CN108828602A - A kind of pulsion phase dry method tests the speed the fuzzy signal processing method of middle release rate - Google Patents
A kind of pulsion phase dry method tests the speed the fuzzy signal processing method of middle release rate 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
Abstract
The present invention discloses a kind of pulsion phase dry method and tests the speed the fuzzy signal processing method of middle release rate, and step includes：The velocity space is divided into multiple speed intervals, using section intermediate value as basic speed；The bigness scale speed of target is obtained using the time difference of the twice return of target, and then searches the speed interval at place, determines basal rate；Precise delay, and then calculating speed offset are obtained using the phase difference of twice return；Velocity bias is added by basal rate, obtains original predictive amount speed；Artificial time delay is added in an echo-signal wherein, so that tested speed generates Manual Speed's offset, redefines basal rate and velocity bias, addition obtains Delay Forecast amount speed；Delay Forecast amount speed subtracts corresponding Manual Speed's offset, obtains modified Delay Forecast amount speed；Original predictive amount speed and modified Delay Forecast amount speed are weighted and averaged, final velocity measurement is obtained.
Description
Technical field
The invention belongs to signal processing method technical fields, and in particular to test the speed middle release rate to a kind of pulsion phase dry method
Fuzzy signal processing method.
Background technique
It is realized using pulse coherence Doppler (Pulse-to-pulse Coherent Doppler) method to target object
Or medium tachometric survey, it is all widely used in sonar, field of radar.Such as weather radar realizes atmosphere wind using this method
Speed measurement, airborne radar realization are tested the speed over the ground, and ground radar realization tests the speed to aerial target；Acoustic Doppler fluid velocity profile instrument
(Acoustical Doppler Current Profiler, ADCP) realizes fluid flow rate profile survey, doctor using this method
It learns ultrasound and realizes blood flow measurement etc. using this method.
The basic principle that pulse coherence doppler Method tests the speed is, identical after transmitting two with a fixed intervals T-phase
Radio frequency (radar or sonar) pulse s (t), pulsewidth Tb, radio-frequency pulse is by the target (particle in radar target or water in medium
Deng) scattering or reflection, formed echo.As shown in Figure 1.
Since the spread speed of radiofrequency signal is much larger than the movement velocity of target, when the time interval of twice emitting ultrasonic wave
When shorter, material alterations do not occur for target property, and two corresponding echoes of transmitting pulse may be considered relevant.However
Since the movement velocity of target can cause the Doppler frequency shift f of radio-frequency echo waved, so as to cause the echo-signal of radio-frequency pulse
Width and transmission time interval occur flexible.
If target is v relative to the movement velocity of radio frequency send-receive device (leaving), radio frequency signal propagation speed is c, then the
Two radio-frequency pulse echoes are delayed relative to first pulse echo：
According to formula (1), the variation delta T of the time interval is detected, so that it may obtain the speed v of target.
In view of stretching for signal, the corresponding echo-signal of twice emitting pulse is represented by：
Wherein, x1(t) and x2It (t) is respectively that (corresponding transmission interval is T), n to receives echo-signal twice1(t) and n2(t)
For the steady multiple Gauss noise of zero-mean independently of signal, Δ T is that twice return signal arrival caused by being moved due to target is penetrated
Time difference between frequency transferring and receiving apparatus.Assuming that noise is uncorrelated to noise, signal is also uncorrelated to noise, then x1(t) and x2(t)
Cross-correlation function is
R12(τ)=R11(τ-ΔT) (4)
It can be seen that cross-correlation function contains the time delay of two segment signals.
The basic principle of pulse coherence doppler velocity measurement method is：By to target position (1 echo time of corresponding diagram
Tr) at two echo-signals carry out corresponding adding window interception, obtain two sections of echo-signal segments, then carry out relevant treatment, directly
It connects to obtain the time delay of two segment signals, above-mentioned time interval variable quantity can be obtained.
