CN109100697A - A kind of target condensing method based on ground surveillance radar system - Google Patents
A kind of target condensing method based on ground surveillance radar system Download PDFInfo
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- CN109100697A CN109100697A CN201810857348.0A CN201810857348A CN109100697A CN 109100697 A CN109100697 A CN 109100697A CN 201810857348 A CN201810857348 A CN 201810857348A CN 109100697 A CN109100697 A CN 109100697A
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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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
-
- 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 a kind of target condensing methods based on ground surveillance radar system, comprising: obtains radar front end treated target echo information；False Intersection Points mark filtration treatment is carried out to the target echo information, obtains filtered target echo information；Speed cohesion is carried out to the filtered target echo information, obtains the target echo information on range bin after speed cohesion；The target echo information on library after speed cohesion of adjusting the distance obtain apart from cohesion target component and target echo information in orientation after distance cohesion；Orientation cohesion is carried out to the target echo information after distance cohesion in orientation, the target component for belonging to same target and target echo information after obtaining orientation cohesion.Present invention reduces the risks that the target of friction speed merges into same target, improve the precision of target cohesion, provide reliable basis for subsequent flight path processing.
Description
Technical field
The present invention relates to the real-time condensation technique fields of the target of ground surveillance radar system, especially a kind of to be supervised based on ground
Depending on the target condensing method of radar system.
Background technique
Ground surveillance radar system is a kind of low coverage detection system detectd using radar and search photoelectricity recognition and tracking.It can be on ground
Under object background, to surface car, pedestrian, water surface ship, aerial aerodynamic vehicle detected, tracked, managed.
Wherein, target cohesion is that the target echo information for belonging to the same target is synthesized a target echo information,
To achieve the purpose that mitigate radar data processing load and improve Track In Track quality.Therefore, optimal condensing method is selected, it is right
Subsequent accurate estimation target component processing is most important.
Traditional target condensing method, the one-dimensional detection and merging method agglomerated using first range direction back side direction,
The speed for not accounting for target reduces the speed resolution capability of target, causes when target is agglomerated, by the target of friction speed
Merging becomes the same target.
Summary of the invention
In order to overcome above-mentioned defect in the prior art, the present invention provides a kind of target based on ground surveillance radar system
Condensing method, the target for reducing friction speed merge into the risk of same target, improve the precision of target cohesion, are subsequent
Flight path processing provide reliable basis.
To achieve the above object, the present invention uses following technical scheme, comprising:
A kind of target condensing method based on ground surveillance radar system, which comprises the following steps:
S1 obtains radar front end treated target echo information；
S2 carries out False Intersection Points mark filtration treatment to target echo information, obtains filtered target echo information；
S3 carries out speed cohesion to filtered target echo information, obtains the mesh on same range bin after speed cohesion
Mark echo information；
S4 obtain in same orientation apart from cohesion to the target echo information after speed cohesion on same range bin
Target component and target echo information after distance cohesion；
S5 carries out orientation cohesion to the target echo information after distance cohesion in same orientation, after obtaining orientation cohesion
Belong to the target component and target echo information of same target.
In step S1, through radar front end, treated that the target echo information includes: the orientation of target, the distance of target
Library, the doppler velocity channel of target, the timestamp of target, target range value；
Wherein, the range bin of the target indicates the distance unit where the distance for the target that detections of radar arrives；
The range bin: quantifying the range of the detecting distance of radar, and the distance unit after quantization is known as distance
Library；
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives；
The doppler velocity channel: quantifying the range of the detection speed of radar, by the speed unit after quantization
Referred to as doppler velocity channel；
The range value of the target is the energy value for the target that detections of radar arrives, and in radar front end processing, setting is artificial
The range value of the target is directly set to by thresholding if the range value for certain target that detections of radar arrives is less than the artificial thresholding
0db, and be considered as radar and the target is not detected；
The radar front end processing is Radar Signal Processing.
In step S2, the False Intersection Points mark filtration treatment: the target echo information on each range bin is calculated
And target integrated value is obtained, and the target integrated value is compared with clutter thresholding, if target integrated value is less than clutter thresholding,
Then filtered out using this target echo information as clutter；
Wherein, the calculation formula of the target integrated value are as follows:
Target integrated value=10 × log10(range value × target distance of target4)。
In step S3, the speed cohesion, comprising the following steps:
S31, to the mesh in the target echo information on each doppler velocity channel of the same range bin in same orientation
Target range value is compared, and finds out the maximum target echo information of range value of target；
S32, judge the target in the maximum target echo information of the range value of this target doppler velocity channel whether
For the doppler velocity channel where ground clutter；If so, deleting the target echo information；If it is not, then on the range bin
The maximum target echo information of range value for only retaining the target obtains the target echo letter on the range bin after speed cohesion
Breath；
S33 successively carries out speed cohesion to each range bin in same orientation, obtains on each range bin in same orientation
Target echo information after speed cohesion；
In step S32, the doppler velocity channel where the ground clutter includes: the channel V that doppler velocity is zero,
And four adjacent channels V-2, V-1, V+1, V+2 of channel V for doppler velocity being zero or so.
In step S4, the distance cohesion, comprising the following steps:
S41, according on the range bin in same orientation speed cohesion after target echo information, since the 3rd range bin to
Second-to-last range bin terminates successively to be judged judge whether the target echo information on range bin after speed cohesion is different
Normal target echo information, if the target echo information on certain range bin is abnormal target echo information, i.e., on the range bin
The range value of the target in target echo information after speed cohesion is not 0db, and the first two distance adjacent with the range bin
The range value of the target in target echo information on library and latter two range bin after speed cohesion is 0db, then deletes the distance
Target echo information on library after speed cohesion；
S42 terminates the distance starting judgement for successively carrying out target to second-to-last range bin since the 3rd range bin, will
The range value of the target first appeared be not 0db speed cohesion after target echo information in target range bin as target
Starting distance library, be denoted as Rstart, and by starting distance library RstartTarget in target echo information after upper speed cohesion
Doppler velocity channel is denoted as Vp；
S43, from starting distance library RstartThe distance termination for starting to second-to-last range bin to terminate successively to carry out target is sentenced
Break, if the range value of the target in the target echo information on latter two continuous range bin of certain range bin after speed cohesion is
The doppler velocity channel V of the target in target echo information on 0db or the range bin after speed cohesioncWith starting distance
Library RstartThe doppler velocity channel V of target in target echo information after upper speed cohesionpDiffer 4 channels or more, i.e., |
Vc-Vp| > 4 is denoted as R then using the range bin as the termination range bin of targetend；
S44, to from starting distance library RstartStart to termination range bin RendTarget after the N number of speed cohesion terminated is returned
Wave information, which is weighted, takes average processing, the target component after calculating distance cohesion
Wherein, 1≤i≤N；N=Rend-Rstart+1；
The range bin of the target in target echo information after being agglomerated for i-th of speed, AiAfter being agglomerated for i-th of speed
Target echo information in target range value,For the more of the target in the target echo information after i-th of speed cohesion
General Le velocity channel；
The range bin of the target in target echo information after being agglomerated for distance in same orientation,For in same orientation
The doppler velocity channel of the target in target echo information after distance cohesion；
To from starting distance library RstartStart to termination range bin RendTarget echo information after the N number of speed cohesion terminated
In the size of range value of target be compared, wherein the range value of maximum target be in same orientation distance agglomerate
The range value of the target in target echo information afterwards
In step S5, the orientation cohesion is the real time process carried out according to the scanning direction of radar；Radar is from the 1st
A orientation starts to scan, and receive the 1st orientation on target echo information, to the target echo information in the 1st orientation into
The cohesion of scanning frequency degree and the target echo information after the cohesion of distance in the 1st orientation is obtained apart from cohesion, according to radar scanning direction,
Radar is successively scanned the latter orientation, the target echo information in this orientation is received, to the target echo in this orientation
Information carries out speed cohesion and obtains the target echo information in this orientation after distance cohesion apart from cohesion, and according in this orientation
Target echo information after distance cohesion and the target echo information in the previous orientation in this orientation after distance cohesion carry out orientation
Cohesion；
The orientation cohesion, specifically includes the following steps:
