CN108318867B - Range migration correction method of sliding window pulse group aiming at alpha-beta tracking filtering - Google Patents
Range migration correction method of sliding window pulse group aiming at alpha-beta tracking filtering Download PDFInfo
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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
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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
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Abstract
The invention discloses a range migration correction method of a sliding window pulse group aiming at alpha-beta tracking filtering, which firstly constructs a range migration correction system of the sliding window pulse group aiming at the alpha-beta tracking filtering, and the constructed system comprises: the device comprises a pulse group updating module, an alpha-beta tracking filtering module, a range migration correction value acquisition module, an initial tracking gate preset range acquisition module and a range migration correction module; the pulse group is updated in a sliding way through a pulse group updating module; the alpha-beta tracking filtering module obtains measurement information on the kth filtering period and completes distance tracking filtering on the target; a range migration correction value acquisition module acquires a range migration correction value on the kth period; the initial tracking gate preset distance acquisition module acquires a sub-pulse group G on the (k + 1) th cyclek+1The initial tracking gate preset distance; the range migration correction module is used for correcting the sub-pulse group G on the (k + 1) th cyclek+1And (5) correcting range migration of each pulse. The method can effectively compensate the signal distance migration on the sliding window pulse group, improve the accumulation efficiency and enhance the signal-to-noise ratio.
Description
Technical Field
The invention relates to a range migration correction method of a radar pulse set, in particular to a range migration correction method of a sliding window pulse set aiming at alpha-beta tracking filtering.
Background
In order to obtain a signal-to-noise ratio that meets detection performance requirements, signal detection of radar is usually based on groups of pulses as a data base for processing. The pulse group has two forming modes: independent pulse group and sliding window pulse group. In the former, N continuous pulses are taken as a single group, accumulation, detection and other processing are completed on the pulse group, and then the pulse group is discarded to accumulate a group of pulses again; the latter again uses N pulses, but only updates the oldest M pulses on each processing cycle, M < N, referred to as a set of sliding window pulses, where N is the sliding window length and M is the sliding window step size. Obviously, the sliding window pulse group mode can obtain higher detection and measurement data rate under the premise of the same pulse repetition frequency.
Relative motion between the target and the platform causes the signal echoes to move across the range-resolving unit between pulses during the pulse group observation, a phenomenon known as "range migration". For modern radars which generally adopt a high-resolution and coherent system, the radar detection and target identification performances are seriously influenced if proper pulse alignment is not carried out.
Alpha-beta filtering is a commonly used type of tracking filter. And adjusting a tracking gate according to the predicted value of the filter to realize the purpose of reliable target tracking. Adjustment of the tracking gate introduces additional range migration factors.
The range migration correction method for the independent pulse group is simple and common, and on the premise that the speed of the line of sight of the bullet eyes is accurate enough, satisfactory effect can be achieved on the movement compensation of the target among the units. But it is not suitable for range migration correction in the case of sliding window groups, mainly because the additional migration factor introduced by the alpha-beta tracking filter adjustment tracking gate is not taken into account, which is not negligible under sliding window group conditions.
Disclosure of Invention
The invention aims to provide a method for correcting range migration of a sliding window pulse group aiming at alpha-beta tracking filtering, which solves the problem that the existing method is not suitable for correcting range migration under the condition of the sliding window pulse group.
The specific steps of a method for correcting range migration of a sliding window pulse group aiming at alpha-beta tracking filtering are as follows:
first step, a range migration correction system of a sliding window pulse group for alpha-beta tracking filtering is constructed
A range migration correction system for a sliding window pulse set for alpha-beta tracking filtering, comprising: the device comprises a pulse group updating module, an alpha-beta tracking filtering module, a range migration correction value acquisition module, an initial tracking gate preset range acquisition module and a range migration correction module.
The pulse group updating module has the functions of: performing sliding update on the pulse group;
the function of the alpha-beta tracking filter module is as follows: measuring information on the kth filtering period is obtained, and distance tracking filtering of the target is completed;
the distance migration correction value acquisition module has the functions of: acquiring a distance migration correction value on the kth period;
the function of the initial tracking door preset distance acquisition module is as follows: obtaining the sub-pulse group G on the k +1 th cyclek+1The initial tracking gate preset distance;
the distance migration correction module has the functions of: for the sub-pulse group G on the k +1 th cyclek+1And (5) correcting range migration of each pulse.
