CN109100697B - Target condensation method based on ground monitoring radar system - Google Patents

Target condensation method based on ground monitoring radar system Download PDF

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CN109100697B
CN109100697B CN201810857348.0A CN201810857348A CN109100697B CN 109100697 B CN109100697 B CN 109100697B CN 201810857348 A CN201810857348 A CN 201810857348A CN 109100697 B CN109100697 B CN 109100697B
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target
distance
echo information
library
amplitude value
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CN109100697A (en
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杨琳
黄涛
吴俊�
任翔
陈龙
陶少杰
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Anhui Sun Create Electronic Co Ltd
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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
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a target condensation method based on a ground monitoring radar system, which comprises the following steps: acquiring target echo information processed by a radar front end; carrying out false trace filtering processing on the target echo information to obtain filtered target echo information; carrying out speed condensation on the filtered target echo information to obtain the target echo information subjected to speed condensation on a distance library; carrying out distance condensation on the target echo information subjected to speed condensation on a distance library to obtain target parameters and target echo information subjected to distance condensation in the direction; and carrying out azimuth aggregation on the target echo information subjected to azimuth distance aggregation to obtain target parameters and target echo information which belong to the same target and are subjected to azimuth aggregation. The method reduces the risk of merging targets with different speeds into the same target, improves the precision of target condensation, and provides a reliable basis for subsequent track processing.

Description

Target condensation method based on ground monitoring radar system
Technical Field
The invention relates to the technical field of real-time target condensation of a ground monitoring radar system, in particular to a target condensation method based on the ground monitoring radar system.
Background
The ground monitoring radar system is one kind of near distance detecting system with radar detection, photoelectric identification and tracking. The device can detect, track and manage ground vehicles, pedestrians, water surface ships and air aerodynamic aircrafts in the ground object background.
The target aggregation is to synthesize target echo information belonging to the same target into one target echo information, so as to achieve the purposes of reducing the radar data processing burden and improving the track tracking quality. Therefore, the optimal agglomeration method is selected, and is very important for subsequent accurate target parameter estimation processing.
The traditional target condensation method utilizes a one-dimensional detection and combination method of condensation in the first distance direction and the second azimuth direction, does not consider the speed of the target, reduces the speed resolution capability of the target, and leads to the fact that the targets with different speeds are combined into the same target when the targets are condensed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the target condensation method based on the ground monitoring radar system, so that the risk of merging targets with different speeds into the same target is reduced, the target condensation precision is improved, and a reliable basis is provided for the subsequent track processing.
In order to achieve the purpose, the invention adopts the following technical scheme that:
a target condensation method based on a ground monitoring radar system is characterized by comprising the following steps:
s1, acquiring target echo information processed by the radar front end;
s2, carrying out false trace filtering processing on the target echo information to obtain filtered target echo information;
s3, carrying out speed aggregation on the filtered target echo information to obtain the target echo information after speed aggregation on the same distance library;
s4, performing distance aggregation on the target echo information subjected to the speed aggregation on the same distance library to obtain target parameters and target echo information subjected to the distance aggregation in the same direction;
and S5, performing azimuth aggregation on the target echo information after the distance aggregation in the same azimuth to obtain target parameters and target echo information which belong to the same target after the azimuth aggregation.
In step S1, the target echo information processed by the radar front end includes: the method comprises the following steps of (1) orientation of a target, a distance library of the target, a Doppler velocity channel of the target, a time stamp of the target and an amplitude value of the target;
the target distance table represents a distance unit where the distance of the target detected by the radar is located;
the distance library is as follows: quantizing the range of the detection distance of the radar, and calling a quantized distance unit as a distance library;
the Doppler velocity channel of the target represents a velocity unit where the velocity of the target detected by the radar is located;
the doppler velocity channel: quantizing the range of the detection speed of the radar, and calling a quantized speed unit as a Doppler speed channel;
setting an artificial threshold when the amplitude value of the target detected by the radar is processed at the front end of the radar, and if the amplitude value of a certain target detected by the radar is smaller than the artificial threshold, directly setting the amplitude value of the target to be 0db and regarding that the target is not detected by the radar;
the radar front-end processing is radar signal processing.
In step S2, the false trace filtering process: calculating target echo information on each distance library to obtain a target comprehensive value, comparing the target comprehensive value with a clutter threshold, and if the target comprehensive value is smaller than the clutter threshold, filtering the target echo information as clutter;
wherein, the calculation formula of the target comprehensive value is as follows:
target integrated value of 10 × log10(amplitude value of object x distance of object)4)。
In step S3, the velocity agglomeration includes the steps of:
s31, comparing the amplitude values of the targets in the target echo information on each Doppler velocity channel in the same distance library in the same direction, and finding out the target echo information with the maximum amplitude value of the target;
s32, judging whether the Doppler velocity channel of the target in the target echo information with the maximum amplitude value of the target is the Doppler velocity channel where the ground clutter is located; if yes, deleting the target echo information; if not, only keeping the target echo information with the maximum amplitude value of the target on the distance library to obtain the target echo information after velocity aggregation on the distance library;
s33, sequentially carrying out velocity aggregation on each distance library in the same direction to obtain velocity aggregated target echo information on each distance library in the same direction;
in step S32, the doppler velocity channel where the ground clutter is located includes: a frequency channel V with zero Doppler velocity, and four frequency channels V-2, V-1, V +1 and V +2 adjacent to the frequency channel V with zero Doppler velocity.