However, when sample rate is not high enough, error is larger since the precision of measurement of correlation time delay is influenced by sample rate, therefore,
In high-acruracy survey occasion, the general phase using Mutual spectrum or cross covariance method measurement cross-correlation function, to obtain
Above-mentioned time delay.According to wiener-khintchine's theorem, it is known that signal cross-spectral density function and source signal Power spectral density
Between relationship：
Wherein, f is signal frequency, G12It (f) is cross-correlation function R12The frequency spectrum of (τ), the i.e. cross-power of echo-signal segment
Spectral density function； G11It (f) is auto-correlation function R11The frequency spectrum of (τ) is the Power spectral density of source signal,For mutual function
Phase difference between rate spectrum and Power spectral density, then can obtain according to phase difference between the two：
E [] expression averages to Δ T on all effective frequencies in formula (6), can also be with centre frequency f0The Δ T at place
To replace.Then, speed can be acquired according to (2) formula.
Due to the phase difference between crosspower spectrum and Power spectral density it can be seen from formula (6)Change model
It encloses and is limited to [- π, π], the section [- π, π] is folded into more than the phase value of the range, so surveying using pulse coherence Doppler
There are the measuring speed upper limits for fast method, i.e.,
Vm=c/ (4f0T) (7)
For maximum detection speed.More than the upper limit tachometric survey when will appear speed aliasing, therefore maximum detection
Velocity interval is [- Vm,+Vm].Above-mentioned asks computing cross-correlation that can also obtain base by signal progress quadrature demodulation is received
Then band signal seeks the time delay of the cross-correlation function peak value of baseband signal.
Since maximal detectable range is limited by transmission interval, it is
Rm=cT/2 (8)
Known to simultaneous formula (7) and (8)：
That is " speed-is apart from predicament " (range-velocity dilemma), when one timing of measurement distance, maximum detection
Speed is limited by formula (9).When true target velocity is more than the maximum detection speed of system, true velocity value can be with one
Fixed corresponding relationship is mapped in measured speed section, and mapping one-to-many between the measured value of speed and true value is caused to close
System, i.e. velocity ambiguity.For example, the true flow speed value in flow velocity measurement scene is 4VmWhen, measured value 0, and in scene
True flow speed value is 6VmWhen, measured value is also 0.Corresponding relationship between flow velocity true value and measured value is represented by
vt=va-2nVm (10)
Wherein vaRepresent true flow velocity, vtMeasurement flow velocity is represented, n is integer, represents folding times.Velocity ambiguity is very big
The application of the method is limited in degree.
Aiming at the problem that velocity ambiguity, Many researchers propose various solutions.The thought of ambiguity solution is exactly to introduce
Redundancy velocity information utilizes the relationship solution velocity ambiguity between measured value；Mainly include：
(1) dipulse repetition period method (dual pulse-repetition time, Dual PRT)：Utilize two groups of differences
Emit pulse-recurrence time interval (T1, T2), obtain two different maximum detection speed (Vm1And Vm2), it is mapped according to speed
Relationship obtains " maximum speed-folding times " combination under the conditions of different time intervals, to solve true velocity v；Such as
Under above two time interval, the measured value of true velocity v is respectively (v1And v2), it can be expressed as
When true velocity amplitude is more than Vm1And Vm2When the minimum value of the two, v1And v2It is different in a certain range.By
In v1And v2It is the measured value to the same true velocity, both corresponds to true velocity v, Vm1And Vm2Difference, result in n1
And n2Between difference there are a possibility that, this for solution velocity ambiguity provide possibility.If Vm1And Vm2Ratio be
Vm1/Vm2=C1/C2 (12)
Wherein C1And C2For greater than 1 and relatively prime positive integer, and 2C2>C1>C2.The maximum detection speed of system extension is C1
And C2Least common multiple and normalization factor Vm1/C1(or Vm2/C2) product.For example, Vm1=2m/s, Vm2=3m/s is then
The maximum detection speed of system extension is 6m/s, and treated that maximum detection speed is represented by for ambiguity solution
Vm=C1Vm2=C2Vm1 (13)
When true velocity is in-Vm~VmBetween when, even if exceed-Vm1~Vm1Or-Vm2~Vm2Range, also can be by
Accurately estimate；The folding of speed when Fig. 2 shows the speed measured in certain flow measurement scene using two group pulse intervals
Situation, wherein v1Corresponding system maximum detection speed is 3m/s, v2Corresponding system maximum detection speed is 2m/s.When true
When velocity amplitude is more than 2m/s, measured value v2Fold can occur, when true velocity value is more than 3m/s, measured value v1Also it can roll over
It is folded；But two groups of speed folding times are different, and the folding mode of two groups of measured values is repeated by the period of 12m/s.By foregoing description
It is found that dipulse repetition time method it is expansible measurement range it is limited.