Second step, the pulse group updating module performs sliding update on the pulse group
With the pulse as the basic unit, let N pulse form a pulse group, M pulse form a sub-pulse group, include L sub-pulse groups in a pulse group, then have:
N＝M*L (1)
setting the length of the sliding window to be the same as that of the pulse group, wherein the sliding window comprises N pulses; the sliding window has the same length as the sub-pulse group and comprises M pulses, and the pulse group updating module controls the sliding window to slide once, remove one sub-pulse group which enters earliest from the sliding window and move into one latest sub-pulse group, so as to form a new pulse group.
Let W be the updated content of the kth sliding windowk＝{Gk-L+1,...,GkW is the content before the k-th sliding window is updatedk-1＝{Gk-L,...,Gk-1}; wherein G isiRepresenting the group of the most recent sub-pulses that entered the ith sliding window.
Thirdly, the alpha-beta tracking filter module obtains the measurement information on the kth filter period and completes the distance tracking filter of the target
One filter period is the same length as the group of sub-pulses. On the k-th period, the alpha-beta tracking filter module tracks the sliding window W of the k momentkThe included pulse data set is accumulated and detected to obtain the distance measurement value Z of the targetk. Then inputting the measured data into an alpha-beta tracking filter for filtering to obtain the measured information on the kth period
Distance filtered value
Velocity filtered value
Distance prediction valueAnd velocity prediction
Wherein Z iskIs for pulse group W on the k-th cyclekMeasuring the distance;
is the predicted value of the distance at the k-1 cycle; alpha is filterA filter parameter;
is the predicted value of the velocity over the k-1 th cycle; β is a filter parameter; at is the filter period, which is equal in value to one burst length.
A fourth step range migration correction value acquisition module acquires a range migration correction value on the kth period
The distance migration correction value acquisition module acquires a distance migration correction value on the kth period:
wherein, JkIs the range migration correction amount on the k-th cycle.
Fifthly, the initial tracking gate preset distance acquisition module acquires the sub-pulse group G on the (k + 1) th cyclek+1Initial tracking gate preset distance
The initial tracking gate preset distance acquisition module acquires a sub-pulse group G on the (k + 1) th cyclek+1Initial tracking gate preset distance:
wherein RDk+1(0) Represents the group G of sub-pulses in the k +1 th cyclek+1Is initially tracked by a preset distance, "0" represents initial.
The sixth step distance migration correction module is used for correcting the sub-pulse group G on the (k + 1) th cyclek+1Correction of range migration for each pulse
The range migration correction module is used for correcting the sub-pulse group G on the (k + 1) th cyclek+1And (3) performing range migration correction on each pulse:
wherein RDk+1(i) Represents the group G of sub-pulses in the k +1 th cyclek+1The tracking gate of the ith pulse presets the distance; Δ t representsThe pulse repetition period.
A range migration correction system for a sliding window pulse set for alpha-beta tracking filtering, comprising: the device comprises a pulse group updating module, an alpha-beta tracking filtering module, a range migration correction value acquisition module, an initial tracking gate preset range acquisition module and a range migration correction module. The pulse group updating module, the alpha-beta tracking filtering module, the range migration correction value acquiring module, the initial tracking gate preset range acquiring module and the range migration correcting module are sequentially connected.
The pulse group updating module performs sliding updating on the pulse group, and the alpha-beta tracking filtering module obtains measurement information on the kth filtering period while completing target tracking filtering; a range migration correction value acquisition module acquires a range migration correction value on the kth period, and an initial tracking gate preset range acquisition module acquires a sub-pulse group G on the (k + 1) th periodk+1The initial tracking gate presets the distance, and the distance migration correction module corrects the sub-pulse group G on the (k + 1) th cyclek+1And (5) correcting range migration of each pulse.
The distance migration correction method provided by the invention can eliminate the loss of data accumulation under the sliding window tracking filtering and improve the accumulated signal-to-noise ratio; and the method completes the calculation of the range migration correction value in the calculation process of the alpha-beta target tracking filtering, and has the advantages of simplicity and high efficiency.