In step S4, the distance clustering includes the following steps:
s41, sequentially judging from the 3 rd distance library to the 2 nd last distance library according to the target echo information after velocity aggregation on the distance libraries in the same direction, judging whether the target echo information after velocity aggregation on the distance libraries is abnormal target echo information, and deleting the target echo information after velocity aggregation on the distance libraries if the target echo information on a certain distance library is abnormal target echo information, namely the amplitude value of a target in the target echo information after velocity aggregation on the distance library is not 0db, and the amplitude values of targets in the target echo information after velocity aggregation on the first two distance libraries and the second two distance libraries adjacent to the distance library are 0 db;
s42, sequentially judging the distance start of the target from the 3 rd distance library to the 2 nd distance library end, taking the distance library of the target in the target echo information after the velocity aggregation with the amplitude value of the first appearing target not being 0db as the start distance library of the target, and recording as RstartAnd store the starting distance in the RstartThe Doppler velocity channel of the target in the target echo information after the upper velocity condensation is recorded as Vp；
S43, from the initial distance library RstartSequentially judging the distance termination of the target from the beginning to the 2 nd distance library, if the amplitude value of the target in the target echo information after velocity aggregation on two continuous distance libraries of a certain distance library is 0db, or the Doppler velocity channel V of the target in the target echo information after velocity aggregation on the distance librarycFrom the starting distance library RstartDoppler velocity channel V of target in target echo information after upper velocity condensationpBy more than 4 channels, i.e. | Vc-VpIf | is greater than 4, the distance library is taken as the ending distance of the targetOff-bank, denoted as Rend；
S44, for the starting distance library RstartStart to end distance bin RendThe N finished target echo information after velocity aggregation is subjected to weighted averaging processing, and target parameters after azimuth distance aggregation are calculated
Figure GDA0002734926090000031
Figure GDA0002734926090000032
Figure GDA0002734926090000033
Figure GDA0002734926090000041
Wherein superscript v represents velocity agglomeration; superscript d represents distance agglomeration; subscript i represents the ith, i.e. 1. ltoreq. N; n ═ Rend-Rstart+1；
Figure GDA0002734926090000042
The distance library of the target in the echo information of the target after velocity coagulation on the ith distance library,
Figure GDA0002734926090000043
the amplitude value of the target in the target echo information after velocity coagulation on the ith distance library,
Figure GDA0002734926090000044
a Doppler velocity channel of a target in the target echo information after velocity coagulation on the ith distance library;
Figure GDA0002734926090000045
a range library of azimuthally distant objects in the condensed echo information of the objects,
Figure GDA0002734926090000046
a Doppler velocity channel of a target in the echo information of the target after the aggregation of the distances in the direction;
for the starting distance library RstartStart to end distance bin RendComparing the amplitude values of the targets in the N pieces of velocity-condensed target echo information, wherein the maximum amplitude value of the target is the amplitude value of the target in the azimuth distance-condensed target echo information
Figure GDA0002734926090000047
In step S5, the azimuth aggregation is a real-time processing process performed according to the scanning direction of the radar; the radar starts scanning from the 1 st azimuth, receives target echo information on the 1 st azimuth, performs speed condensation and distance condensation on the target echo information on the 1 st azimuth to obtain target echo information after distance condensation in the 1 st azimuth, scans the next azimuth in sequence according to the scanning direction of the radar, receives the target echo information on the azimuth, performs speed condensation and distance condensation on the target echo information on the azimuth to obtain the target echo information after distance condensation in the azimuth, and performs azimuth condensation according to the target echo information after distance condensation in the azimuth and the target echo information after distance condensation in the azimuth before the azimuth;
the orientation condensation specifically comprises the following steps:
s51, according to the radar scanning direction, the azimuth initial judgment of the target is carried out, the azimuth of which the amplitude value of the target in the target echo information after the first-appearing distance condensation is not 0db is taken as the initial azimuth of the target, and is recorded as DstartAnd the range library of the target in the echo information of the target with condensed range in the azimuth
Figure GDA0002734926090000048
And Doppler velocity channel of the target
Figure GDA0002734926090000049
Are respectively marked as
Figure GDA00027349260900000410
S52, starting from the starting position D of the targetstartAt the beginning, according to the radar scanning direction, the rear direction is in sliding window type
Figure GDA00027349260900000411
Judging the direction termination of the target, and judging the next direction
Figure GDA00027349260900000412
Whether the upper distance condensed target echo information meets the requirement
Figure GDA00027349260900000413
And is
Figure GDA00027349260900000414
And the amplitude value of the target is not 0db, if the amplitude value is satisfied, the azimuth is determined
Figure GDA00027349260900000415
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target; if not, the orientation
Figure GDA0002734926090000051
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is target echo information which does not belong to the same target;
wherein the content of the first and second substances,
Figure GDA0002734926090000052
is an azimuth
Figure GDA0002734926090000053
A distance library of targets in the target echo information after the upper distance aggregation;
Figure GDA0002734926090000054
is an azimuth
Figure GDA0002734926090000055
A Doppler velocity channel of the target in the echo information of the target after the upper distance condensation;
s53, according to the mode of step S52, continuing to adjust the direction
Figure GDA0002734926090000056