(2) multiple-pulse repetition time method：When being repeated including three pulse-recurrence time methods (triple PRT) and multiple-pulse
Between method (M-PRT) actually utilize more pulse-recurrence times such as 9-PRT method, extend measured speed range；Used
Pulse-recurrence time interval is more, and the expansible range that tests the speed is bigger, but algorithm is also more complicated, and reliability is also lower.
(3) dipulse repetition rate method (Dual-pulse repetition frequency, Dual-PRF)：Transmitting terminal
Two beam different pulse repetition PRF of alternate emission1And PRF2Burst signal, surveyed under two kinds of pulse recurrence frequencies respectively
Target velocity is measured, according to (11) formula, velocity measurement is equal or with certain association twice, can use front and back twice
Related velocity measurement solves velocity ambiguity.This method is practical to be equivalent to dipulse repetition period method.
(4) multiple-pulse carrier frequency method：Every group pulse uses different carrier frequency combinations, and same Doppler frequency shift can
To obtain different phase differences, to obtain different maximum detection speed；Available number of frequency bands is more, expansible survey
Fast range is also bigger, but since band resource is limited, and the expansible range that tests the speed of this method is also limited.
(5) more repetition time-carrier frequency groups are legal：The multiple-pulse repetition time is applied in combination with multi-carrier method, is obtained
Obtain bigger measured speed range.
But no matter multiple-pulse repetition time or multiple radio frequency or the two combination, it is final expansible to test the speed
Range is all limited, when true velocity exceed can effectively resolve range when, speed fold (fuzzy) the problem of still deposit
, and the repetition period number used is more, and carrier frequency band number is more, and algorithm is more complicated, and anti-interference ability is also poorer.
Summary of the invention
For radar or sonar field pulse coherence Doppler method test the speed in the velocity ambiguity (folding) that is widely present ask
Topic tests the speed the fuzzy signal processing method of middle release rate the object of the present invention is to provide a kind of pulsion phase dry method, is based on pulse
The basic skills that coherent Doppler tests the speed emits two identical radio-frequency pulses at a time interval, receives twice emitting arteries and veins
Corresponding echo-signal is rushed, accurate Delay Estima-tion is carried out, so that existing using the velocity ambiguity that pulse coherence Doppler method tests the speed
It even is eliminated as being effectively suppressed, to obtain correct velocity measurement, and is not limited by true velocity range.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of pulsion phase dry method tests the speed middle release rate blur method, and step includes：Prediction of speed amount, artificial delay are surveyed
Speed and speed weighting, it is specific as follows.
1, prediction of speed amount realizes prediction of speed amount using the method for velocity bias 12 in basal rate 11 plus section.Such as
Shown in Fig. 3.
Firstly, maximum detection velocity interval 14 is determined, with this according to the maximum detection speed 13 of pulse coherence Doppler method
Maximum detection velocity interval 14 is unit, and the entire velocity space is divided into several speed intervals 15, can use integer serial number
16 pairs of each speed intervals 15 are marked；The lower bound speed of each speed interval 15 is the lower boundary speed value in the section,
Upper bound speed is the coboundary speed value in the section, takes the intermediate value of each speed interval 15 for the basal rate 11 in the section.