S51 carries out the orientation starting judgement of target, after the distance first appeared cohesion according to radar scanning direction
The range value of target in target echo information is not Initial Azimuth of the orientation as target of 0db, is denoted as Dstart, and by the party
The range bin of the target in target echo information on position after distance cohesionWith the doppler velocity channel of targetRemember respectively
For
S52, from the Initial Azimuth D of targetstartStart, according to radar scanning direction, sliding window formula to latter orientation
The orientation for carrying out target terminates judgement, judges latter orientationWhether the target echo information after upper distance cohesion meetsAndAnd the range value of target is not 0db, if satisfied, the then orientationUpper distance
Target echo information and Initial Azimuth D after cohesionstartTarget echo information after upper distance cohesion is to belong to same target
Target echo information；If not satisfied, the orientationTarget echo information and Initial Azimuth D after upper distance cohesionstartOn away from
It is to be not belonging to the target echo information of same target from the target echo information after cohesion；
Wherein,For orientationThe range bin of the target in target echo information after upper distance cohesion；For side
PositionThe doppler velocity channel of the target in target echo information after upper distance cohesion；
S53, and so on, continue to this orientationLatter orientation carry out target orientation terminate judgement；If occurring
Target echo information and Initial Azimuth D in some orientation after distance cohesionstartIt is upper distance cohesion after target echo information be
Belong to the target echo information of same target, and the target echo letter in latter two continuous orientation in this orientation after distance cohesion
Breath and Initial Azimuth DstartTarget echo information after upper distance cohesion is that belong to the target echo information of same target be not
Belong to the target echo information of same target, then using this orientation as the termination orientation of target, is denoted as Dend；
S54, to from Initial Azimuth DstartStart to termination orientation DendTarget echo letter after the N number of distance cohesion terminated
Breath, which is weighted, takes average processing, the target component after computer azimuth cohesion
Wherein, 1≤i≤N；N=Dend-Dstart+1；
For the range bin of the target in the echo information after i-th of distance cohesion, AiFor the mesh after i-th of distance cohesion
The range value of target in echo information is marked,The doppler velocity channel of the target in back echo information is agglomerated for i-th of distance,For the orientation of target in the target echo information after i-th of distance cohesion；
The range bin of target echo information after being agglomerated for orientation,For in the target echo information after orientation cohesion
Doppler velocity channel,For the orientation of target in the target echo information after orientation cohesion；
In step S51, if the target termination orientation D in certain orientation and already present targetendDiffer 2 orientation or more, and this
The range value of the target in target echo information in orientation after distance cohesion is not 0db, then this orientation is the mesh of new target
Mark Initial Azimuth.
The present invention has the advantages that
(1) present invention improves the precision of target cohesion, reduces the risk that friction speed target merges into same target,
Reliable basis is provided for subsequent flight path processing.
(2) False Intersection Points mark filtration treatment of the invention effectively reduces the false alarm rate of short distance target, while improving remote
The probability of detection of area's target.
(3) present invention deletes on zero-frequency road and near zero-frequency road when carrying out speed cohesion to target echo information
Target echo information on channel eliminates the target echo information near on zero-frequency road and zero-frequency road on channel to subsequent place
The influence of reason improves the accuracy of target component.
(4) present invention is when agglomerate apart from cohesion and orientation to target echo information, to the speed after speed cohesion
Information accounts for, and reduces the risk that friction speed target merges into same target.
(5) present invention is weighted average treatment to the target echo information after distance cohesion in same orientation and obtains mesh
Parameter is marked, and orientation cohesion is carried out according to the target component information after distance cohesion in same orientation, improves target cohesion
Precision.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is radar front end treated target echo information.
Fig. 3 is the result figure after Fuzzy processing of the invention.
Fig. 4 is the result figure after object edge of the invention is extracted.
Fig. 5 is the ground object target of the invention result figure that filters out that treated.
Fig. 6 is the result figure of the Objective extraction of conventional method
Fig. 7 is the method flow diagram of False Intersection Points mark filtration treatment of the invention.
Fig. 8 is the method flow diagram of Fuzzy processing of the invention.
Fig. 9 is the method flow diagram that object edge of the invention is extracted.
Figure 10 is the method flow diagram that ground object target of the invention filters out.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one, as shown in Figure 1, a kind of Objective extraction and condensing method based on ground surveillance radar system, including
Following steps:
S1 obtains radar front end treated target echo information by network；
S2 carries out False Intersection Points mark filtration treatment to radar front end treated target echo information, obtains filtered mesh
Mark echo information；
S3 carries out Fuzzy processing to filtered target echo information, the target echo letter after obtaining Fuzzy processing
Breath, and two dimensional image is constituted according to the target echo information after Fuzzy processing；
S4 carries out object edge extraction to the two dimensional image, obtains the target echo information for belonging to same target；
S5 carries out ground object target to the target echo information for belonging to same target and filters out processing, obtains ground object target and filter out
Treated belongs to the target echo information of same target；
S6, the target echo information for filtering out that treated to ground object target and belonging to same target carry out speed cohesion, obtain
Target echo information on range bin after speed cohesion；
S7, the target echo information on library of adjusting the distance after speed cohesion obtain distance in orientation apart from cohesion and agglomerate
Target echo information and target component afterwards；
S8 carries out orientation cohesion to the target echo information after distance cohesion in orientation, belonging to after obtaining orientation cohesion
The target echo information and target component of same target.
Wherein, during radar scanning, radar is scanned since the 1st orientation, and receives the mesh in the 1st orientation
Mark echo information, step S2-S7 be in the 1st orientation target echo information carry out processing, obtain in the 1st orientation away from
From the target echo information after cohesion；According to radar scanning direction, radar is successively scanned the latter orientation, receives this side
Target echo information on position, and so on, it executes step S2-S7 and the target echo information in this orientation is handled,
Obtain the target echo information in this orientation after distance cohesion；Step S8 is to be believed according to the target echo after distance cohesion in orientation
Cease the real-time processing carried out.
In the present embodiment, the orientation coverage area of detections of radar is 0 °~90 °, with due north for 0 °, the sampling interval in orientation
It is 1.4 °, orientation is quantified as 64 orientation；Detections of radar is 0km~30km apart from coverage area, and the sampling interval of distance is
15m, distance are quantified as 2000 range bins；The speed coverage area of the detections of radar is -18.747m/s~18.747m/s,
Rate quantization is 64 doppler velocity channels；One frame of radar scanning is the target received in 0 ° of orientation since 0 ° of orientation
Echo information successively receives the target echo information in next orientation then according to 1.4 ° of sampling interval.
The principle of radar velocity measurement: Doppler effect, when having relative motion between target and radar, what radar received are utilized
Target echo frequency is different from radar transmitter frequency, by the difference on the frequency between target echo frequency and radar transmitter frequency, referred to as
Doppler frequency；When target is towards radar motion, target echo frequency is higher than radar transmitter frequency, and Doppler frequency is positive；Mesh
When mark is away from radar motion, target echo frequency is lower than radar transmitter frequency, and Doppler frequency is negative；According to Doppler frequency
Change numerical value, calculates the relative velocity of target and radar.
In step S1, treated that target echo information includes: the orientation of target, the range bin of target, mesh for radar front end
Target doppler velocity channel, the timestamp of target, target range value.
Wherein, the range bin of the target indicates the distance unit where the distance for the target that detections of radar arrives.
The range bin: quantifying the range of the detecting distance of radar, and the distance unit after quantization is known as distance
Library.
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives.
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives.Radar
The principle to test the speed: Doppler effect, when having relative motion between target and radar, target echo frequency that radar receives are utilized
It is different from radar transmitter frequency, by the difference on the frequency between target echo frequency and radar transmitter frequency, referred to as Doppler frequency；Mesh
When mark is towards radar motion, target echo frequency is higher than radar transmitter frequency, and Doppler frequency is positive；Target deviates from radar motion
When, target echo frequency is lower than radar transmitter frequency, and Doppler frequency is negative；According to the change numerical value of Doppler frequency, calculate
The relative velocity of target and radar out.
The timestamp of the target is time of the detections of radar to target.
The range value of the target is the energy value for the target that detections of radar arrives, and in radar front end processing, setting is artificial
Thresholding is 5db, if the range value for certain target that detections of radar arrives is less than the artificial thresholding, the range value of the target is directly set
For 0db, and it is considered as radar and the target is not detected.
