data y2j(n) it is handled by constant false alarm, obtains testing result y2j'(n).The principle frame of CFAR detection
Figure is as shown in Figure 3.
2) the burst pulse data in testing result are marked, burst pulse discriminant approach: statistics y2j' it is echo signal in (n)
Pulse width, width are less than given thresholding V3T, then it is assumed that it is burst pulse；Generally target does not exceed 3 distance unit, V3T
=3；
3) it is marked according to burst pulse, by sector data y2j(n) zero setting of corresponding position data, obtains y3 inj(n)；
5. distance choosing is big: to data y3j(n) make the big processing of choosing in kth (k=0,1 ..., K-1) a distance unit, obtain
To the interim fine day diagram data CDM of present frame of fine day figure unit (j, k)now(j, k),
CDMnow(j, k)=max (y3j(2k),y3j(2k-1))
Wherein, j=0,1 ..., J-1；K=0,1 ..., Rmax/2-1.
6. the spatial distribution according to Communication Jamming rejects interference, accurate fine day figure valuation is obtained.It is fine by multiframe radar
Sky maps data accumulation and update form final fine day figure, obtain true land clutter profile.The amendment of fine day figure and update:
1) interference sector calculates: fixed sector interference is contained in fine day figure.Interference information in fine day figure is removed
Accurate clutter information can be obtained.If xji(n) > 3NoiseVal, then it is assumed that current fine day figure sector has interference, statistics
Interfering energy IM (j):
Wherein, j indicates fine day figure sector number, and NoiseVal is radar noise power estimation, xjiIt (n) is j-th of sector
Interior pulse echo data, n are distance by radar resolution cell numbers.
2) it corrects: CDMnowInterim fine day diagram data before indicating amendment, CDMnow' indicate revised interim fine day figure number
According to.So:
CDM′now(j, k)=CDMnow(j,k)-IM(j)
3) it updates:
The update that fine day figure is realized by the iteration accumulation to Fr frame data, to obtain final fine day diagram data CDM
(j, k), more new formula are as follows:
Multiframe fine day diagram data is accumulated by way of iteration, removes the randomized jitter of signal, is obtained accurately miscellaneous
Wave property information.The fine day figure that final fine day figure, that is, last frame has updated:
CDM (j, k)=CDMFr(j,k)
In formula, α=1/8 is that clutter map updates coefficient, and fr indicates that data frame, Fr are that fine day figure updates the total data needed
Frame number.Fine day figure is as shown in Figure 6.
Further detailed description is done to the present invention below with reference to embodiment:
Embodiment 2
1. pair XX radar measured data is analyzed, radar works in MTD system, Range resolution unit 30m, distance unit 4000
(total 120km), acquires 8 (0-255) of data word length for radar by 6 revs/min of antenna scanning, pulse recurrence frequency 300Hz
Scanning 360 ° of region divisions is that 4096 localizer unit fine day map distances differentiate 60m, distance unit number 2000, fine day figure side
Position differentiates 360 °/128, radar noise power estimation 20.It is as shown in Figure 4 that radar inputs echo data.
2.FIR processing: being low-velocity scanning by tested rotating platform, to the pulse echo data in j-th of sector, xji(n), j=
0,...,127；First 30 in i=0 ..., 45, n=0 ..., 1999 are scanned data and carry out FIR processing, and the sector is obtained
Filtered output signals y1j(n)
Wherein, i is the pulse serial number in sector, and j is sector number, and n is distance numbers, and M=45 is accumulation umber of pulse；It is right
For land clutter, wi=1.When umber of pulse is more than M, data are no longer cumulative.Antenna scanning is adjusted to 3 revs/min.
3. modulus takes logarithm: to FIR output data y1j(n) it carries out modulus and takes logarithm process, obtain j-th of sector data
y2j(n):
y2j(n)=A*log [abs (y1j], (n)) j=0,1 ..., 127；N=0,1 ..., 1999
Wherein, A is proportionality coefficient.The selection of proportionality coefficient A will consider the gain normalization problem of fine day figure.It is practical
In processing, A=20.
