CN108562879A - Shipborne radar CFAR detection method based on FPGA - Google Patents
Shipborne radar CFAR detection method based on FPGA Download PDFInfo
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- CN108562879A CN108562879A CN201810350034.1A CN201810350034A CN108562879A CN 108562879 A CN108562879 A CN 108562879A CN 201810350034 A CN201810350034 A CN 201810350034A CN 108562879 A CN108562879 A CN 108562879A
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The shipborne radar CFAR detection method based on FPGA that the invention discloses a kind of.This method is first according to the characteristics of pathfinder transmitted waveform, different constant false alarm processing modes is selected in conjunction with the doppler characterization of sea clutter under different ranges.Since there are a large amount of low speed clutters in nearly range zero-speed channel, using clutter map CFAR detection；The clutter power of the nearly non-zero-speed channel of range and remote range is relatively low, is detected using unit average constant false alarm.Under different sea situations, echo signal to noise ratio is inconsistent, is weighted signal power using the method for issuing parameter, plays amplification weak signal target, suppresses the purpose of strong clutter.It is aided with the false target that object extraction algorithm solves the problems, such as that the precision brought by target broadening reduces and data splicing tape comes.During clutter map is newer, consider that ship motion on the newer influence of clutter map, compensates the azimuth-range of clutter map.
Description
Technical field
The invention belongs to Radar Signal Processing, especially a kind of shipborne radar CFAR detection method based on FPGA.
Background technology
CFAR detection includes the CFAR detections in CFAR detections and clutter background in receiver noise.General CFAR
There are tri- kinds of the CFAR algorithms based on clutter map, the CFAR based on cell-average and the CFAR based on noise measuring algorithms.
Clutter-map Technology be it is a kind of background clutter real-time storage is got off, the different scan periods to clutter power carry out
Real-time update determines the constant false alarm technology of detection threshold, and core is the estimation of clutter mean power.Under normal conditions, multiple
Between adjacent pulse, sea clutter correlation is stronger, therefore directly using the processing method less effective accumulated between arteries and veins.To carrier-borne thunder
For reaching, time interval is not longer (in terms of second grade) between homogeneous scanning for antenna, same miscellaneous between two adjacent scan periods
The correlation of wave unit is weaker.Clutter map constant false alarm technology is accumulated using between circle, can effectively inhibit background clutter, ensures false-alarm
Rate is constant, is a kind of time domain CFAR detection method.
1. a kind of adaptive setting methods of radar clutter detection threshold of Xian Electronic Engineering Inst.：China
CN106646396A.2017-05-10.A kind of adaptive setting method of radar clutter detection threshold, it is proposed that a kind of according to clutter
The method of point mark degree adaptive adjustment constant false alarm thresholding.This method point of use mark density inhibits strong to adjust constant false alarm thresholding
Clutter can control false alarm rate by changing constant false alarm thresholding, and disadvantage suppresses clutter by changing thresholding merely, fails root
Effectively amplify Small object, the strong clutter amplitude of compacting according to clutter environment.2. Xian Electronic Engineering Inst.'s one kind being based on DDR3-
The five dimension dynamic solid clutter map implementation methods of SDRAM：Chinese CN104535980A.2015-04-22.One kind being based on DDR3-
The five dimension dynamic solid clutter map implementation methods of SDRAM, this method establish five dimension dynamic solids by the Read-write Catrol to DDR3
Clutter map, the clutter for being added to PRF patterns and full Doppler channel are divided, and keep clutter map amount of storage double.The disadvantage is that
It is not mentioned to update method between clutter map circle, can not accurately update clutter unit.
With the movement on naval vessel, the azran defection of clutter unit changes with the movement of hull, before causing
The location parameter for accumulating the number of turns can not be corresponding with location parameter in the Current Scan number of turns, wherein outstanding with the error near region orientation
Very.
Invention content
The CFAR detection method of the purpose of the present invention is to provide a kind of achievable shipborne radar based on FPGA.