The radar front end processing is Radar Signal Processing, comprising: radio frequency amplification, local oscillation signal generate, intermediate frequency amplifies, mixed
Frequently, doppler filtering.
In step S2, the False Intersection Points mark filtration treatment, comprising the following steps:
S21, according to the performance of target in detections of radar clutter, i.e. signal and clutter the ratio S/C and signal of target is minimum
The decibels S of detectable powerdb(R) initial value of preresearch estimates clutter thresholding, the ring on the spot set up further according to radar are carried out
Border is adjusted the initial value of clutter thresholding, obtains clutter thresholding, and in the present embodiment, clutter thresholding is 50db；
S22, in same orientation, successively by detections of radar to target echo information in target range value and target
Distance substitutes into formula 1 and is calculated, and obtains target integrated value；
Target integrated value=10 × log10(range value × target distance of target4) formula 1
S23, judges whether target integrated value is greater than clutter thresholding, if more than clutter thresholding, then retains target echo letter
Breath；If being less than clutter thresholding, filtered the target echo information as clutter.
Wherein, signal-to-clutter ratio S/C, signal minimum detectable power decibels Sdb(R):
SdB(R)=40lg (R0F/R)-LdB
FtFor the directional diagram propagation factor of target, FcFor the directional diagram propagation factor of clutter, σtFor the table of radar illumination target
Area, σcThe surface area of radar illumination clutter；R0For relative to free space distance, LdBTo indicate practical with decibel at distance R
Atmospheric loss, directional diagram propagation factor of the F based on spherical surface ground equation from target to receiving antenna.
In the present embodiment, using 20km~30km as far field, using 0km~1km as near region, 1km~10km is radar inspection
The normal region of survey, since target is near region, the range value of target is larger, and for target at far field, the range value of target is smaller,
Cause radar inconsistent near region, far field, normal region to the detection probability of target；The False Intersection Points mark filtration treatment guarantee
Consistency in radar to the detection probability of target near region, far field, normal region, reduces the false-alarm of short distance target
Rate improves the discovery rate of far field target.
In step S3, the Fuzzy processing, respectively according to the doppler velocity channel of target and the range bin pair of target
The range value of target carries out Fuzzy processing.
Wherein, Fuzzy processing, including following tool are carried out according to range value of the doppler velocity channel of target to target
Body step:
S301 carries out Fuzzy processing to the range value of the target on a certain doppler velocity channel of the 1st range bin,
The range value of the target on a certain doppler velocity channel of the 1st range bin is compared with 1db, if how general this is a certain
The range value for strangling the target on velocity channel is greater than 1db, then judges adjacent with a certain doppler velocity channel general more than two
Whether the range value for strangling the target on velocity channel is all larger than 0db, if the amplitude of the target on left neighboring Doppler velocity channel
When the range value of value or the target on right neighboring Doppler velocity channel is 0db, then by two adjacent doppler velocity channels
On target range value be 0db doppler velocity channel on the range value indirect assignment of target be 1db；If adjacent two
The range value of target on a doppler velocity channel is all larger than 0db, then jumps and execute step S302；
If the range value of the target on a certain doppler velocity channel is not more than 1db, jumps and execute step S302；
Wherein, if a certain doppler velocity channel is the 1st doppler velocity channel, only how general judgement is right adjacent
Strangle the range value of the target on velocity channel；If a certain doppler velocity channel is last 1 doppler velocity channel,
Only judge the range value of the target on left neighboring Doppler velocity channel；
S302, and so on, continue the range value of the target on next doppler velocity channel to the 1st range bin
Fuzzy processing is carried out, until the range value of the target on all doppler velocity channels to the 1st range bin obscures
Change processing to complete；
S303 continues to next range bin since the 1st doppler velocity channel to last in the manner previously described
The range value for the target on each doppler velocity channel that 1 doppler velocity channel terminates successively carries out Fuzzy processing,
It is every until terminating since the 1st doppler velocity channel to last 1 doppler velocity channel to last 1 range bin
The range value of target on a doppler velocity channel successively carries out Fuzzy processing and completes to get the Doppler according to target is arrived
Velocity channel carries out the target echo information after Fuzzy processing.
Fuzzy processing is carried out according to range value of the range bin of target to target, comprising the following steps:
S311 carries out Fuzzy processing to the range value of the target on a certain range bin of the 1st doppler velocity channel,
The range value of the target on a certain range bin of the 1st doppler velocity channel is successively compared with 1db, judges this certain
Whether the range value of the target on one range bin is greater than 1db, if the range value of the target on a certain range bin is greater than 1db,
Judge whether the range value of the target on two range bins adjacent with a certain range bin is all larger than 0db, if a left side it is adjacent away from
When range value from the target on library or the range value of the target on right adjacent range bin are 0db, then by left and right it is adjacent two
The range value of target on a range bin is that the range value indirect assignment of the target on the range bin of 0db is 1db；If adjacent two
The range value of target on a range bin is all larger than 0db, then jumps and execute step S312；
If the range value of the target on a certain range bin is not more than 1db, jumps and execute step S312；
Wherein, if a certain range bin is the 1st range bin, only judge and the right adjacent range bin of a certain range bin
On target range value；If a certain range bin is last 1 range bin, only judgement and a certain range bin are left adjacent
The range value of target on range bin；
S312, and so on, continue the range value of the target on next range bin to the 1st doppler velocity channel
Fuzzy processing is carried out, until the range value of the target on all range bins to the 1st doppler velocity channel obscures
Change processing to complete；
S313 continues to next doppler velocity channel since the 1st range bin to last in the manner previously described
The range value for the target on each range bin that 1 range bin terminates successively carries out Fuzzy processing, until to it is last more than 1 it is general
Strangle the range value of the target on each range bin of velocity channel terminated since the 1st range bin to last 1 range bin
Carry out Fuzzy processing successively to get to according to the target echo information after the range bin of target progress Fuzzy processing.
Target echo information after the Fuzzy processing obtained according to step S301-S303 and step S312-S313, by mesh
Y-axis of the target range bin as two dimensional image, i.e. y-axis are from the 1st range bin to the 2000th range bin；By the how general of target
X-axis of the velocity channel as two dimensional image is strangled, i.e. x-axis is from the 1st doppler velocity channel to the 64th doppler velocity channel；
Using the range value of the target in the target echo information after Fuzzy processing as pixel value, 2000 rows × 64 column two dimension is constituted
Image.
Wherein, step S301-S303 and step S312-S313 is regardless of the treatment process sequentially and independently carried out.
In step S4, the object edge is extracted, comprising the following steps:
S41 carries out binary conversion treatment to the pixel value of 2000 rows × 64 column two dimensional image, successively judges on two dimensional image
Whether the pixel value of each pixel is less than 1db, if being not less than 1db, the pixel value of the pixel is set to 1db；Otherwise, will
The pixel value of the pixel is set to 0db；
S42 carries out edge detection, the inspection of the edge Sobel to the pixel of bianry image using Sobel edge detection operator
The matrix G that measuring and calculating is two group 3 × 3X、Gy, by pixel Z to be detected5Pixel value and pixel Z to be detected5The pixel of neighborhood
The pixel value of point constitutes matrix f, by matrix f and matrix GX、GyFormula 2 is substituted into be calculated and obtain edge estimated value g；
G=| f*Gx|+|f*Gy| formula 2
Wherein, GXFor the template of transverse edge detective operators, GyFor the template of longitudinal edge detective operators, matrix GX、Gy、f
Expression formula difference it is as follows:
S43 judges whether g is less than specified threshold value T, and in the present embodiment, specified threshold value T is 1, if g is less than T, holds
Row step S44；If g is not less than T, pixel Z to be detected5For edge pixel point, step S45 is executed；
S44 deletes pixel Z5Target echo information；
S45 carries out edge detection to pixel all on bianry image by the way of sliding window detection, and according to edge
Pixel obtains the pixel for belonging to same target, and is believed according to the corresponding target echo of each pixel for belonging to same target
Breath obtains the target echo information for belonging to same target；Wherein, belong to same target pixel include on the objective contour with
And the pixel in profile, that is, the target echo information for belonging to same target includes target on the objective contour and in profile
Echo information.