4. target is rejected: to j-th of sector data y2j(n) threshold processing was carried out, the narrow arteries and veins that distance tieed up thresholding is removed
Signal is rushed, data y3 after target is rejected is obtainedj(n).The fine day figure for not rejecting interference is as shown in Figure 5.
1) range data y2j(n) it is handled by constant false alarm, obtains testing result y2j'(n).The principle frame of CFAR detection
Figure is as shown in Figure 3.
2) the burst pulse data in testing result are marked, burst pulse discriminant approach: statistics y2j' it is echo signal in (n)
Pulse width, less than 3 distance unit of width are then considered burst pulse.
3) it is marked according to burst pulse, by sector data y2j(n) corresponding position data zero setting in obtains sector amendment data
y3j(n)；
5. distance choosing is big: to data y3j(n) make the big processing of choosing in kth (k=0,1 ..., K) a distance unit, obtain
The interim fine day diagram data CDM of the present frame of fine day figure unit (j, k)now(j, k),
CDMnow(j, k)=max (y3j(2k),y3j(2k-1))
Wherein, j=0,1 ..., 127；K=0,1 ..., K.K=1999.
6. the amendment of fine day figure and update:
1) interference sector calculates: fixed sector interference is contained in fine day figure.Interference information in fine day figure is removed
Accurate clutter information can be obtained.If xji(n) > 3NoiseVal, then it is assumed that current fine day figure sector has interference, statistics
Interfering energy IM (j):
Wherein, j indicates fine day figure sector number, and NoiseVal is radar noise power estimation, xjiIt (n) is j-th of sector
Interior pulse echo data, n are distance by radar resolution cell numbers.
2) it corrects: CDMnowInterim fine day diagram data before indicating amendment, CDMnow' indicate revised interim fine day figure number
According to.So:
CDM′now(j, k)=CDMnow(j,k)-IM(j)
3) it updates: the update of fine day figure is realized by the iteration accumulation to 6 frame data, to obtain final fine day figure number
According to CDM (j, k), more new formula are as follows:
The fine day figure that final fine day figure, that is, last frame has updated: CDM (j, k)=CDMFr(j,k)
In formula, α=1/8 is that clutter map updates coefficient, and fr indicates that data frame, Fr are that fine day figure updates the total data needed
Frame number, Fr=6, fine day figure are as shown in Figure 6.
It can be seen that the radar fine day G- Design method based on FIR filter, guarantee radar under any weather condition,
Radar Clutter Background is accurately identified, radar fine day figure is obtained.This method overcomes existing radar must can under fair weather
Accurate clutter valuation problem is obtained, and rejects the influence of point target and Communication Jamming, is radar clutter subregion and adaptive mesh
Mark detection provides safeguard.
The present invention provides the thinking and method of a kind of radar fine day G- Design method of FIR filter, specific implementation should
There are many method and approach of technical solution, the above is only a preferred embodiment of the present invention, it is noted that for this technology
For the those of ordinary skill in field, various improvements and modifications may be made without departing from the principle of the present invention, this
A little improvements and modifications also should be regarded as protection scope of the present invention.Existing skill can be used in each component part being not known in the present embodiment
Art is realized.