Realize that the technical solution of the object of the invention is：A kind of constant false alarm inspection of the achievable shipborne radar based on FPGA
Survey method, steps are as follows：
Step 1, carrier-borne pathfinder transmitted waveform signal；
Step 2 carries out pulse compression to the echo-signal of step 1 waveform signal, to the number in each coherent processing interval
It is reset according to according to slow time dimension, then respectively enters zero-speed filter and be filtered with non-zero-speed filter；
Step 3 carries out modulus operation to the signal after zero-speed filter and non-zero-speed filter, after modulus operation
Data are divided into three parts, are remote range signal, nearly range non-zero channel signal, nearly range zero passage signal respectively, are transported to modulus
Three parts data after calculation are weighted；
Step 4 carries out unit average constant false alarm detection to remote range signal, the nearly range non-zero channel signal after weighting；
Clutter map detection update is carried out to the nearly range zero passage signal after weighting；
Step 5, to after clutter map detects nearly range zero passage signal and by unit average constant false alarm detect
Remote range signal, nearly range non-zero channel signal carry out Plot coherence, wherein the data of remote range signal and nearly range signal
Cancel Plot coherence, the target after being merged in stitching portion.
Compared with prior art, the present invention its remarkable advantage：(1) during clutter map is newer, it is contemplated that hull
Mobile bring mismatches between clutter cell distance and the circle in orientation, it is proposed that the fitting of distance number and orientation number when clutter map updates
Algorithm reduces distance and bearing error to greatest extent under the constraint of chip performance.(2) by the way that " aobvious control issues the side of weighted value
Method " controls signal gain and decaying according to clutter power, realizes that signal strength adaptively enhances, decays.(3) combine waveform special
Property, Plot coherence function is adjusted, distance and velocity measuring precision are improved.
Present invention is further described in detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is carrier-borne pathfinder transmitted waveform design time-domain diagram.
Fig. 2 is data rearrangement structure.
Fig. 3 is the signal flow graph that the compressed signal of pulse carries out CFAR detection.
Fig. 4 is filtered distance-Doppler 2D signal area dividing figure.
Fig. 5 is the detailed annotation of " issuing parameter weighting method " operating mode.
Fig. 6 is accumulation clutter unit location information update schematic diagram between circle.
Fig. 7 is apart from fitting formula error analysis result schematic diagram.
Fig. 8 is that distance dimension target merges schematic diagram.
Fig. 9 is the time-frequency result X-Y scheme under emulation.
Specific implementation mode
A kind of CFAR detection method of the achievable shipborne radar based on FPGA, the specific steps are：
Step 1, carrier-borne pathfinder transmitted waveform signal.In further embodiment, the waveform of transmitting is the letter of nearly range
Single pulse waveforms (blind to mend), remote range modulated signal waveform (to detect), the line of demarcation range of nearly range and remote range
For [R] -0.5km~[R] km, wherein [] is downward rounding operation, R representation theory waveform power coverage areas..The value of R according to
Radar equation obtains：
In formula, PtFor emission peak power, GtFor transmitter antenna gain (dBi), GrIt is operation wavelength for receiving antenna gain, λ,
PrminFor the signal power that antenna receives, σ is the equivalent Radar Cross Section of target.
In conjunction with shown in Fig. 1, in other embodiments, with the line of demarcation that 3km is far and near range, remote range it is farthest cover away from
It is calculated from according to radar equation.The pulse width of the simple pulse of nearly range is designed as tsshort, the pulse repetition of simple pulse
Period is set as prtshort, whereinFor blanking length, cannot be arrived by radar observation within the distance；Remote range modulates arteries and veins
The pulse width of punching is set as tslong, the pulse repetition period for modulating pulse is prtlong。prtshortBefore being intercepted in long signal
tslongThe data of a length are used for closely mending blind, prtlongMiddle interception tslong~prtlongData be used for long-range detection.
Step 2 carries out pulse compression to the echo-signal of step 1 waveform signal, to the number in each coherent processing interval
It is filtered with non-zero-speed filter according to zero-speed filter according to slow time rearrangement, is then respectively enterd；
Wherein, data rearrangement structure is as shown in Figure 2.
In further embodiment, if antenna beamwidth is θ, the pulse recurrence frequency of radar is denoted as prf, antenna bearingt
Scanning angle is ωα, target elevation θe, umber of pulse that target that antenna is inswept can accumulateN is a CPI
The number of pulses accumulated in (coherent processing interval).
Data after rearrangement respectively enter zero-speed filter and are filtered with non-zero-speed filter.Specially：Each distance
N number of data on door carry outRank filters, wherein [] is downward rounding operation, whereinRank is filtered
Wave device include 1 zero-speed filter andA non-zero-speed filter, N are to be accumulated in a coherent processing interval
Number of pulses.