According to the characteristic of radar detection target, the difference of target and clutter is, target above occupies certain company in distance
Continuous range bin quantity；Target occupies certain continuous doppler velocity channel quantity on doppler velocity channel,
And the single-point of non-orphaned exists.Therefore, if pixel to be detected is without 8 neighborhood territory pixel points, i.e., when not constituting matrix f, then not
Edge detection is carried out to the pixel to be detected of no 8 neighborhood territory pixel points, and to adjacent and continuous with the pixel to be detected
Pixel carry out edge detection, if the pixel to be detected does not have adjacent and continuous pixel, the pixel to be detected
As isolated pixel, and the pixel to be detected is not the pixel of target.
In step S41, the binary conversion treatment improves detection efficiency, reduces operand, and object edge is wrong in reduction
Target Splitting caused by examining, false edge caused by reducing in target echo information range value unevenly or dual edge.
In step S5, the ground object target filters out processing, comprising the following steps:
S51, the 32nd doppler velocity channel are zero-frequency road, i.e. the speed that the 32nd doppler velocity channel indicates is
The speed that 30th, 31,33,34 doppler velocity channel indicates is accordingly to be regarded as 0m/s by 0m/s, and by radar the 30th, 31,
32, the target echo echo information detected on 33,34 doppler velocity channels is determined as ground clutter；The ground clutter is
The target echo information of ground object target.
S52, statistics belong to the quantity N of the pixel of same target；Statistics belongs to the target echo information in same target
For the quantity M of ground clutter.
S53 judges whether the value of M/N is greater than the ratio of setting, in the present embodiment, the ratio that sets as 0.3, if more than
0.3, then the target is ground object target, executes step S54；Otherwise, which is non-ground object target, is filtered out without ground object target
Processing.
S54 deletes the target echo information of the target.
In step S6, the speed cohesion, comprising the following steps:
S61 carries out the range value of the target in the target echo information on the doppler velocity channel of same range bin
Compare, the range value for finding out target is maximum target echo information；
S62 judges that the range value of target is whether maximum target echo information is ground clutter；It should if so, deleting
Target echo information, re-execute the steps S61；If it is not, the range value for then only retaining the target on the range bin is maximum
Target echo information obtains the target echo information on the range bin after speed cohesion；
S63 successively carries out speed cohesion to each range bin, obtains the target echo on each range bin after speed cohesion
Information.
In step S7, the distance cohesion, comprising the following steps:
S71, according to the target echo information after speed cohesion on each range bin, to the 1998th since the 3rd range bin
A range bin terminates successively to be judged judge whether the target echo information on range bin after speed cohesion is abnormal target
Echo information, if the target echo information on certain range bin is abnormal target echo information, i.e., speed is agglomerated on the range bin
The range value of the target in target echo information afterwards is not 0db, and the first two range bin and rear two adjacent with the range bin
The range value of the target in target echo information on a range bin after speed cohesion is 0db, then deletes speed on the range bin
Target echo information after cohesion；
S72 terminates the distance starting judgement for successively carrying out target to the 1998th range bin since the 3rd range bin, will
The range value of the target first appeared is not the range bin of the target in the target echo information after the speed cohesion of 0db as mesh
Target starting distance library, is denoted as Rstart, and by starting distance library RstartTarget in target echo information after upper speed cohesion
Doppler velocity channel be denoted as Vp；
S73, from starting distance library RstartThe distance termination for starting to the 1998th range bin to terminate successively to carry out target is sentenced
Break, if the range value of the target in the target echo information on latter two continuous range bin of certain range bin after speed cohesion is
The doppler velocity channel V of the target in target echo information on 0db or the range bin after speed cohesioncWith starting distance
Library RstartThe doppler velocity channel V of target in target echo information after upper speed cohesionpDiffer 4 channels or more, i.e., |
Vc-Vp| > 4 is denoted as R then using the range bin as the termination range bin of targetend；
S74, to from starting distance library RstartStart to termination range bin RendTarget echo after the N number of speed cohesion terminated
Information, which is weighted, takes average processing, the target component after calculating distance cohesion
Wherein, 1≤i≤N；N=Rend-Rstart+1；
The range bin of target after being agglomerated for i-th of speed in target echo information, AiMesh after being agglomerated for i-th of speed
The range value of the target in echo information is marked,Doppler's speed of target after being agglomerated for i-th of speed in target echo information
Spend channel；
The range bin of the target in target echo information after being agglomerated for distance,For the target echo after distance cohesion
The doppler velocity channel of target in information；
To from starting distance library RstartStart to termination range bin RendTarget echo information after the N number of speed cohesion terminated
In the size of range value of target be compared, wherein the range value of maximum target is that the target after distance cohesion is returned
The range value of target in wave information
In step S8, the orientation cohesion is the real time process carried out according to the scanning direction of radar；Radar is from the 1st
A orientation starts to scan, and receive the 1st orientation on target echo information, to the target echo information in the 1st orientation into
The cohesion of scanning frequency degree and the target echo information after the cohesion of distance in the 1st orientation is obtained apart from cohesion, according to radar scanning direction,
Radar is successively scanned the latter orientation, the target echo information in this orientation is received, to the target echo in this orientation
Information carries out speed cohesion and obtains the target echo information after the cohesion of distance in this orientation apart from cohesion, and according in orientation away from
Orientation cohesion is carried out from the target echo information after cohesion, comprising the following steps:
S81 carries out the orientation starting judgement of target, by the range value of the target first appeared according to radar scanning direction
The not Initial Azimuth for the orientation of the target in the target echo information after the distance cohesion of 0db as target, is denoted as Dstart, and
By the doppler velocity channel difference of the range bin of the target in the target echo information after distance cohesion in the orientation and target
It is denoted as
S82, from the Initial Azimuth D of targetstartStart, according to radar scanning direction, sliding window formula to latter orientation
The orientation for carrying out target terminates judgement, judges latter orientationWhether the target echo information after upper distance cohesion meetsAndAnd the range value of target is not 0db, if satisfied, the then orientationUpper distance
Target echo information and Initial Azimuth D after cohesionstartTarget echo information after upper distance cohesion is to belong to same target
Target echo information；If not satisfied, the orientationTarget echo information and Initial Azimuth D after upper distance cohesionstartOn away from
It is to be not belonging to the target echo information of same target from the target echo information after cohesion；
Wherein,For orientationThe range bin of the target in target echo information after upper distance cohesion；For side
PositionThe doppler velocity channel of the target in target echo information after upper distance cohesion；
S83, and so on, continue to this orientationLatter orientation carry out target orientation terminate judgement；If occurring
Target echo information and Initial Azimuth D in some orientation after distance cohesionstartIt is upper distance cohesion after target echo information be
Belong to the target echo information of same target, and the target echo letter in latter two continuous orientation in this orientation after distance cohesion
Breath and Initial Azimuth DstartTarget echo information after upper distance cohesion is that belong to the target echo information of same target be not
Belong to the target echo information of same target, then using this orientation as the termination orientation of target, is denoted as Dend；
S84, to from Initial Azimuth DstartStart to termination orientation DendTarget echo letter after the N number of distance cohesion terminated
Breath, which is weighted, takes average processing, the target component after computer azimuth cohesion
Wherein, 1≤i≤N；N=Dend-Dstart+1；
For the range bin of the target in the echo information after i-th of distance cohesion, AiFor the mesh after i-th of distance cohesion
The range value of target in echo information is marked,The doppler velocity channel of the target in back echo information is agglomerated for i-th of distance,For the orientation of target in the target echo information after i-th of distance cohesion；
The range bin of target echo information after being agglomerated for orientation,For in the target echo information after orientation cohesion
Doppler velocity channelFor the orientation of target in the target echo information after orientation cohesion；
In step S81, if the target termination orientation D in certain orientation and already present targetendDiffer 2 orientation or more, and this
The range value of the target in target echo information in orientation after distance cohesion is not 0db, then this orientation is the mesh of new target
Mark Initial Azimuth.
As shown in Fig. 2-Fig. 6, test data is the data slot that the target data of ground surveillance radar real-time detection extracts；
Reference axis x-axis is 64 doppler velocity channels；Reference axis y-axis table is 30 range bins extracted.