Secondly, using time difference estimation method, such as cross-correlation method, obtain the time between the twice return of interested target
Difference；The velocity amplitude i.e. bigness scale speed being calculated according to the time difference, the speed interval 15 where being searched by the bigness scale speed, really
Determine the corresponding basal rate 11 of bigness scale speed.
Again, using the methods of phase difference method, such as crosspower spectrum, cross covariance, returning twice for interested target is sought
Accurate phase difference between wave；Precise delay is gone out by the phase difference estimation again, it is inclined by speed in the precise delay computation interval
Shifting amount 12, velocity bias 12 is positive (or negative) velocity shift value relative to section central value in section.
Finally, being obtained an original predictive amount speed plus velocity bias 12 in section by basal rate 11, being made with this
For a prediction of speed amount result.
2, artificial delay is tested the speed main by a time delay artificially being added, original pre- in an echo-signal wherein
On the basis of measuring speed, a velocity bias corresponding with time delay is generated, the speed of each 15 near border of speed interval is solved
The problem of jumping (erroneous judgement) between degree potential establishment.As shown in Figure 4.
Firstly, on the basis of original time delay 21 of original twice return signal, so that a wherein echo-signal people
For delay a period of time, that is, adds a people and prolong 22 in working hour；Artificial time delay 22 is generally added in second of echo, Ke Yiyong
The method of numeric field zero insertion is realized.
Secondly, recalculating velocity amplitude by above-mentioned prediction of speed amount, a Delay Forecast amount speed is obtained, relative to
Original predictive amount speed attached an artificial velocity bias.
Artificial time delay 22 is approximately generally π (in π ± pi/2 range using the additional phase error that corresponding twice return generates
It is interior) or corresponding Manual Speed's offset be approximately above-mentioned maximum detection speed 13 time delay value (in maximum detection speed
Degree 13 is added and subtracted in its 1/2 range) so that the speed in 15 boundary of speed interval is artificially moved into speed interval 15
Near the heart (basal rate 11), so that the probability of section jump, which occurs, to be reduced.
Artificial delay, which is tested the speed, can also use different time delay values, take multiple measurements, utilize above-mentioned TDOA estimation side
Method and phase difference method, the velocity bias of basal rate and place speed interval after redefining artificial delay, addition obtain
Multiple Delay Forecast amount speed.
Finally, Delay Forecast amount speed subtracts the corresponding Manual Speed's offset that is manually delayed, it is pre- to obtain modified delay
Measuring speed.In practical operation, artificial delay is tested the speed can be only to original predictive amount speed in 15 near border of speed interval
(that is, 15 lower bound speed of speed interval adds in 1/2 maximum detection speed 13 and 15 upper bound speed of speed interval subtracts 1/2 maximum
In measured speed 13, which is also referred to as the width of 1/4 speed interval 15), using primary or more
Secondary artificial delay operation obtains one or more modified Delay Forecast amount speed.
3, speed weighting is to assign different weights from modified Delay Forecast amount speed to original predictive amount speed, is used for
It rejects and the maximum measurement result of section jumping probability occurs, retain the lesser result of section jumping probability.As shown in Figure 5.
Firstly, the weight function 30 in each speed interval 15 is determined, in each speed interval 15, by original predictive amount speed
It spends with Delay Forecast amount speed and determines the value of weight function, when the two is in 15 difference place value of speed interval, give original
The beginning premeasuring speed weight coefficient different with modified Delay Forecast amount speed.When original predictive amount speed and Delay Forecast
(1/2 model in up-and-down boundary velocity amplitude plus-minus maximum detection speed 13 when measuring speed near 15 up-and-down boundary of speed interval
In enclosing), take the weight (weight≤0.5) close or equal to 0, when speed interval center (basal rate 11) nearby when, take and connect
The close or weight (weight >=0.5) equal to 1；When between up-and-down boundary and central value (basal rate 11), according to certain
30 value of weight function.