Step 3 asks the signal progress modulus operation by zero-speed filter and non-zero-speed filter in conjunction with shown in Fig. 4
Data after modular arithmetic are divided into three parts, are remote range signal, nearly range non-zero channel signal, nearly range zero passage letter respectively
Number, the three parts data after modulus operation are weighted.Remote range signal, nearly range non-zero channel signal, nearly range zero are logical
The position of track data, Doppler's channel number are inconsistent, lead to clutter cause not of uniform size.Nearly range clutter power is higher, remote range
Small object is not easy to be found.Therefore need to be weighted this three parts data according to overall signal amplitude, it is remote to play amplification
The purpose of weak signal target and the strong clutter of compacting short distance.
In further embodiment, to remote range signal, nearly range non-zero channel signal, the nearly range zero after modulus operation
The specific method of channel data weighting：
Power mean value is sought respectively to the signal of three parts after filtering, by power mean value respectively with the threshold value comparison of setting,
The data after modulus are reduced by turning down the weighted value that aobvious control issues more than the part signal of threshold value to power mean value, to work(
Rate mean value amplifies the data after modulus less than the part signal of threshold value by the way that the weighted value that aobvious control issues is turned up.
In further embodiment, in conjunction with shown in Fig. 5, amplifies/contract by turning down the weighted value for the Zbit that aobvious control issues
Data after small modulus, specially：The positions the N data feeding multiplier after the data and modulus of a Z bit is issued by aobvious control to do
Multiplying, the positions M~N+M-1 of interception multiplier output result, Z is integer, and M is integer fixed value and 0≤M≤Z.Just quite
The amplification in showing high Z-M of data in the Zbit that control issues to signal, low M is played diminution to signal.For example, logical
It is 16bit to cross the data that aobvious control issues, then 16bit data values are 184, M=4, are equivalent to multiply 11.5 to signal.
Step 4, in conjunction with shown in Fig. 3, to after weighting remote range signal, nearly range non-zero channel signal carry out cell-average
CFAR detection；Clutter map detection update is carried out to the nearly range zero passage data after weighting.
When radar works, by the clutter echo amplitude of its ambient enviroment by under the orderly storage of distance and bearing two dimensional surface
Come.In view of radar platform be movement, and antenna scan period is often in terms of second grade, therefore clutter unit is in difference
Scan period between, corresponding azimuth-range will produce offset.So during clutter map is established and is newer, need pair
The azimuth-range of clutter unit compensates.
If the sample rate of signal is f after pulse compressions, then sample after range resolution be(c is the light velocity).If target
Orientation number before update is θ0, target is r with a distance from radar0, i.e., the location information of clutter unit is when previous circle scans
(r0,θ0)。
If the noise level that history circle is run up to isFollowing formula then can be used and complete the clutter unit
Update：
In formula, β is forgetting factor, and value is 0≤β≤1, and the size of value represents clutter map renewal speed.Its value is bigger,
Clutter map iterates quickening, and clutter background stationarity is deteriorated.K represents the number of turns of accumulation,The current number of turns accumulates to obtain
Noise level,For the real-time noise level of the current number of turns,For the noise level that history circle is run up to,
(r1,θ1) be the Current Scan number of turns clutter unit location information.
In conjunction with shown in Fig. 6, new position coordinates are denoted as (r1,θ1), then there is following correspondence between new and old coordinate
Wherein, v is the movement speed on naval vessel, and t is the scan period of antenna.
In further embodiment, in renewal process, formula r ' is utilized0=r1+vtcosθ1Formula (1) adjust the distance into line
Property fitting, while saving FPGA resource efficiently accomplishing coordinate iterates.
For example, general ship velocity is 18 section left and right, i.e. 9.26m/s.Under 24RPM backgrounds, warship between adjacent sweep spacing
Shipping agency into distance be 23.15m.Assuming that data sampling rate is calculated with 25M, the distance of distance resolution 6m, 23.15m
Span 3 range gates.
Error analysis is carried out to the formula of linear fit, the results are shown in Figure 7.It can be seen that ship velocity 18 saves, antenna
Under the premise of rotating speed 24RPM, the target other than naval vessel 48m, the formula of fitting is less than 1 with practical formula distance difference, intends
The formula of conjunction, which efficiently accomplishes, iterates function.