As shown in Figure 3-Figure 5, target 1 is the pixel for belonging to same target obtained after Fuzzy processing through the invention
Point, Fuzzy processing of the invention are effectively reduced division of the target on doppler velocity channel or range bin, reduce
Same Target Splitting is the risk of multiple targets.Target 2 is ground object target, the present invention is filtered out by ground object target handle after by mesh
Mark 2 filters out, and ground object target of the invention filters out processing and filters out ground object target, reduces ground object target and does to real goal
It disturbs, effectively improves Objective extraction precision, reduce the estimated bias of the target component during subsequent Plot coherence.
As shown in fig. 6, traditional target extraction method, directly progress Edge extraction, do not account for radar detection mesh
Discontinuous characteristic is marked, the integrality of Objective extraction is reduced, target 1 is caused to be split into two mesh when carrying out Objective extraction
Mark；And ground object target is not carried out to the target echo information for belonging to same target and filters out processing.
Target condensing method of the invention considers velocity information, when carrying out speed cohesion, delete on zero-frequency road and
Target echo information near zero-frequency road on channel eliminates the target echo letter near on zero-frequency road and zero-frequency road on channel
Cease the influence to subsequent processing；Traditional target cohesion side does not account for velocity information, results in the meter of subsequent target component
It calculates and generates deviation.Target condensing method of the invention effectively improves the precision of target cohesion, realizes the essence of target component
Really estimation.
Embodiment two, a kind of target extraction method based on ground surveillance radar system, comprising the following steps:
S1 obtains radar front end treated the target echo information in ground surveillance radar system by network；
S2 carries out False Intersection Points mark filtration treatment to target echo information, obtains filtered target echo information；
S3 carries out Fuzzy processing to filtered target echo information, the target echo letter after obtaining Fuzzy processing
Breath, and the two dimensional image constituted according to the target echo information after Fuzzy processing；
S4 carries out object edge extraction to the two dimensional image, extracts the target echo information for belonging to same target；
S5 carries out ground object target to the target echo information for belonging to same target and filters out, and obtains after ground object target filters out
Belong to the target echo information of same target.
The target extraction method of the present embodiment only to the target echo information either during radar scanning on position into
Capable processing.
In step S1, treated that target echo information includes: the orientation of target, the range bin of target, mesh for radar front end
Target doppler velocity channel, the timestamp of target, target range value.
Wherein, the range bin of the target indicates the distance unit where the distance for the target that detections of radar arrives.
The range bin: quantifying the range of the detecting distance of radar, and the distance unit after quantization is known as distance
Library.
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives.
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives.Radar
The principle to test the speed: Doppler effect, when having relative motion between target and radar, target echo frequency that radar receives are utilized
It is different from radar transmitter frequency, by the difference on the frequency between target echo frequency and radar transmitter frequency, referred to as Doppler frequency；Mesh
When mark is towards radar motion, target echo frequency is higher than radar transmitter frequency, and Doppler frequency is positive；Target deviates from radar motion
When, target echo frequency is lower than radar transmitter frequency, and Doppler frequency is negative；According to the change numerical value of Doppler frequency, calculate
The relative velocity of target and radar out.
The timestamp of the target is time of the detections of radar to target.
The range value of the target is the energy value for the target that detections of radar arrives, and in radar front end processing, setting is artificial
Thresholding is 5db, if the range value for certain target that detections of radar arrives is less than the artificial thresholding, the range value of the target is directly set
For 0db, and it is considered as radar and the target is not detected.
The radar front end processing is Radar Signal Processing, comprising: radio frequency amplification, local oscillation signal generate, intermediate frequency amplifies, mixed
Frequently, doppler filtering.
As shown in Figure 7, in step S2, the False Intersection Points mark filtration treatment, comprising the following steps:
S21, according to the performance of target in detections of radar clutter, i.e. signal and clutter the ratio S/C and signal of target is minimum
The decibels S of detectable powerdb(R) initial value of preresearch estimates clutter thresholding, the ring on the spot set up further according to radar are carried out
Border is adjusted the initial value of clutter thresholding, obtains clutter thresholding, and in the present embodiment, clutter thresholding is 50db；
S22, in same orientation, successively by detections of radar to target echo information in target range value and target
Distance substitutes into formula 1 and is calculated, and obtains target integrated value；
Target integrated value=10 × log10(range value × target distance of target4) formula 1
S23, judges whether target integrated value is greater than clutter thresholding, if more than clutter thresholding, then retains target echo letter
Breath；If being less than clutter thresholding, filtered the target echo information as clutter.
Wherein, signal-to-clutter ratio S/C, signal minimum detectable power decibels Sdb(R):
SdB(R)=40lg (R0F/R)-LdB
FtFor the directional diagram propagation factor of target, FcFor the directional diagram propagation factor of clutter, σtFor the table of radar illumination target
Area, σcThe surface area of radar illumination clutter；R0For relative to free space distance, LdBTo indicate practical with decibel at distance R
Atmospheric loss, directional diagram propagation factor of the F based on spherical surface ground equation from target to receiving antenna.
In the present embodiment, using 20km~30km as far field, using 0km~1km as near region, 1km~10km is radar inspection
The normal region of survey, since target is near region, the range value of target is larger, and for target at far field, the range value of target is smaller,
Leading to radar is inconsistent near region, far field, normal region to the detection probability of target；The False Intersection Points mark filtration treatment is protected
Hinder the consistency in radar to the detection probability of target near region, far field, normal region, reduces the false-alarm of short distance target
Rate improves the discovery rate of far field target.
As shown in Figure 8, in step S3, the Fuzzy processing, respectively according to the doppler velocity channel and target of target
Range bin Fuzzy processing is carried out to the range value of target.
Wherein, Fuzzy processing, including following tool are carried out according to range value of the doppler velocity channel of target to target
Body step:
S301 carries out Fuzzy processing to the range value of the target on a certain doppler velocity channel of the 1st range bin,
The range value of the target on a certain doppler velocity channel of the 1st range bin is compared with 1db, if how general this is a certain
The range value for strangling the target on velocity channel is greater than 1db, then judges adjacent with a certain doppler velocity channel general more than two
Whether the range value for strangling the target on velocity channel is all larger than 0db, if the amplitude of the target on left neighboring Doppler velocity channel
When the range value of value or the target on right neighboring Doppler velocity channel is 0db, then by two adjacent doppler velocity channels
On target range value be 0db doppler velocity channel on the range value indirect assignment of target be 1db；If adjacent two
The range value of target on a doppler velocity channel is all larger than 0db, then jumps and execute step S302；
If the range value of the target on a certain doppler velocity channel is not more than 1db, jumps and execute step S302；
Wherein, if a certain doppler velocity channel is the 1st doppler velocity channel, only how general judgement is right adjacent
Strangle the range value of the target on velocity channel；If a certain doppler velocity channel is last 1 doppler velocity channel,
Only judge the range value of the target on left neighboring Doppler velocity channel；
S302, and so on, continue the range value of the target on next doppler velocity channel to the 1st range bin
Fuzzy processing is carried out, until the range value of the target on all doppler velocity channels to the 1st range bin obscures
Change processing to complete；
S303 continues to next range bin since the 1st doppler velocity channel to last in the manner previously described
The range value for the target on each doppler velocity channel that 1 doppler velocity channel terminates successively carries out Fuzzy processing,
It is every until terminating since the 1st doppler velocity channel to last 1 doppler velocity channel to last 1 range bin
The range value of target on a doppler velocity channel successively carries out Fuzzy processing and completes to get the Doppler according to target is arrived
Velocity channel carries out the target echo information after Fuzzy processing.