The latter position of the target is subjected to position termination judgment; if the target echo information after the distance condensation in a certain direction and the initial direction D appearstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target, and the target echo information after the upper distance aggregation and the initial position D in the last two continuous positions of the positionstartThe target echo information after the upper distance aggregation is the target echo information which does not belong to the same target, and the position is taken as the termination position of the target and is marked as Dend；
S54, for the orientation D from the beginningstartStarting to ending orientation DendThe finished N distance condensed target echo information is weighted and averaged, and the target parameter after azimuth condensation is calculated
Figure GDA0002734926090000057
Figure GDA0002734926090000058
Figure GDA0002734926090000059
Figure GDA00027349260900000510
Wherein the superscript p represents azimuthal cohesion; the subscript j denotes the numberj is more than or equal to 1 and less than or equal to M; m ═ Dend-Dstart+1；
Figure GDA00027349260900000511
A range bin for the target in the condensed echo information at the j-th azimuth,
Figure GDA00027349260900000512
the amplitude value of the target in the echo information of the j-th position from the condensed target,
Figure GDA00027349260900000513
is the doppler velocity channel at the j-th azimuth from the target in the condensed echo information,
Figure GDA00027349260900000514
the azimuth of the target in the condensed target echo information at the jth azimuth, namely the azimuth corresponding to the jth azimuth;
Figure GDA00027349260900000515
a distance library of the echo information of the target after azimuth condensation,
Figure GDA00027349260900000516
for the doppler velocity channel in the azimuth condensed target echo information,
Figure GDA00027349260900000517
the azimuth of the target in the target echo information after azimuth aggregation is obtained;
in step S51, if a certain direction and the target end direction D of the existing target are presentendAnd if the difference is more than 2 azimuths and the amplitude value of the target in the echo information of the target after the distance aggregation in the azimuths is not 0db, the azimuths are the target starting azimuths of the new target.
The invention has the advantages that:
(1) the method improves the precision of target condensation, reduces the risk of merging targets with different speeds into the same target, and provides a reliable basis for subsequent track processing.
(2) The false trace filtering processing of the invention effectively reduces the false alarm rate of the near zone target and simultaneously improves the discovery probability of the far zone target.
(3) When the target echo information is subjected to speed aggregation, the target echo information on the zero channel and the channels near the zero channel is deleted, the influence of the target echo information on the zero channel and the channels near the zero channel on subsequent processing is eliminated, and the accuracy of target parameters is improved.
(4) According to the invention, when the distance aggregation and the azimuth aggregation are carried out on the target echo information, the speed information after the speed aggregation is considered, so that the risk of merging different speed targets into the same target is reduced.
(5) According to the invention, the target echo information after the distance condensation in the same direction is weighted and average-removed to obtain the target parameter, and the direction condensation is carried out according to the target parameter information after the distance condensation in the same direction, so that the precision of the target condensation is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 shows target echo information after radar front-end processing.
Fig. 3 is a diagram showing the result of the blurring process according to the present invention.
FIG. 4 is a diagram of the results of the target edge extraction of the present invention.
Fig. 5 is a result graph of the filtering processing of the ground object target of the present invention.
Fig. 6 is a diagram showing the result of target extraction in the conventional method.
FIG. 7 is a flow chart of a method of the false trace filtering process of the present invention.
Fig. 8 is a flowchart of the method of the blurring process according to the present invention.
FIG. 9 is a flowchart of a method for object edge extraction according to the present invention.
FIG. 10 is a flowchart of a method for filtering out a ground object target according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a first embodiment, as shown in fig. 1, a method for extracting and condensing targets based on a ground surveillance radar system includes the following steps:
s1, acquiring target echo information processed by the radar front end through a network;
s2, false trace filtering processing is carried out on the target echo information processed by the front end of the radar to obtain filtered target echo information;
s3, fuzzifying the filtered target echo information to obtain fuzzified target echo information, and forming a two-dimensional image according to the fuzzified target echo information;
s4, extracting the target edge of the two-dimensional image to obtain target echo information belonging to the same target;
s5, performing ground object target filtering processing on the target echo information belonging to the same target to obtain the target echo information belonging to the same target after the ground object target filtering processing;
s6, carrying out speed aggregation on the target echo information belonging to the same target after the ground object target is filtered, and obtaining the target echo information after speed aggregation on the distance library;
s7, performing distance aggregation on the target echo information after the speed aggregation on the distance library to obtain the target echo information and target parameters after the distance aggregation in the direction;
and S8, performing azimuth aggregation on the azimuth distance aggregated target echo information to obtain the azimuth aggregated target echo information and target parameters belonging to the same target.
In the process of radar scanning, the radar starts to scan from the 1 st azimuth and receives target echo information on the 1 st azimuth, and the steps S2-S7 are to process the target echo information on the 1 st azimuth to obtain the target echo information after the distance condensation on the 1 st azimuth; according to the scanning direction of the radar, the radar scans the next azimuth in sequence, receives the target echo information on the azimuth, and so on, executes the steps S2-S7 and processes the target echo information on the azimuth to obtain the target echo information after the distance on the azimuth is condensed; step S8 is a real-time process based on the directionally condensed target echo information.