It is closely fairly obvious with respect to the change of the clutter unit orientation number of naval vessel tangential motion in formula (2), be not suitable for making
It is fitted with approximation method.Azimuth resolution is designed as 1 ° in the present embodiment, and arctan operations can be realized using ROM look-up tables,
It only needs to establish 360 correspondences.Multiplication and division and sine and cosine function realized using cordic IP kernels, highest branch
48bit bit wides are held, to greatest extent approximation theory calculated value.
By the data deposit DDR3 (Double Date Rate3SDRAM) of the prior scans number of turns, according to r1With r0、θ1With θ0
Correspondence, address can be addressed on this correspondence, realize clutter map update.
Step 5, to after clutter map detects nearly range zero passage signal and by unit average constant false alarm detect
Remote range signal, nearly range non-zero channel signal carry out Plot coherence, wherein the data of remote range signal and nearly range signal
Cancel Plot coherence, the target after being merged in stitching portion.Step 4 is close by clutter map CFAR's (clutter map CFAR detection)
Range zero-speed channel data, the non-zero-speed channel data of nearly range by CA-CFAR (unit average constant false alarm detection), process
The remote range data of CA-CFAR (unit average constant false alarm detection) are spliced according to distance and length velocity relation, to spliced
As a result Plot coherence is carried out, it is contemplated that the influence of data weighting, dimension of adjusting the distance critical part cancel Plot coherence.By cohesion, energy
Enough improve target detection precision.
In certain embodiments, in conjunction with shown in Fig. 8, Fig. 8 is the time-frequency two-dimensional figure after CFAR, and abscissa is range cell,
Ordinate is doppler cells.The data of Doppler's dimension are merged first, wherein grey and black cross thresholding after being CFAR
Point, white is not have the point of thresholding.
Determine that distance dimension thresholding, linear FM signal bandwidth 10M add hamming so the main lobe width after pulse pressure is 0.1us
Pulse width is to about 1.8 times (- 6dB) after window, pulse pressure, i.e., about 0.18us, respective distances unit is about 5 when sample rate is 25MHz
It is a, select thdis=5.
Handle the point that thresholding is crossed in each Doppler dimension when merging successively according to the ascending sequence of range cell.If the
One point for crossing thresholding is p (t1, f1) (t1 is range cell number, and f1 is Doppler's channel number), and it is more with this to calculate p (t1, f1)
The range cell difference Δ t=abs (t1-t2) of next point (being set as p (t2, f2)) for crossing thresholding in general Le channel, if Δ t≤
thdis, then it is assumed that point p (t1, f1) and point p (t2, f2) is the same target, then selects width in p (t1, f1) and p (t2, f2)
It spends larger point and subsequent point does merging treatment.If Δ t>thdis, then it is assumed that p (t1, f1) and p (t2, f2) is not same
Target.Then p (t2, f2) is the point of a new target.
For shipborne radar, since transmitted waveform is inconsistent, unlike signal processing stream is carried out on caused difference range
There is the case where merging two different targets when splicing in the data of journey, therefore should will be per segment signal head and the tail thdisIt is a
Point, which is cancelled, to be merged.
When the above method does distance dimension merging, the broadening in distance dimension of a target is excessive in order to prevent, thus misjudged
For two targets, settling mode is to determine whether that Local Extremum (compares whether the amplitude is more than two neighbor distance units
The range value of point), it is to be considered target point, otherwise illustrates it is not Local Extremum, should gives up.
With reference to embodiment 1, the present invention will be further described.
Embodiment 1
In Practical Project, transmitted waveform parameter is as follows：Near region simple pulse time width 100ns, pulse repetition period 25us,
Intermediate frequency 90M, bandwidth 10M are designed within power coverage area 3km；Linear FM signal time width 20us, pulse repetition period
120us, intermediate frequency 77.5M, bandwidth 10M design power coverage area 3km~15km, are data after the filtering of slow time dimension
Add the white Gaussian noise relative to signal -30dB (power reference of signal is set as 0dbw).Design near region zero-speed target exists
At 1500m (250 range gates), the remote non-zero-speed target of range is at 7500m (1250 range gates), in a CPI accumulation 256
Doppler frequency shift is parsed under the premise of a prt again in the 32nd speed door.
It can be seen that having benefited from strong clutter compacting and Plot coherence, target effective is extracted according to final result figure 9
Out, strong clutter is filtered out totally substantially.