Fuzzy processing is carried out according to range value of the range bin of target to target, comprising the following steps:
S311 carries out Fuzzy processing to the range value of the target on a certain range bin of the 1st doppler velocity channel,
The range value of the target on a certain range bin of the 1st doppler velocity channel is successively compared with 1db, judges this certain
Whether the range value of the target on one range bin is greater than 1db, if the range value of the target on a certain range bin is greater than 1db,
Judge whether the range value of the target on two range bins adjacent with a certain range bin is all larger than 0db, if a left side it is adjacent away from
When range value from the target on library or the range value of the target on right adjacent range bin are 0db, then by left and right it is adjacent two
The range value of target on a range bin is that the range value indirect assignment of the target on the range bin of 0db is 1db；If adjacent two
The range value of target on a range bin is all larger than 0db, then jumps and execute step S312；
If the range value of the target on a certain range bin is not more than 1db, jumps and execute step S312；
Wherein, if a certain range bin is the 1st range bin, only judge and the right adjacent range bin of a certain range bin
On target range value；If a certain range bin is last 1 range bin, only judgement and a certain range bin are left adjacent
The range value of target on range bin；
S312, and so on, continue the range value of the target on next range bin to the 1st doppler velocity channel
Fuzzy processing is carried out, until the range value of the target on all range bins to the 1st doppler velocity channel obscures
Change processing to complete；
S313 continues to next doppler velocity channel since the 1st range bin to last in the manner previously described
The range value for the target on each range bin that 1 range bin terminates successively carries out Fuzzy processing, until to it is last more than 1 it is general
Strangle the range value of the target on each range bin of velocity channel terminated since the 1st range bin to last 1 range bin
Carry out Fuzzy processing successively to get to according to the target echo information after the range bin of target progress Fuzzy processing.
Target echo information after the Fuzzy processing obtained according to step S301-S303 and step S312-S313, by mesh
Y-axis of the target range bin as two dimensional image, i.e. y-axis are from the 1st range bin to the 2000th range bin；By the how general of target
X-axis of the velocity channel as two dimensional image is strangled, i.e. x-axis is from the 1st doppler velocity channel to the 64th doppler velocity channel；
Using the range value of the target in the target echo information after Fuzzy processing as pixel value, 2000 rows × 64 column two dimension is constituted
Image.
Wherein, step S301-S303 and step S312-S313 is regardless of the treatment process sequentially and independently carried out.
As shown in Figure 9, in step S4, the object edge is extracted, comprising the following steps:
S41 carries out binary conversion treatment to the pixel value of 2000 rows × 64 column two dimensional image, successively judges on two dimensional image
Whether the pixel value of each pixel is less than 1db, if being not less than 1db, the pixel value of the pixel is set to 1db；Otherwise, will
The pixel value of the pixel is set to 0db；
S42 carries out edge detection, the inspection of the edge Sobel to the pixel of bianry image using Sobel edge detection operator
The matrix G that measuring and calculating is two group 3 × 3X、Gy, by pixel Z to be detected5Pixel value and pixel Z to be detected5The pixel of neighborhood
The pixel value of point constitutes matrix f, by matrix f and matrix GX、GyFormula 2 is substituted into be calculated and obtain edge estimated value g；
G=| f*Gx|+|f*Gy| formula 2
Wherein, GXFor the template of transverse edge detective operators, GyFor the template of longitudinal edge detective operators, matrix GX、Gy、f
Expression formula difference it is as follows:
S43 judges whether g is less than specified threshold value T, and in the present embodiment, specified threshold value T is 1, if g is less than T, holds
Row step S44；If g is not less than T, pixel Z to be detected5For edge pixel point, step S45 is executed；
S44 deletes pixel Z5Target echo information；
S45 carries out edge detection to pixel all on bianry image by the way of sliding window detection, and according to edge
Pixel obtains the pixel for belonging to same target, and is believed according to the corresponding target echo of each pixel for belonging to same target
Breath obtains the target echo information for belonging to same target；Wherein, belong to same target pixel include on the objective contour with
And the pixel in profile, that is, the target echo information for belonging to same target includes target on the objective contour and in profile
Echo information.
According to the characteristic of radar detection target, the difference of target and clutter is, target above occupies certain company in distance
Continuous range bin quantity；Target occupies certain continuous doppler velocity channel quantity on doppler velocity channel,
And the single-point of non-orphaned exists.Therefore, if pixel to be detected is without 8 neighborhood territory pixel points, i.e., when not constituting matrix f, then not
Edge detection is carried out to the pixel to be detected of no 8 neighborhood territory pixel points, and to adjacent and continuous with the pixel to be detected
Pixel carry out edge detection, if the pixel to be detected does not have adjacent and continuous pixel, the pixel to be detected
As isolated pixel, and the pixel to be detected is not the pixel of target.
In step S41, the binary conversion treatment improves detection efficiency, reduces operand, and object edge is wrong in reduction
Target Splitting caused by examining, false edge caused by reducing in target echo information range value unevenly or dual edge.
As shown in Figure 10, in step S5, the ground object target filters out processing, comprising the following steps:
S51, the 32nd doppler velocity channel are zero-frequency road, i.e. the speed that the 32nd doppler velocity channel indicates is
The speed that 30th, 31,33,34 doppler velocity channel indicates is accordingly to be regarded as 0m/s by 0m/s, and by radar the 30th, 31,
32, the target echo echo information detected on 33,34 doppler velocity channels is determined as ground clutter；The ground clutter is
The target echo information of ground object target.
S52, statistics belong to the quantity N of the pixel of same target；Statistics belongs to the target echo information in same target
For the quantity M of ground clutter.
S53 judges whether the value of M/N is greater than the ratio of setting, in the present embodiment, the ratio that sets as 0.3, if more than
0.3, then the target is ground object target, executes step S54；Otherwise, which is non-ground object target, is filtered out without ground object target
Processing.
S54 deletes the target echo information of the target.
Embodiment three, a kind of target condensing method based on ground surveillance radar system, comprising the following steps:
S1 obtains radar front end treated target echo information by network；
S2 carries out False Intersection Points mark filtration treatment to target echo information, and obtains filtered target echo information；
S3 carries out speed cohesion to filtered target echo information, obtains the mesh on same range bin after speed cohesion
Mark echo information；
S4 obtain in same orientation apart from cohesion to the target echo information after speed cohesion on same range bin
Target echo information after distance cohesion, and calculate the target component information after distance cohesion；
S5 carries out orientation cohesion to the target echo information after distance cohesion in same orientation, after obtaining orientation cohesion
Belong to the target echo information of same target, and calculates the target component information for belonging to same target.
The target condensing method of the present embodiment is according to the target echo in each orientation received during radar scanning
The method that information is handled in real time.
In step S1, treated that target echo information includes: the orientation of target, the range bin of target, mesh for radar front end
Target doppler velocity channel, the timestamp of target, target range value.
Wherein, the range bin of the target indicates the distance unit where the distance for the target that detections of radar arrives.
The range bin: quantifying the range of the detecting distance of radar, and the distance unit after quantization is known as distance
Library.
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives.
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives.Radar
The principle to test the speed: Doppler effect, when having relative motion between target and radar, target echo frequency that radar receives are utilized
It is different from radar transmitter frequency, by the difference on the frequency between target echo frequency and radar transmitter frequency, referred to as Doppler frequency；Mesh
When mark is towards radar motion, target echo frequency is higher than radar transmitter frequency, and Doppler frequency is positive；Target deviates from radar motion
When, target echo frequency is lower than radar transmitter frequency, and Doppler frequency is negative；According to the change numerical value of Doppler frequency, calculate
The relative velocity of target and radar out.
The timestamp of the target is time of the detections of radar to target.
The range value of the target is the energy value for the target that detections of radar arrives, and in radar front end processing, setting is artificial
Thresholding is 5db, if the range value for certain target that detections of radar arrives is less than the artificial thresholding, the range value of the target is directly set
For 0db, and it is considered as radar and the target is not detected.
The radar front end processing is Radar Signal Processing, comprising: radio frequency amplification, local oscillation signal generate, intermediate frequency amplifies, mixed
Frequently, doppler filtering.
In step S2, the False Intersection Points mark filtration treatment, comprising the following steps:
S21, according to the performance of target in detections of radar clutter, i.e. signal and clutter the ratio S/C and signal of target is minimum
The decibels S of detectable powerdb(R) initial value of preresearch estimates clutter thresholding, the ring on the spot set up further according to radar are carried out
Border is adjusted the initial value of clutter thresholding, obtains clutter thresholding, and in the present embodiment, clutter thresholding is 50db；
S22, in same orientation, successively by detections of radar to target echo information in target range value and target
Distance substitutes into formula 1 and is calculated, and obtains target integrated value；
Target integrated value=10 × log10(range value × target distance of target4) formula 1
S23, judges whether target integrated value is greater than clutter thresholding, if more than clutter thresholding, then retains target echo letter
Breath；If being less than clutter thresholding, filtered the target echo information as clutter.