In the embodiment, the azimuth coverage range of radar detection is 0-90 degrees, the due north is 0 degree, the sampling interval of the azimuth is 1.4 degrees, and the azimuth is quantized into 64 azimuths; the range coverage range of radar detection is 0 km-30 km, the sampling interval of the distance is 15m, and the distance is quantized into 2000 distance libraries; the coverage range of the speed detected by the radar is-18.747 m/s-18.747 m/s, and the speed is quantized into 64 Doppler speed channels; one frame of radar scanning starts to receive target echo information on the 0-degree azimuth from the 0-degree azimuth, and then sequentially receives the target echo information on the next azimuth according to a sampling interval of 1.4 degrees.
Principle of radar speed measurement: by utilizing the Doppler effect, when a target moves relative to the radar, the target echo frequency received by the radar is different from the radar transmitting frequency, and the frequency difference between the target echo frequency and the radar transmitting frequency is called Doppler frequency; when the target moves towards the radar, the target echo frequency is higher than the radar transmitting frequency, and the Doppler frequency is positive; when the target moves away from the radar, the target echo frequency is lower than the radar transmitting frequency, and the Doppler frequency is negative; and calculating the relative speed of the target and the radar according to the change value of the Doppler frequency.
In step S1, the target echo information after radar front-end processing includes: the position of the target, the range bin of the target, the doppler velocity channel of the target, the timestamp of the target, and the amplitude value of the target.
And the range table of the target represents a range unit where the range of the target detected by the radar is located.
The distance library is as follows: the range of the detection distance of the radar is quantized, and the distance unit after quantization is called a distance library.
The doppler velocity channel of the target represents the velocity cell in which the radar detects the velocity of the target.
The doppler velocity channel of the target represents the velocity cell in which the radar detects the velocity of the target. Principle of radar speed measurement: by utilizing the Doppler effect, when a target moves relative to the radar, the target echo frequency received by the radar is different from the radar transmitting frequency, and the frequency difference between the target echo frequency and the radar transmitting frequency is called Doppler frequency; when the target moves towards the radar, the target echo frequency is higher than the radar transmitting frequency, and the Doppler frequency is positive; when the target moves away from the radar, the target echo frequency is lower than the radar transmitting frequency, and the Doppler frequency is negative; and calculating the relative speed of the target and the radar according to the change value of the Doppler frequency.
The timestamp of the target is the time when the radar detected the target.
The amplitude value of the target is an energy value of the target detected by the radar, an artificial threshold is set to be 5db when the radar front end processes the target, if the amplitude value of a certain target detected by the radar is smaller than the artificial threshold, the amplitude value of the target is directly set to be 0db, and the target is considered to be not detected by the radar.
The radar front end processing is radar signal processing, including: radio frequency amplification, local oscillator signal generation, intermediate frequency amplification, frequency mixing and Doppler filtering.
In step S2, the filtering process of the false trace points includes the following steps:
s21, detecting the performance of the target in clutter based on the radar, i.e. the signal to clutter ratio S/C of the target, and the decibel number S of the minimum detectable power of the signaldb(R) preliminarily estimating an initial value of the clutter threshold, and adjusting the initial value of the clutter threshold according to a ground environment erected by the radar to obtain the clutter threshold, wherein the clutter threshold is 50db in the embodiment;
s22, in the same direction, sequentially substituting the amplitude value of the target and the distance of the target in the target echo information detected by the radar into formula 1 for calculation, and obtaining a target comprehensive value;
target integrated value of 10 × log10(amplitude value of object x distance of object)4) Equation 1
S23, judging whether the target comprehensive value is larger than the clutter threshold, if so, keeping the target echo information; and if the target echo information is smaller than the clutter threshold, filtering the target echo information as clutter.
Wherein, the signal-to-noise ratio S/C, the decibel number of the minimum detectable power S of the signaldb(R)：
Figure GDA0002734926090000091
SdB(R)＝40lg(R0F/R)-LdB，
FtFor a targeted pattern propagation factor, FcPropagation factor of pattern being clutter, σtFor radar to illuminate the surface area of the target, σcSurface area of radar illumination clutter; r0To a distance relative to free space, LdBF represents the actual atmospheric loss in decibels at distance R, based on the spherical ground equation, the pattern propagation factor from the target to the receive antenna.
In the embodiment, 20km to 30km is taken as a far zone, 0km to 1km is taken as a near zone, and 1km to 10km is a normal zone for radar detection, and because the amplitude value of a target is large when the target is in the near zone and the amplitude value of the target is small when the target is in the far zone, the detection probability of the radar to the target is inconsistent in the near zone, the far zone and the normal zone; the false trace filtering process ensures the consistency of the detection probability of the radar to the target in a near region, a far region and a normal region, reduces the false alarm rate of the near region target and improves the discovery rate of the far region target.
In step S3, the fuzzification processing is performed on the amplitude value of the target according to the doppler velocity channel of the target and the distance library of the target, respectively.