The weight function 30 desirable positive slope linear function 31 and " anti-Z-type " polygronal function shown in Fig. 5 dotted line
Arbitrary function between 32 and between negative slope linear function 33 and " Z-type " polygronal function 34；Polygronal function 32,34
" break " speed is at the 1/2 of 15 boundary value of speed interval and central value, and concrete functional form can be according to traversal by low
It determines, can also rule of thumb determine to the global speed measurement result optimization of high all tested velocity interval.
Secondly, according to original predictive amount speed and Delay Forecast amount speed in the location of speed interval, according to power
Value function 30 determines respective weight.
Finally, being modified to Delay Forecast amount speed, that is, goes artificial time delay 22 to handle, obtain modified Delay Forecast amount
Then speed is weighted processing together with original predictive amount speed, obtains final velocity measurement.
Bring of the present invention has the technical effect that：
Due to using pulse coherence Doppler technology in measuring speed, the phase difference value range of detection be limited in [-
π, π], so there are the measuring speed upper limit, so that maximum detection velocity interval is restricted；More than the velocity amplitude quilt of the range
It is folded in maximum detection velocity interval, that is, so-called " velocity ambiguity " occurs.Method of the invention is using division speed area
Between, and adding the method for velocity bias in section to realize tachometric survey using section basal rate, basal rate is surveyed by the time difference
It measures result to determine, not influenced by phase folding, the velocity bias in phase difference method surveying range, avoid speed folding
Folded (fuzzy) problem.It is the maximum position of jumping probability between potential establishment when being in interval border value due to velocity amplitude, and
When in section center, it is that generation jumping probability is the smallest, uses the method for adding artificial time delay with the inventive method,
Speed in interval border is artificially moved to speed interval immediate vicinity, so that the probability of section jump, which occurs, to be reduced；Most
Afterwards by assigning different weights to original predictive amount speed and Delay Forecast amount speed, removal jumping probability it is maximum as a result,
Retain jumping probability it is lesser as a result, and be arranged by optimal weight function so that whole measurement result is stable and accurate.
Method of the invention eliminates velocity ambiguity when pulse coherence Doppler technology tests the speed, and not by true velocity range
Limitation.
Detailed description of the invention
Fig. 1 is to rush coherent Doppler method measuring principle schematic diagram.
Fig. 2 is pulse-recurrence time corresponding velocity ambiguity schematic diagram.
Fig. 3 is prediction of speed amount schematic diagram.
In figure：11- basal rate；12- velocity bias；13- maximum detection speed；14- maximum detection velocity interval；
15- speed interval；16- speed interval serial number.
Fig. 4 be time echo-signal it is original when extend to the artificial time delay schematic diagram of addition.
In figure：The original time delay of 21-；The artificial time delay of 22-.
Fig. 5 is weight obtaining value method of the different premeasuring velocity amplitudes in the velocity space.
In figure：30- weight function；31- positive slope linear function；32- " anti-Z-type " polygronal function；The linear letter of 33- negative slope
Number；34- " Z-type " polygronal function.
Fig. 6 is cross-correlation function R12And the time delay value Δ T determined by its peak positionRSchematic diagram.
Specific embodiment
To enable features described above and advantage of the invention to be clearer and more comprehensible, special embodiment below, and institute's attached drawing is cooperated to make
Detailed description are as follows.
It tests the speed the fuzzy signal processing method of middle release rate the present embodiment provides a kind of pulsion phase dry method, steps are as follows：
1) speed interval is divided, determines the basal rate in each section.