Wherein, signal-to-clutter ratio S/C, signal minimum detectable power decibels Sdb(R):
SdB(R)=40lg (R0F/R)-LdB
FtFor the directional diagram propagation factor of target, FcFor the directional diagram propagation factor of clutter, σtFor the table of radar illumination target
Area, σcThe surface area of radar illumination clutter；R0For relative to free space distance, LdBTo indicate practical with decibel at distance R
Atmospheric loss, directional diagram propagation factor of the F based on spherical surface ground equation from target to receiving antenna.
In the present embodiment, using 20km~30km as far field, using 0km~1km as near region, 1km~10km is radar inspection
The normal region of survey, since target is near region, the range value of target is larger, and for target at far field, the range value of target is smaller,
Leading to radar is inconsistent near region, far field, normal region to the detection probability of target；The False Intersection Points mark filtration treatment is protected
Hinder the consistency in radar to the detection probability of target near region, far field, normal region, reduces the false-alarm of short distance target
Rate improves the discovery rate of far field target.
In step S3, the speed cohesion, comprising the following steps:
S31 carries out the range value of the target in the target echo information on the doppler velocity channel of same range bin
Compare, the range value for finding out target is maximum target echo information；
S32 judges that the range value of target is whether maximum target echo information is ground clutter；It should if so, deleting
Target echo information, re-execute the steps S31；If it is not, the range value for then only retaining the target on the range bin is maximum
Target echo information obtains the target echo information on the range bin after speed cohesion；
S33 successively carries out speed cohesion to each range bin, obtains the target echo on each range bin after speed cohesion
Information.
In step S4, the distance cohesion, comprising the following steps:
S41, according to the target echo information after speed cohesion on each range bin, to the 1998th since the 3rd range bin
A range bin terminates successively to be judged judge whether the target echo information on range bin after speed cohesion is abnormal target
Echo information, if the target echo information on certain range bin is abnormal target echo information, i.e., speed is agglomerated on the range bin
The range value of the target in target echo information afterwards is not 0db, and the first two range bin and rear two adjacent with the range bin
The range value of the target in target echo information on a range bin after speed cohesion is 0db, then deletes speed on the range bin
Target echo information after cohesion；
S42 terminates the distance starting judgement for successively carrying out target to the 1998th range bin since the 3rd range bin, will
The range value of the target first appeared is not the range bin of the target in the target echo information after the speed cohesion of 0db as mesh
Target starting distance library, is denoted as Rstart, and by starting distance library RstartTarget in target echo information after upper speed cohesion
Doppler velocity channel be denoted as Vp；
S43, from starting distance library RstartThe distance termination for starting to the 1998th range bin to terminate successively to carry out target is sentenced
Break, if the range value of the target in the target echo information on latter two continuous range bin of certain range bin after speed cohesion is
The doppler velocity channel V of the target in target echo information on 0db or the range bin after speed cohesioncWith starting distance
Library RstartThe doppler velocity channel V of target in target echo information after upper speed cohesionpDiffer 4 channels or more, i.e., |
Vc-Vp| > 4 is denoted as R then using the range bin as the termination range bin of targetend；
S44, to from starting distance library RstartStart to termination range bin RendTarget echo after the N number of speed cohesion terminated
Information, which is weighted, takes average processing, the target component after calculating distance cohesion
Wherein, 1≤i≤N；N=Rend-Rstart+1；
The range bin of target after being agglomerated for i-th of speed in target echo information, AiMesh after being agglomerated for i-th of speed
The range value of the target in echo information is marked,Doppler's speed of target after being agglomerated for i-th of speed in target echo information
Spend channel；
The range bin of the target in target echo information after being agglomerated for distance,For the target echo after distance cohesion
The doppler velocity channel of target in information；
To from starting distance library RstartStart to termination range bin RendTarget echo information after the N number of speed cohesion terminated
In the size of range value of target be compared, wherein the range value of maximum target is that the target after distance cohesion is returned
The range value of target in wave information
In step S5, the orientation cohesion is the real time process carried out according to the scanning direction of radar；Radar is from the 1st
A orientation starts to scan, and receive the 1st orientation on target echo information, to the target echo information in the 1st orientation into
The cohesion of scanning frequency degree and the target echo information after the cohesion of distance in the 1st orientation is obtained apart from cohesion, according to radar scanning direction,
Radar is successively scanned the latter orientation, the target echo information in this orientation is received, to the target echo in this orientation
Information carries out speed cohesion and obtains the target echo information after the cohesion of distance in this orientation apart from cohesion, and according in orientation away from
Orientation cohesion is carried out from the target echo information after cohesion, comprising the following steps:
S51 carries out the orientation starting judgement of target, by the range value of the target first appeared according to radar scanning direction
The not Initial Azimuth for the orientation of the target in the target echo information after the distance cohesion of 0db as target, is denoted as Dstart, and
By the doppler velocity channel difference of the range bin of the target in the target echo information after distance cohesion in the orientation and target
It is denoted as
S52, from the Initial Azimuth D of targetstartStart, according to radar scanning direction, sliding window formula to latter orientation
The orientation for carrying out target terminates judgement, judges latter orientationWhether the target echo information after upper distance cohesion meetsAndAnd the range value of target is not 0db, if satisfied, the then orientationUpper distance
Target echo information and Initial Azimuth D after cohesionstartTarget echo information after upper distance cohesion is to belong to same target
Target echo information；If not satisfied, the orientationTarget echo information and Initial Azimuth D after upper distance cohesionstartOn away from
It is to be not belonging to the target echo information of same target from the target echo information after cohesion；
Wherein,For orientationThe range bin of the target in target echo information after upper distance cohesion；For side
PositionThe doppler velocity channel of the target in target echo information after upper distance cohesion；
S53, and so on, continue to this orientationLatter orientation carry out target orientation terminate judgement；If occurring
Target echo information and Initial Azimuth D in some orientation after distance cohesionstartIt is upper distance cohesion after target echo information be
Belong to the target echo information of same target, and the target echo letter in latter two continuous orientation in this orientation after distance cohesion
Breath and Initial Azimuth DstartTarget echo information after upper distance cohesion is that belong to the target echo information of same target be not
Belong to the target echo information of same target, then using this orientation as the termination orientation of target, is denoted as Dend；
S54, to from Initial Azimuth DstartStart to termination orientation DendTarget echo letter after the N number of distance cohesion terminated
Breath, which is weighted, takes average processing, the target component after computer azimuth cohesion
Wherein, 1≤i≤N；N=Dend-Dstart+1；
For the range bin of the target in the echo information after i-th of distance cohesion, AiFor the mesh after i-th of distance cohesion
The range value of target in echo information is marked,The doppler velocity channel of the target in back echo information is agglomerated for i-th of distance,For the orientation of target in the target echo information after i-th of distance cohesion；
The range bin of target echo information after being agglomerated for orientation,For in the target echo information after orientation cohesion
Doppler velocity channelFor the orientation of target in the target echo information after orientation cohesion；
In step S51, if the target termination orientation D in certain orientation and already present targetendDiffer 2 orientation or more, and this
The range value of the target in target echo information in orientation after distance cohesion is not 0db, then this orientation is the mesh of new target
Mark Initial Azimuth.
The above is only the preferred embodiments of the invention, are not intended to limit the invention creation, all in the present invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the guarantor of the invention within the spirit and principle of creation
Within the scope of shield.
Claims (6)
1. a kind of target condensing method based on ground surveillance radar system, which comprises the following steps:
S1 obtains radar front end treated target echo information；
S2 carries out False Intersection Points mark filtration treatment to target echo information, obtains filtered target echo information；
S3 carries out speed cohesion to filtered target echo information, obtains the target on same range bin after speed cohesion and returns
Wave information；
S4 carries out the target echo information after speed cohesion on same range bin to obtain distance in same orientation apart from cohesion
Target component and target echo information after cohesion；
S5 carries out orientation cohesion to the target echo information after distance cohesion in same orientation, belonging to after obtaining orientation cohesion
The target component and target echo information of same target.