The method comprises the following specific steps of:
s301, fuzzifying the amplitude value of the target on a certain doppler velocity channel in the 1 st range bin, that is, comparing the amplitude value of the target on a certain doppler velocity channel in the 1 st range bin with 1db, if the amplitude value of the target on the certain doppler velocity channel is greater than 1db, determining whether the amplitude values of the targets on two doppler velocity channels adjacent to the certain doppler velocity channel are both greater than 0db, and if the amplitude value of the target on the left adjacent doppler velocity channel or the amplitude value of the target on the right adjacent doppler velocity channel is 0db, directly assigning the amplitude value of the target on the doppler velocity channel with the amplitude value of the target on the two adjacent doppler velocity channels being 0db to 1 db; if the amplitude values of the targets on the two adjacent Doppler velocity channels are both greater than 0db, skipping to execute the step S302;
if the amplitude value of the target on the certain doppler velocity channel is not greater than 1db, jumping to execute step S302;
if the certain Doppler velocity channel is the 1 st Doppler velocity channel, only the amplitude value of the target on the right adjacent Doppler velocity channel is judged; if the certain Doppler velocity channel is the last 1 Doppler velocity channel, only judging the amplitude value of the target on the left adjacent Doppler velocity channel;
s302, according to the mode of the step S301, continuously fuzzifying the amplitude values of the targets on the next Doppler velocity channel of the 1 st distance library until the fuzzification processing of the amplitude values of the targets on all the Doppler velocity channels of the 1 st distance library is completed;
and S303, continuously performing fuzzification processing on the amplitude value of the target on each Doppler velocity channel of the next distance library from the 1 st Doppler velocity channel to the end of the last 1 Doppler velocity channel in sequence according to the mode of the steps S301-S302 until the fuzzification processing on the amplitude value of the target on each Doppler velocity channel of the last 1 distance library from the 1 st Doppler velocity channel to the end of the last 1 Doppler velocity channel is completed in sequence, and obtaining the target echo information after fuzzification processing according to the Doppler velocity channel of the target.
Fuzzification processing is carried out on the amplitude value of the target according to the distance library of the target, and the method comprises the following steps:
s311, fuzzifying the amplitude value of the target in a certain distance library of the 1 st Doppler velocity channel, namely sequentially comparing the amplitude value of the target in the certain distance library of the 1 st Doppler velocity channel with 1db, judging whether the amplitude value of the target in the certain distance library is greater than 1db, if the amplitude value of the target in the certain distance library is greater than 1db, judging whether the amplitude values of the targets in two distance libraries adjacent to the certain distance library are both greater than 0db, and if the amplitude value of the target in the left adjacent distance library or the amplitude value of the target in the right adjacent distance library is 0db, directly assigning the amplitude value of the target in the distance library with the amplitude value of the target in the left and right adjacent distance libraries being 0db to 1 db; if the amplitude values of the targets on the two adjacent distance libraries are both larger than 0db, skipping to execute the step S312;
if the amplitude value of the target on the certain distance library is not greater than 1db, skipping to execute step S312;
if the certain distance library is the 1 st distance library, only judging the amplitude value of the target on the distance library right adjacent to the certain distance library; if the certain distance library is the last 1 distance library, only judging the amplitude value of the target on the distance library adjacent to the left side of the certain distance library;
s312, continuing to fuzzify the amplitude value of the target in the next range bin of the 1 st doppler velocity channel in the manner of step S311 until the fuzzification of the amplitude values of the target in all range bins of the 1 st doppler velocity channel is completed;
and S313, continuously performing fuzzification processing on the amplitude value of the target on each distance library of the next Doppler velocity channel from the 1 st distance library to the end of the last 1 distance library in sequence according to the mode of the steps S311-S312 until the amplitude value of the target on each distance library of the last 1 Doppler velocity channel from the 1 st distance library to the end of the last 1 distance library is subjected to fuzzification processing in sequence, and thus the target echo information after fuzzification processing is performed according to the distance library of the target is obtained.
According to the echo information of the target after the fuzzification processing obtained in the steps S301-S303 and the steps S312-S313, taking the distance library of the target as the y axis of the two-dimensional image, namely the y axis is from the 1 st distance library to the 2000 th distance library; taking the Doppler velocity channel of the target as the x-axis of the two-dimensional image, namely taking the x-axis from the 1 st Doppler velocity channel to the 64 th Doppler velocity channel; the amplitude value of the target in the target echo information after the blurring process is used as a pixel value to construct a 2000-line × 64-column two-dimensional image.
Steps S301 to S303 and steps S312 to S313 are processing procedures that are not performed sequentially and independently.
In step S4, the target edge extraction includes the following steps:
s41, performing binarization processing on the pixel values of the two-dimensional image with 2000 rows and 64 columns, sequentially judging whether the pixel value of each pixel point on the two-dimensional image is less than 1db, and if not, setting the pixel value of the pixel point to 1 db; otherwise, setting the pixel value of the pixel point to 0 db;
s42, edge detection is carried out on the pixel points of the binary image by utilizing a Sobel edge detection operator, wherein the Sobel edge detection operator is two groups of 3 multiplied by 3 matrixes GX、GyFrom the pixel point Z to be detected5Pixel value and pixel point Z to be detected5The pixel values of the pixel points of the neighborhood form a matrix f, and the matrix f and the matrix G are combinedX、GySubstituting the edge estimation value into a formula 2 to calculate and obtain an edge estimation value g;
g＝|f*Gx|+|f*Gyequation 2
Wherein G isXTemplates for transverse edge detection operators, GyTemplate for longitudinal edge detection operator, matrix GX、GyThe expressions of f are respectively as follows:
Figure GDA0002734926090000121
s43, judging whether g is smaller than a designated threshold T, in the embodiment, the designated threshold T is 1, if g is smaller than T, executing the step S44; if g is not less than T, the pixel point Z to be detected5If the edge pixel is the edge pixel, go to step S45;
s44, deleting the pixel point Z5Target echo information of (1);
s45, performing edge detection on all pixel points on the binary image in a sliding window detection mode, obtaining pixel points belonging to the same target according to the edge pixel points, and obtaining target echo information belonging to the same target according to target echo information corresponding to each pixel point belonging to the same target; the pixel points belonging to the same target comprise pixel points on and in the target contour, namely, the target echo information belonging to the same target comprises the target echo information on and in the target contour.