Detailed Description
Example 1
The specific steps of a method for correcting range migration of a sliding window pulse group aiming at alpha-beta tracking filtering are as follows:
first step, a range migration correction system of a sliding window pulse group for alpha-beta tracking filtering is constructed
A range migration correction system for a sliding window pulse set for alpha-beta tracking filtering, comprising: the device comprises a pulse group updating module, an alpha-beta tracking filtering module, a range migration correction value acquisition module, an initial tracking gate preset range acquisition module and a range migration correction module.
The pulse group updating module has the functions of: performing sliding update on the pulse group;
the function of the alpha-beta tracking filter module is as follows: measuring information on the kth filtering period is obtained, and distance tracking filtering of the target is completed;
the distance migration correction value acquisition module has the functions of: acquiring a distance migration correction value on the kth period;
the function of the initial tracking door preset distance acquisition module is as follows: obtaining the sub-pulse group G on the k +1 th cyclek+1The initial tracking gate preset distance;
the distance migration correction module has the functions of: for the sub-pulse group G on the k +1 th cyclek+1And (5) correcting range migration of each pulse.
Second step, the pulse group updating module performs sliding update on the pulse group
With the pulse as the basic unit, let N pulse form a pulse group, M pulse form a sub-pulse group, include L sub-pulse groups in a pulse group, then have:
N＝M*L (1)
setting the length of the sliding window to be the same as that of the pulse group, wherein the sliding window comprises N pulses; the sliding window has the same length as the sub-pulse group and comprises M pulses, and the pulse group updating module controls the sliding window to slide once, remove one sub-pulse group which enters earliest from the sliding window and move into one latest sub-pulse group, so as to form a new pulse group.
Let W be the updated content of the kth sliding windowk＝{Gk-L+1,...,GkW is the content before the k-th sliding window is updatedk-1＝{Gk-L,...,Gk-1}; wherein G isiRepresenting the group of the most recent sub-pulses that entered the ith sliding window.
Thirdly, the alpha-beta tracking filter module obtains the measurement information on the kth filter period and completes the distance tracking filter of the target
One filter period is the same length as the group of sub-pulses. On the k-th period, the alpha-beta tracking filter module tracks the sliding window W of the k momentkThe included pulse data set is accumulated and detected to obtain the distance measurement value Z of the targetk. Then inputting the measured data into an alpha-beta tracking filter for filtering to obtain the measured information on the kth period
Distance filtered value
Velocity filtered value
Distance prediction value
And velocity prediction
Wherein Z iskIs for pulse group W on the k-th cyclekMeasuring the distance;
is the predicted value of the distance at the k-1 cycle; α is a filter parameter;
is the predicted value of the velocity over the k-1 th cycle; β is a filter parameter; at is the filter period, which is equal in value to one burst length.
A fourth step range migration correction value acquisition module acquires a range migration correction value on the kth period
The distance migration correction value acquisition module acquires a distance migration correction value on the kth period:
wherein, JkIs the range migration correction amount on the k-th cycle.
Fifthly, the initial tracking gate preset distance acquisition module acquires the sub-pulse group G on the (k + 1) th cyclek+1Initial tracking gate preset distance
The initial tracking gate preset distance acquisition module acquires a sub-pulse group G on the (k + 1) th cyclek+1Initial tracking gate preset distance:
wherein RDk+1(0) Represents the group G of sub-pulses in the k +1 th cyclek+1Is initially tracked by a preset distance, "0" represents initial.
The sixth step distance migration correction module is used for correcting the sub-pulse group G on the (k + 1) th cyclek+1Correction of range migration for each pulse
The range migration correction module is used for correcting the sub-pulse group G on the (k + 1) th cyclek+1And (3) performing range migration correction on each pulse:
wherein RDk+1(i) Represents the group G of sub-pulses in the k +1 th cyclek+1The tracking gate of the ith pulse presets the distance; Δ t represents the pulse repetition period.
Example 2
A range migration correction system for a sliding window pulse set for alpha-beta tracking filtering, comprising: the device comprises a pulse group updating module, an alpha-beta tracking filtering module, a range migration correction value acquisition module, an initial tracking gate preset range acquisition module and a range migration correction module. The pulse group updating module, the alpha-beta tracking filtering module, the range migration correction value acquiring module, the initial tracking gate preset range acquiring module and the range migration correcting module are sequentially connected.