2. a kind of target condensing method based on ground surveillance radar system according to claim 1, which is characterized in that step
In rapid S1, through radar front end, treated that the target echo information includes: the orientation of target, the range bin of target, target
Doppler velocity channel, the timestamp of target, target range value；
Wherein, the range bin of the target indicates the distance unit where the distance for the target that detections of radar arrives；
The range bin: quantifying the range of the detecting distance of radar, and the distance unit after quantization is known as range bin；
The doppler velocity channel of the target indicates the speed unit where the speed for the target that detections of radar arrives；
The doppler velocity channel: the range of the detection speed of radar is quantified, the speed unit after quantization is known as
Doppler velocity channel；
The range value of the target is the energy value for the target that detections of radar arrives, and in radar front end processing, artificial thresholding is arranged,
If the range value for certain target that detections of radar arrives is less than the artificial thresholding, the range value of the target is directly set to 0db, and regard
The target is not detected for radar；
The radar front end processing is Radar Signal Processing.
3. a kind of target condensing method based on ground surveillance radar system according to claim 2, which is characterized in that step
In rapid S2, the False Intersection Points mark filtration treatment: the target echo information on each range bin is calculated and obtains target
The target integrated value is compared by integrated value with clutter thresholding, if target integrated value is less than clutter thresholding, by this target
Echo information is filtered out as clutter；
Wherein, the calculation formula of the target integrated value are as follows:
Target integrated value=10 × log10(range value × target distance of target4)。
4. a kind of target condensing method based on ground surveillance radar system according to claim 2, which is characterized in that step
In rapid S3, the speed cohesion, comprising the following steps:
S31, to the target in the target echo information on each doppler velocity channel of the same range bin in same orientation
Range value is compared, and finds out the maximum target echo information of range value of target；
S32, judges whether the doppler velocity channel of the target in the maximum target echo information of the range value of this target is ground
Doppler velocity channel where object clutter；If so, deleting the target echo information；If it is not, then only being protected on the range bin
The maximum target echo information of the range value of the target is stayed, the target echo information on the range bin after speed cohesion is obtained；
S33 successively carries out speed cohesion to each range bin in same orientation, obtains speed on each range bin in same orientation
Target echo information after cohesion；
In step S32, the doppler velocity channel where the ground clutter includes: the channel V that doppler velocity is zero, and
The channel V for being zero with doppler velocity or so four adjacent channels V-2, V-1, V+1, V+2.
5. a kind of target condensing method based on ground surveillance radar system according to claim 4, which is characterized in that step
In rapid S4, the distance cohesion, comprising the following steps:
S41, according to the target echo information after speed cohesion on the range bin in same orientation, to inverse since the 3rd range bin
2nd range bin terminates successively to be judged judge whether the target echo information on range bin after speed cohesion is abnormal
Target echo information, if the target echo information on certain range bin is abnormal target echo information, i.e. speed on the range bin
The range value of the target in target echo information after cohesion is not 0db, and the first two range bin adjacent with the range bin and
The range value of the target in target echo information on latter two range bin after speed cohesion is 0db, then deletes on the range bin
Target echo information after speed cohesion；
S42 terminates the distance starting judgement for successively carrying out target to second-to-last range bin since the 3rd range bin, will for the first time
The range value of the target of appearance be not 0db speed cohesion after target echo information in target range bin as target
Beginning range bin, is denoted as Rstart, and by starting distance library RstartTarget is how general in target echo information after upper speed cohesion
It strangles velocity channel and is denoted as Vp；
S43, from starting distance library RstartThe distance for starting to second-to-last range bin to terminate successively to carry out target terminates judgement,
If the range value of the target in target echo information on latter two continuous range bin of certain range bin after speed cohesion is
The doppler velocity channel V of the target in target echo information on 0db or the range bin after speed cohesioncWith starting distance
Library RstartThe doppler velocity channel V of target in target echo information after upper speed cohesionpDiffer 4 channels or more, i.e., |
Vc-Vp| > 4 is denoted as R then using the range bin as the termination range bin of targetend；
S44, to from starting distance library RstartStart to termination range bin RendTarget echo letter after the N number of speed cohesion terminated
Breath, which is weighted, takes average processing, the target component after calculating distance cohesion
Wherein, 1≤i≤N；N=Rend-Rstart+1；
The range bin of the target in target echo information after being agglomerated for i-th of speed, AiMesh after being agglomerated for i-th of speed
The range value of the target in echo information is marked,The Doppler of the target in target echo information after being agglomerated for i-th of speed
Velocity channel；
The range bin of the target in target echo information after being agglomerated for distance in same orientation,For distance in same orientation
The doppler velocity channel of the target in target echo information after cohesion；
To from starting distance library RstartStart to termination range bin RendAfter the N number of speed cohesion terminated in target echo information
The size of the range value of target is compared, wherein the range value of maximum target be in same orientation distance cohesion after
The range value of target in target echo information
6. a kind of target condensing method based on ground surveillance radar system according to claim 5, which is characterized in that step
In rapid S5, the orientation cohesion is the real time process carried out according to the scanning direction of radar；Radar is since the 1st orientation
Scanning, and the target echo information in the 1st orientation is received, speed cohesion is carried out to the target echo information in the 1st orientation
The target echo information in the 1st orientation after distance cohesion is obtained with distance cohesion, according to radar scanning direction, radar is successively right
The latter orientation is scanned, and receives the target echo information in this orientation, carries out speed to the target echo information in this orientation
Degree cohesion and obtain the target echo information after the cohesion of distance in this orientation apart from cohesion, and according to distance cohesion in this orientation after
Target echo information and this orientation previous orientation on distance cohesion after target echo information carry out orientation cohesion；
The orientation cohesion, specifically includes the following steps:
S51 carries out the orientation starting judgement of target, by the target after the distance first appeared cohesion according to radar scanning direction
The range value of target in echo information is not Initial Azimuth of the orientation as target of 0db, is denoted as Dstart, and will be in the orientation
The range bin of the target in target echo information after distance cohesionWith the doppler velocity channel of targetIt is denoted as respectively
S52, from the Initial Azimuth D of targetstartStart, according to radar scanning direction, sliding window formula to latter orientationIt carries out
The orientation of target terminates judgement, judges latter orientationWhether the target echo information after upper distance cohesion meetsAndAnd the range value of target is not 0db, if satisfied, the then orientationUpper distance
Target echo information and Initial Azimuth D after cohesionstartTarget echo information after upper distance cohesion is to belong to same target
Target echo information；If not satisfied, the orientationTarget echo information and Initial Azimuth D after upper distance cohesionstartOn away from
It is to be not belonging to the target echo information of same target from the target echo information after cohesion；
Wherein,For orientationThe range bin of the target in target echo information after upper distance cohesion；For orientationThe doppler velocity channel of the target in target echo information after upper distance cohesion；
S53, and so on, continue to this orientationLatter orientation carry out target orientation terminate judgement；If there is some side
Target echo information and Initial Azimuth D on position after distance cohesionstartTarget echo information after upper distance cohesion is to belong to together
The target echo information of one target, and in latter two continuous orientation in this orientation distance cohesion after target echo information with rise
Beginning orientation DstartTarget echo information after upper distance cohesion be belong to same target target echo information be not belonging to it is same
The target echo information of one target is denoted as D then using this orientation as the termination orientation of targetend；
S54, to from Initial Azimuth DstartStart to termination orientation DendTerminate it is N number of distance cohesion after target echo information into
Row weighting takes average processing, the target component after computer azimuth cohesion
Wherein, 1≤i≤N；N=Dend-Dstart+1；
For the range bin of the target in the echo information after i-th of distance cohesion, AiIt is returned for the target after i-th of distance cohesion
The range value of target in wave information,The doppler velocity channel of the target in back echo information is agglomerated for i-th of distance,For
The orientation of target in target echo information after i-th of distance cohesion；
The range bin of target echo information after being agglomerated for orientation,It is how general in the target echo information after orientation cohesion
Velocity channel is strangled,For the orientation of target in the target echo information after orientation cohesion；
In step S51, if the target termination orientation D in certain orientation and already present targetendDiffer 2 orientation or more, and this orientation
The range value of the target in target echo information after upper distance cohesion is not 0db, then this orientation is that the target of new target rises
Beginning orientation.
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