According to the characteristics of the radar detection target, the target and the clutter are different in that the target occupies a certain continuous distance bank quantity in distance; the target occupies a certain number of consecutive doppler velocity channels on the doppler velocity channel, rather than an isolated single point. Therefore, if the pixel point to be detected does not have 8 neighborhood pixel points, that is, when the matrix f is not formed, edge detection is not performed on the pixel point to be detected without 8 neighborhood pixel points, and edge detection is performed on the pixel point adjacent to and continuous with the pixel point to be detected, if the pixel point to be detected does not have adjacent and continuous pixel points, the pixel point to be detected is an isolated pixel point, and the pixel point to be detected is not a target pixel point.
In step S41, the binarization processing improves detection efficiency, reduces computation, reduces target splitting caused by misdetection of target edges, and reduces false edges or double edges caused by non-uniform amplitude values in target echo information.
In step S5, the filtering process of the feature object includes the following steps:
s51, the 32 th Doppler velocity frequency channel is a zero frequency channel, namely the velocity represented by the 32 th Doppler velocity frequency channel is 0m/S, the velocities represented by the 30 th, 31 th, 33 th and 34 th Doppler velocity frequency channels are all regarded as 0m/S, and the target echo information detected by the radar on the 30 th, 31 th, 32 th, 33 th and 34 th Doppler velocity frequency channels is judged as ground clutter; the ground clutter is target echo information of the ground target.
S52, counting the number N of pixel points belonging to the same target; and counting the number M of the ground clutter of the target echo information belonging to the same target.
S53, judging whether the value of M/N is larger than the set ratio, in the embodiment, the set ratio is 0.3, if so, the target is a ground object target, and executing the step S54; otherwise, the target is a non-ground object target, and ground object target filtering processing is not carried out.
And S54, deleting the target echo information of the target.
In step S6, the velocity agglomeration includes the steps of:
s61, comparing the amplitude values of the targets in the target echo information on the Doppler velocity channel of the same distance library, and finding out the target echo information with the maximum amplitude value of the target;
s62, judging whether the target echo information with the maximum target amplitude value is ground clutter or not; if yes, deleting the target echo information, and re-executing the step S61; if not, only keeping the target echo information with the maximum amplitude value of the target on the distance library to obtain the target echo information after velocity aggregation on the distance library;
and S63, sequentially carrying out velocity aggregation on each distance library to obtain target echo information after velocity aggregation on each distance library.
In step S7, the distance clustering includes the following steps:
s71, sequentially judging from the 3 rd distance library to the 1998 th distance library according to the target echo information after velocity aggregation on each distance library, judging whether the target echo information after velocity aggregation on the distance library is abnormal target echo information, and deleting the target echo information after velocity aggregation on the distance library if the target echo information on a certain distance library is abnormal target echo information, namely the amplitude value of a target in the target echo information after velocity aggregation on the distance library is not 0db, and the amplitude values of targets in the target echo information after velocity aggregation on the first two distance libraries and the second two distance libraries adjacent to the distance library are 0 db;
s72, starting judgment of the distance of the target is carried out in sequence from the 3 rd distance library to the end of the 1998 th distance library, and the distance library of the target in the target echo information after the velocity aggregation that the amplitude value of the target appearing for the first time is not 0db is taken as the starting distance library of the target and is marked as RstartAnd store the starting distance in the RstartThe Doppler velocity channel of the target in the target echo information after the upper velocity condensation is recorded as Vp；
S73, from the initial distance library RstartSequentially judging the distance termination of the target from the beginning to the end of the 1998 th range bin, if the amplitude value of the target in the target echo information after velocity aggregation on two consecutive range bins in a certain range bin is 0db, or the Doppler velocity channel V of the target in the target echo information after velocity aggregation on the range bincFrom the starting distance library RstartDoppler velocity channel V of target in target echo information after upper velocity condensationpBy more than 4 channels, i.e. | Vc-VpIf | is greater than 4, the distance library is taken as the termination distance library of the target and is marked as Rend；
S74, for the starting distance library RstartStart to end distance bin RendThe N finished target echo information after velocity aggregation is subjected to weighted averaging processing, and target parameters after azimuth distance aggregation are calculated
Figure GDA0002734926090000141
Figure GDA0002734926090000142
Figure GDA0002734926090000143
Figure GDA0002734926090000144
Wherein superscript v represents velocity agglomeration; superscript d represents distance agglomeration; subscript i represents the ith, i.e. 1. ltoreq. N; n ═ Rend-Rstart+1；
Figure GDA0002734926090000145
The distance library of the target in the echo information of the target after velocity coagulation on the ith distance library,
Figure GDA0002734926090000146
the amplitude value of the target in the target echo information after velocity coagulation on the ith distance library,
Figure GDA0002734926090000147
a Doppler velocity channel of a target in the target echo information after velocity coagulation on the ith distance library;
Figure GDA0002734926090000148
a range library of azimuthally distant objects in the condensed echo information of the objects,
Figure GDA0002734926090000149
a Doppler velocity channel of a target in the echo information of the target after the aggregation of the distances in the direction;