Claims (8)
1. a kind of shipborne radar CFAR detection method based on FPGA, which is characterized in that the specific steps are：
Step 1, carrier-borne pathfinder transmitted waveform signal；
Step 2 carries out pulse compression to the echo-signal of step 1 waveform signal, is pressed to the data in each coherent processing interval
It is reset according to slow time dimension, then respectively enters zero-speed filter and be filtered with non-zero-speed filter；
Step 3 carries out modulus operation, the data after modulus operation to the signal after zero-speed filter and non-zero-speed filter
It is divided into three parts, is remote range signal, nearly range non-zero channel signal, nearly range zero passage signal respectively, after modulus operation
Three parts data be weighted；
Step 4 carries out unit average constant false alarm detection to remote range signal, the nearly range non-zero channel signal after weighting；Pair plus
Nearly range zero passage signal after power carries out clutter map detection update；
Step 5, to after clutter map detects nearly range zero passage signal and by unit average constant false alarm detection it is miscellaneous remote
Range signal, nearly range non-zero channel signal carry out Plot coherence, wherein the data of remote range signal and nearly range signal are spliced
Cancel Plot coherence, the target after being merged in place.
2. the shipborne radar CFAR detection method according to claim 1 based on FPGA, which is characterized in that in step 1
The waveform of transmitting is the simple impulse waveform of nearly range, remote range modulated signal waveform, the line of demarcation range of nearly range and remote range
For [R] -0.5km~[R] km, wherein [] is downward rounding operation, R representation theory waveform power coverage areas.
3. the shipborne radar CFAR detection method according to claim 1 based on FPGA, which is characterized in that in step 2
Data after rearrangement respectively enter zero-speed filter and are filtered with non-zero-speed filter, specially：It is N number of in each range gate
Data carry outRank filters, wherein [] is downward rounding operation, whereinRank filter includes 1
A zero-speed filter andA non-zero-speed filter, N are the umber of pulse accumulated in a coherent processing interval
Amount.
4. the shipborne radar CFAR detection method according to claim 3 based on FPGA, which is characterized in that each coherent
The calculation formula of the number of pulses of accumulation is in processing interval：
In formula, θ is antenna beamwidth, and prf is the pulse recurrence frequency of radar, ωαFor antenna bearingt scanning angle, θeFor mesh
Mark the elevation angle.
5. the shipborne radar CFAR detection method according to claim 1 based on FPGA, which is characterized in that in step 3
To after modulus operation remote range signal, nearly range non-zero channel signal, nearly range zero passage signal weighting specific method be：
Power mean value is sought respectively to the signal of three parts after filtering, by power mean value respectively with the threshold value comparison of setting, to work(
Rate mean value reduces the data after modulus more than the part signal of threshold value by turning down the weighted value that aobvious control issues, equal to power
Value amplifies the data after modulus less than the part signal of threshold value by the way that the weighted value that aobvious control issues is turned up.
6. the shipborne radar CFAR detection method according to claim 5 based on FPGA, which is characterized in that by turning down
It is aobvious to control the weighted value that issues to amplify/reduce the data after modulus, specially：It is controlled the data for issuing a Z bit by showing and is asked
The positions N data after mould are sent into multiplier and do multiplying, and the positions M~N+M-1 of interception multiplier output result, Z is integer, and M is
Integer fixed value and 0≤M≤Z.
7. the shipborne radar CFAR detection method according to claim 1 based on FPGA, which is characterized in that in step 4
Clutter map detection is carried out to the nearly range zero passage signal after weighting, realizes that clutter map updates under motion platform, more new formula is：
In formula, β is forgetting factor, and 0≤β≤1, k represent the number of turns of accumulation,It is accumulated for the current number of turns miscellaneous
Wave level,For the real-time noise level of the current number of turns,For the noise level that history circle is run up to,For the noise level currently run up to, (r1,θ1) be the Current Scan number of turns clutter unit location information, (r0,
θ0) it is the previous location information for enclosing clutter unit when scanning.
8. the shipborne radar CFAR detection method according to claim 7 based on FPGA, which is characterized in that nearly range
Zero passage signal carries out clutter map detection, utilizes formula r under motion platform in clutter map renewal process0=r1+vtcosθ1To new
Old coordinate distance is fitted, and is updated with ROM look-up tables to new and old coordinate angle-unit, is completed the fitting of new and old coordinate.
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