Claims (2)
1. a kind of radar fine day G- Design method of FIR filter, which comprises the steps of:
Step 1, it calculates radar parameter: according to pulse sum I in the distance unit sum Rmax and single sector of radar, calculating thunder
Distance by radar sampling unit n, the fine day figure sector number j for including up to fine day figure；
Step 2, FIR is handled: being low-velocity scanning by tested rotating platform, is filtered to pulse echo, calculates land clutter estimation；
Step 3, modulus takes logarithm: data are converted to logarithm；
Step 4, target is rejected: being carried out threshold processing to sector data, and was removed the narrow pulse signal that distance tieed up thresholding；
Step 5, distance merges: the big processing of cell data of adjusting the distance choosing obtains fine day map distance cell data；
Step 6, fine day figure amendment and update: reject fine day figure in Communication Jamming influence, by clutter map accumulate method more
New fine day figure, obtains accurate fine day figure valuation；
In step 2, according to the following formula to the pulse echo data of pulse serial number i in j-th of fine day figure sector:
xji(n), j=0 ..., J-1；I=0 ..., I-1, wherein I is pulse sum in single sector, and i is the pulse in sector
Serial number, J are fine day figure sector total numbers, and j indicates fine day figure sector number, and k is distance numbers；To n=0 ..., RmaxIn -1
Preceding M are scanned data and carry out FIR processing, and M is less than or equal to I, and Rmax is the distance unit sum individually scanned, to obtain radar
The filtered output signals y1 of corresponding j-th of fine day figure sector distance samples element number nj(n):
Wherein, wiIt is filter factor, for land clutter, wi=1, when umber of pulse is more than M, data stop cumulative；
In step 3, to FIR output data y1j(n) it carries out modulus and takes logarithm process, obtain j-th of sector data y2j(n):
y2j(n)=A*log [abs (y1j], (n)) j=0,1 ..., J-1；N=0,1 ..., Rmax-1
Wherein, A is proportionality coefficient；
In step 4, to j-th of fine day figure sector data y2j(n) threshold processing was carried out, the burst pulse that distance tieed up thresholding is removed
Signal obtains data y3 after target is rejectedj(n), comprising:
Step 41, to j-th of fine day figure sector y2j(n) constant false alarm processing is carried out, testing result y2 is obtainedj'(n)；
Step 42, testing result y2 is markedj' burst pulse data in (n), burst pulse discriminant approach: statistic mixed-state result y2j'
It (n) is the pulse width of echo signal in, pulse width is less than given thresholding V3T, then it is determined as burst pulse；
Step 43, it is marked according to burst pulse, by j-th of fine day figure sector y2j(n) zero setting of corresponding position data, obtains to sector and repairs in
Correction data y3j(n)；
Distance choosing is big in step 5 are as follows:
To data y3j(n) make the big processing of choosing in k-th of fine day map distance unit, k=0,1 ..., K-1, K are fine day map distance
Resolution cell sum, obtains the interim fine day diagram data CDM of the present frame of j-th of fine day figure unit (j, k)now(j, k),
CDMnow(j, k)=max (y3j(2k),y3j(2k-1))
Wherein, j=0,1 ..., J-1；K=0,1 ..., Rmax/2-1；
In step 6, the amendment of fine day figure includes: with update
Step 61, it corrects: containing fixed sector interference in fine day figure, the interference information in fine day figure is removed, it is accurate to obtain
Land clutter and noise zoning；
It updates:
Realize the update of fine day figure by the accumulation of iteration to Fr frame data, thus obtain final fine day diagram data CDM (j,
K), fr frame fine day diagram data CDMfrThe more new formula of (j, k) are as follows:
The fine day figure that final fine day figure, that is, last frame has updated: CDM (j, k)=CDMFr(j, k), in formula, CDMfr-1(j,k)
Indicate fr-1 frame fine day diagram data, the value range of fr is 1~Fr, and α=1/8 is that clutter map updates coefficient, and Fr is fine day figure
Update the total data frame number needed.
2. a kind of radar fine day G- Design method of FIR filter according to claim 1, which is characterized in that step 61
Include:
There is interference in current fine day figure sector, count interfering energy IM (j):
The i value range is to meet condition: 0≤i≤M, and xji(n) set of all i of > 3NoiseVal；Wherein,
NoiseVal is radar noise power estimation, and M indicates that M are scanned data；
It is corrected using following formula:
CDM′now(j, k)=CDMnow(j,k)-IM(j)；
CDMnowInterim fine day diagram data before indicating amendment, CDMnow' indicate revised interim fine day diagram data.
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