for the starting distance library RstartStart to end distance bin RendComparing the amplitude values of the targets in the N pieces of velocity-condensed target echo information, wherein the maximum amplitude value of the target is the amplitude value of the target in the azimuth distance-condensed target echo information
Figure GDA0002734926090000151
In step S8, the azimuth aggregation is a real-time processing process performed according to the scanning direction of the radar; the radar starts to scan from the 1 st azimuth, receives the target echo information in the 1 st azimuth, performs speed condensation and distance condensation on the target echo information in the 1 st azimuth to obtain the target echo information after distance condensation in the 1 st azimuth, scans the next azimuth in sequence according to the scanning direction of the radar, receives the target echo information in the azimuth, performs speed condensation and distance condensation on the target echo information in the azimuth to obtain the target echo information after distance condensation in the azimuth, and performs azimuth condensation according to the target echo information after distance condensation in the azimuth, the method comprises the following steps:
s81, according to the radar scanning direction, the azimuth initial judgment of the target is carried out, the azimuth of the target in the target echo information after the first-appearing range value of the target is not 0db is condensed as the initial azimuth of the target, and the initial azimuth is recorded as DstartAnd respectively recording the range library of the target and the Doppler velocity channel of the target in the echo information of the target with condensed range in the direction
Figure GDA0002734926090000152
S82, starting from the starting position D of the targetstartAt the beginning, according to the radar scanning direction, the rear direction is in sliding window type
Figure GDA0002734926090000153
Judging the direction termination of the target, and judging the next direction
Figure GDA0002734926090000154
Whether the upper distance condensed target echo information meets the requirement
Figure GDA0002734926090000155
And is
Figure GDA0002734926090000156
And the amplitude value of the target is not 0db, if the amplitude value is satisfied, the azimuth is determined
Figure GDA0002734926090000157
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target; if not, the orientation
Figure GDA0002734926090000158
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is target echo information which does not belong to the same target;
wherein the content of the first and second substances,
Figure GDA0002734926090000159
is an azimuth
Figure GDA00027349260900001510
A distance library of targets in the target echo information after the upper distance aggregation;
Figure GDA00027349260900001511
is an azimuth
Figure GDA00027349260900001512
A Doppler velocity channel of the target in the echo information of the target after the upper distance condensation;
s83, according to the mode of step S82, continuing to adjust the direction
Figure GDA00027349260900001513
The latter position of the target is subjected to position termination judgment; if the target echo information after the distance condensation in a certain direction and the initial direction D appearstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target, and the target echo information after the upper distance aggregation and the initial position D in the last two continuous positions of the positionstartThe target echo information after the upper distance aggregation is the target echo information which does not belong to the same target, and the position is taken as the termination position of the target and is marked as Dend；
S84, for the orientation D from the beginningstartStarting to ending partyBit DendThe finished N distance condensed target echo information is weighted and averaged, and the target parameter after azimuth condensation is calculated
Figure GDA0002734926090000161
Figure GDA0002734926090000162
Figure GDA0002734926090000163
Figure GDA0002734926090000164
Wherein the superscript p represents azimuthal cohesion; the subscript j represents the jth, j is more than or equal to 1 and less than or equal to M; m ═ Dend-Dstart+1；
Figure GDA0002734926090000165
A range bin for the target in the condensed echo information at the j-th azimuth,
Figure GDA0002734926090000166
the amplitude value of the target in the echo information of the j-th position from the condensed target,
Figure GDA0002734926090000167
is the doppler velocity channel at the j-th azimuth from the target in the condensed echo information,
Figure GDA0002734926090000168
the azimuth of the target in the condensed target echo information at the jth azimuth, namely the azimuth corresponding to the jth azimuth;
Figure GDA0002734926090000169
a distance library of the echo information of the target after azimuth condensation,
Figure GDA00027349260900001610
for the doppler velocity channel in the azimuth condensed target echo information,
Figure GDA00027349260900001611
the azimuth of the target in the target echo information after azimuth aggregation is obtained;
in step S81, if a certain direction and the target end direction D of the existing target are presentendAnd if the difference is more than 2 azimuths and the amplitude value of the target in the echo information of the target after the distance aggregation in the azimuths is not 0db, the azimuths are the target starting azimuths of the new target.
As shown in fig. 2 to 6, the experimental data is a data segment extracted from target data detected by the ground monitoring radar in real time; the x axis of the coordinate axis is 64 Doppler velocity channels; the coordinate axis y-axis table is the extracted 30 distance bins.
As shown in fig. 3 to 5, the target 1 is a pixel point belonging to the same target obtained by the fuzzification process of the present invention, and the fuzzification process of the present invention effectively reduces the splitting of the target on the doppler velocity channel or the distance library, and reduces the risk of splitting the same target into multiple targets. The target 2 is a ground object, the target 2 is filtered after ground object filtering processing, and the ground object filtering processing filters the ground object, so that the interference of the ground object on a real target is reduced, the target extraction precision is effectively improved, and the estimation deviation of target parameters in the subsequent trace point agglomeration process is reduced.