The pulse group updating module performs sliding updating on the pulse group, and the alpha-beta tracking filtering module obtains measurement information on the kth filtering period while completing target tracking filtering; a range migration correction value acquisition module acquires a range migration correction value on the kth period, and an initial tracking gate preset range acquisition module acquires a sub-pulse group G on the (k + 1) th periodk+1The initial tracking gate presets the distance, and the distance migration correction module corrects the sub-pulse group G on the (k + 1) th cyclek+1And (5) correcting range migration of each pulse.
Claims (1)
1. A distance migration correction method of a sliding window pulse group aiming at alpha-beta tracking filtering is characterized by comprising the following specific steps:
first step, a range migration correction system of a sliding window pulse group for alpha-beta tracking filtering is constructed
A range migration correction system for a sliding window pulse set for alpha-beta tracking filtering, comprising: the device comprises a pulse group updating module, an alpha-beta tracking filtering module, a range migration correction value acquisition module, an initial tracking gate preset range acquisition module and a range migration correction module;
the pulse group updating module has the functions of: performing sliding update on the pulse group;
the function of the alpha-beta tracking filter module is as follows: measuring information on the kth filtering period is obtained, and distance tracking filtering of the target is completed;
the distance migration correction value acquisition module has the functions of: acquiring a distance migration correction value on the kth period;
the function of the initial tracking door preset distance acquisition module is as follows: obtaining the sub-pulse group G on the k +1 th cyclek+1The initial tracking gate preset distance;
the distance migration correction module has the functions of: for the sub-pulse group G on the k +1 th cyclek+1Carrying out range migration correction on each pulse;
second step, the pulse group updating module performs sliding update on the pulse group
With the pulse as the basic unit, let N pulse form a pulse group, M pulse form a sub-pulse group, include L sub-pulse groups in a pulse group, then have:
N＝M*L (1)
setting the length of the sliding window to be the same as that of the pulse group, wherein the sliding window comprises N pulses; the sliding window step length is the same as the length of the sub-pulse group and comprises M pulses, the pulse group updating module controls the sliding window to slide once, removes the sub-pulse group which enters the earliest from the sliding window and moves the sub-pulse group which enters the latest into the sliding window, and therefore a new pulse group is formed;
let W be the updated content of the kth sliding windowk＝{Gk-L+1,...,GkW is the content before the k-th sliding window is updatedk-1＝{Gk-L,...,Gk-1}; wherein G isiThe group of the sub-pulses which enter the ith sliding window newly is shown;
thirdly, the alpha-beta tracking filter module obtains the measurement information on the kth filter period and completes the distance tracking filter of the target
One filtering period is the same as the length of the sub-pulse group; on the k-th period, the alpha-beta tracking filter module tracks the sliding window W of the k momentkThe included pulse data set is accumulated and detected to obtain the distance measurement value Z of the targetk(ii) a Then inputting the measured data into an alpha-beta tracking filter for filtering to obtain the measured information on the kth period
Distance filtered value
Velocity filtered valueDistance prediction value
And velocity prediction
Wherein Z iskIs for pulse group W on the k-th cyclekMeasuring the distance;
is the predicted value of the distance at the k-1 cycle; α is a filter parameter;
is the predicted value of the velocity over the k-1 th period, beta is the filter parameter, △ T is the filter period, the value is equal to the length of a sub-pulse group;
a fourth step range migration correction value acquisition module acquires a range migration correction value on the kth period
The distance migration correction value acquisition module acquires a distance migration correction value on the kth period:
wherein, JkIs a range migration correction amount on the kth cycle;
fifthly, the initial tracking gate preset distance acquisition module acquires the sub-pulse group G on the (k + 1) th cyclek+1Initial tracking gate preset distance
The initial tracking gate preset distance acquisition module acquires a sub-pulse group G on the (k + 1) th cyclek+1Initial tracking gate preset distance:
wherein RDk+1(0) Represents the group G of sub-pulses in the k +1 th cyclek+1The initial tracking gate of "0" represents initial;
the sixth step range migration correction module is used for correcting the sub-pulse group G on the (k + 1) th cyclek+1Correction of range migration for each pulse
The range migration correction module is used for correcting the sub-pulse group G on the (k + 1) th cyclek+1And (3) performing range migration correction on each pulse:
wherein RDk+1(i) Represents the group G of sub-pulses in the k +1 th cyclek+1The tracking gate for the ith pulse presets a distance and △ t indicates the pulse repetition period.
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