According to real work scene, suitable working frequency f is selected0And frequency bandwidth B, design suitable transmitting impulse wave
Shape s (t)；According to the maximum measurement distance R required in real work scenem, determine that the pulse of pulse coherence Doppler method repeats
Time T；According to pulse-recurrence time T, maximum detection speed V is calculated using formula (7)m；With maximum detection velocity interval [- Vm,
+Vm] section is unit, whole velocity spaces are divided into many speed intervals 15, and from the corresponding center section of 0 speed
Start, successively mark integer serial number n=0, ± 1, ± 2, ± 3 ... the in each positive-negative velocity section, until speed covers institute
Possible true velocity range, then n-th of overall travel speed be：[(2n-1)Vm,(2n+1)Vm]；The intermediate value 2nV in sectionmAs
The basal rate in the section；Serial number n is also used to represent true velocity when falling in the section, and measuring speed is for 2VmFolding time
Number；It divides in this way so that the phase difference being calculated according to formula (6)The borderline value for corresponding to each section isThe value for corresponding to the center of each speed interval is
2) by time difference estimation method, such as cross-correlation method obtains rough Time delay measurement as a result, i.e. bigness scale speed, is used for
It determines speed interval locating for the bigness scale speed, and obtains its basal rate.Specific implementation method is：
Firstly, obtaining bigness scale speed by carrying out cross correlation process to twice return signal.It can also be adopted in practical operation
With the detection of other time differences or estimation method.Emit two identical radio-frequency pulse s (t) with pulse-recurrence time interval T, and connects
Receive target echo signal in medium；Two echo-signals are subjected to quadrature demodulation, obtain the baseband signal of the two, (practical operation
In, base band can not also be converted the signal into, but subsequent processing directly is carried out to receives echo-signal), then according to the time
Corresponding relationship intercepts two signal segments (as shown in Figure 1) corresponding with interested target position, is labeled as x1(t) and x2
(t)；To two signal segment x of interception1(t) and x2(t) cross-correlation function is sought, its original is determined by cross-correlation function peak position
Beginning time delay Δ TR, as shown in Fig. 6.
Secondly, calculating bigness scale speed v according to formula (2)R：
And according to bigness scale speed vR, calculate folding times n value：
If vR>=0,
If vR≤ 0,
Int [] indicates floor operation in formula (14a) (14b).
Finally, taking the central speed 2nV of section nmFor the basal rate of bigness scale speed.
3) accurate delay estimation is carried out using phase difference method, obtains velocity bias in section.Method of the invention utilizes
Cross-power spectrum method seeks phase difference, according to formula (6), estimates precise delay
Recycle velocity bias in formula (2) computation interval：
4) original predictive amount speed v is sought0：
v0=2nVm+vP (15)
5) artificial addition delay, recalculates Delay Forecast amount speed v1, concrete operation step is：
To a wherein echo-signal x2(t) it is artificially delayed, the artificial time delay of addition is Δ TD, when practical operation, can
It takes：
OrOr other values, so that speed obtains approximation VmOr Vm/ 2,3Vm/ 2 or other speed
Spend offset.The signal of Shi Yanhou becomes x2(t-ΔTD)。
Repeat the 2), 3), 4), 5) step.2) the cross-correlation function peak value time delay Δ T after step is delayed by repeating theRD,
Repeat the 3) step obtain one group of new folding times nD, crosspower spectrum time delay after repeating the 4) step being delayedAnd speed
Spend offset vPD, repeat the 5) step obtain Delay Forecast amount speed vD：
vD=2nDVm+vPD；
The velocity bias that artificial time delay generates is subtracted, the modified Delay Forecast amount speed of primary artificial delay acquisition is calculated
Spend v1：
(6) speed weighting is handled, and obtains final velocity measurement.
According to pre-determined weight function, according to original predictive amount speed v0With Delay Forecast amount speed vDLocating speed
Position in section determines original predictive amount speed v0Weight w0With modified Delay Forecast amount speed v1The weight of speed
w1, processing is weighted to prediction of speed amount result.Main criteria is the knot for rejecting premeasuring speed range rate interval border
Fruit retains the result close to speed interval immediate vicinity.For example, if original predictive amount speed v0Close to interval border, then pass through
Delay Forecast amount speed v after crossing artificial delayDIt will be close to section center, that is, have w0=0, w1=1.
The present invention adds measuring speed by using the weight function curve that global speed error minimum criteria designs
Power：
V=w0v0+w1v1 (18)
It is obvious also possible to be delayed using multiple groups, different Delay Forecast amount speed is obtained：v1,v2,v3..., also according to
Above-mentioned weight function obtains the weight of each Delay Forecast amount speed：w1,w2,w3,...
Finally acquire total measuring speed：
Wherein, ∑ wi=w0+w1+w2+w3+...
The above embodiments are merely illustrative of the technical solutions of the present invention rather than is limited, the ordinary skill of this field
Personnel can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the spirit and scope of the present invention, this
The protection scope of invention should be subject to described in claims.
Claims (10)
1. a kind of pulsion phase dry method tests the speed, the fuzzy signal processing method of middle release rate, step include：
The velocity space is divided into multiple speed intervals, using the basis speed of the intermediate value of each speed interval speed interval where
Degree；
The bigness scale speed that target is obtained using the time difference of the twice return of target, the speed where being searched according to the bigness scale speed
Section is spent, determines the basal rate of the speed interval；
Precise delay is obtained using the phase difference of the twice return, the speed where being calculated by the precise delay in speed interval
Offset；
By the basal rate of place speed interval plus the velocity bias in speed interval, original predictive amount speed is obtained；
One or more artificial time delays are added in an echo-signal wherein, so that tested speed generates one or more people
Velocity bias in work velocity bias, the basal rate delayed when redefining artificial and its place speed interval is added
Obtain one or more Delay Forecast amount speed；
The Delay Forecast amount speed subtracts corresponding Manual Speed's offset, obtains modified Delay Forecast amount speed；
The original predictive amount speed and modified Delay Forecast amount speed are weighted and averaged, final velocity measurement is obtained.
2. the method according to claim 1, wherein the width of the speed interval is pulse coherence Doppler method
The maximum detection velocity interval for testing the speed determining.
3. the method according to claim 1, wherein the speed interval is with zero-based positive or negative whole
Number sequence number marks, and the speed interval of negative direction is marked with negative integer, and positive direction speed interval is marked with positive integer, the basis
Speed is equal to the serial number of place speed interval multiplied by the width of speed interval.
4. the method according to claim 1, wherein the velocity bias is relative to place speed interval
The positive or negative velocity shift value of basal rate.
5. the method according to claim 1, wherein by time difference estimation method obtain the twice return when
Between it is poor, which includes cross-correlation method.
6. the method according to claim 1, wherein obtaining the phase of the twice return by phase difference method
Precise delay is calculated in difference, which includes cross-power spectrum method, cross covariance method.
7. being adopted the method according to claim 1, wherein the artificial time delay is added in second of echo
It is realized with the method for numeric field zero insertion.
8. the method according to claim 1, wherein the value of the artificial time delay, so that the twice return
The additional phase error of generation is within the scope of π ± pi/2, or corresponding Manual Speed's offset is made to be place speed interval
Upper bound speed is added and subtracted in the range of 1/4 speed interval width.
9. the method according to claim 1, wherein in the speed interval where the original predictive amount speed
In the range of lower bound speed adds in the range of 1/4 speed interval width or its upper bound speed subtracts 1/4 speed interval width,
Artificial time delay is added to obtain Delay Forecast amount speed.
10. the method according to claim 1, wherein the original predictive amount speed and modified Delay Forecast
Amount speed is in the range of the lower bound speed in place speed interval adds 1/4 speed interval width or its upper bound speed subtracts
When in the range of 1/4 speed interval width, weighted value is more than or equal to 0, is less than or equal to 0.5；When in place speed interval
When in the range of basal rate 1/4 speed interval width of plus-minus, weighted value is more than or equal to 0.5, is less than or equal to 1；Its weighted value
It is determined especially by weight function.
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