As shown in fig. 6, in the conventional target extraction method, image edge extraction is directly performed, the discontinuous characteristic of radar detection targets is not considered, the integrity of target extraction is reduced, and the target 1 is split into two targets when the target extraction is performed; and ground object target filtering processing is not carried out on target echo information belonging to the same target.
The target aggregation method takes speed information into consideration, and when the speed aggregation is carried out, target echo information on a zero channel and channels near the zero channel is deleted, so that the influence of the target echo information on the zero channel and the channels near the zero channel on subsequent processing is eliminated; the traditional target agglomerator does not consider the speed information, resulting in deviation in subsequent calculation of target parameters. The target agglomeration method effectively improves the precision of target agglomeration and realizes the accurate estimation of target parameters.
The second embodiment is a target extraction method based on a ground monitoring radar system, which comprises the following steps:
s1, acquiring target echo information processed by a radar front end in the ground monitoring radar system through a network;
s2, carrying out false trace filtering processing on the target echo information to obtain filtered target echo information;
s3, fuzzifying the filtered target echo information to obtain fuzzified target echo information, and forming a two-dimensional image according to the fuzzified target echo information;
s4, extracting target edges of the two-dimensional images, and extracting target echo information belonging to the same target;
and S5, filtering the object echo information belonging to the same object to obtain the object echo information belonging to the same object after filtering the object echo information belonging to the same object.
The target extraction method of the embodiment only processes the target echo information in any azimuth in the radar scanning process.
In step S1, the target echo information after radar front-end processing includes: the position of the target, the range bin of the target, the doppler velocity channel of the target, the timestamp of the target, and the amplitude value of the target.
And the range table of the target represents a range unit where the range of the target detected by the radar is located.
The distance library is as follows: the range of the detection distance of the radar is quantized, and the distance unit after quantization is called a distance library.
The doppler velocity channel of the target represents the velocity cell in which the radar detects the velocity of the target.
The doppler velocity channel of the target represents the velocity cell in which the radar detects the velocity of the target. Principle of radar speed measurement: by utilizing the Doppler effect, when a target moves relative to the radar, the target echo frequency received by the radar is different from the radar transmitting frequency, and the frequency difference between the target echo frequency and the radar transmitting frequency is called Doppler frequency; when the target moves towards the radar, the target echo frequency is higher than the radar transmitting frequency, and the Doppler frequency is positive; when the target moves away from the radar, the target echo frequency is lower than the radar transmitting frequency, and the Doppler frequency is negative; and calculating the relative speed of the target and the radar according to the change value of the Doppler frequency.
The timestamp of the target is the time when the radar detected the target.
The amplitude value of the target is an energy value of the target detected by the radar, an artificial threshold is set to be 5db when the radar front end processes the target, if the amplitude value of a certain target detected by the radar is smaller than the artificial threshold, the amplitude value of the target is directly set to be 0db, and the target is considered to be not detected by the radar.
The radar front end processing is radar signal processing, including: radio frequency amplification, local oscillator signal generation, intermediate frequency amplification, frequency mixing and Doppler filtering.
As shown in fig. 7, in step S2, the filtering process of the false trace point includes the following steps:
s21, detecting the performance of the target in clutter based on the radar, i.e. the signal to clutter ratio S/C of the target, and the decibel number S of the minimum detectable power of the signaldb(R) preliminarily estimating an initial value of the clutter threshold, and adjusting the initial value of the clutter threshold according to a ground environment erected by the radar to obtain the clutter threshold, wherein the clutter threshold is 50db in the embodiment;
s22, in the same direction, sequentially substituting the amplitude value of the target and the distance of the target in the target echo information detected by the radar into formula 1 for calculation, and obtaining a target comprehensive value;
target integrated value of 10 × log10(amplitude value of object x distance of object)4) Equation 1
S23, judging whether the target comprehensive value is larger than the clutter threshold, if so, keeping the target echo information; and if the target echo information is smaller than the clutter threshold, filtering the target echo information as clutter.
Wherein, the signal-to-noise ratio S/C, the decibel number of the minimum detectable power S of the signaldb(R)：
Figure GDA0002734926090000181
SdB(R)＝40lg(R0F/R)-LdB，
FtFor a targeted pattern propagation factor, FcPropagation factor of pattern being clutter, σtFor radar to illuminate the surface area of the target, σcSurface area of radar illumination clutter; r0To a distance relative to free space, LdBF represents the actual atmospheric loss in decibels at distance R, based on the spherical ground equation, the pattern propagation factor from the target to the receive antenna.
In the embodiment, 20km to 30km is taken as a far zone, 0km to 1km is taken as a near zone, and 1km to 10km is a normal zone for radar detection, and as the amplitude value of the target is large when the target is in the near zone and the amplitude value of the target is small when the target is in the far zone, the detection probability of the radar to the target is inconsistent in the near zone, the far zone and the normal zone; the false trace filtering process ensures the consistency of the detection probability of the radar to the target in a near region, a far region and a normal region, reduces the false alarm rate of the near region target and improves the discovery rate of the far region target.
As shown in fig. 8, in step S3, the blurring process performs blurring on the amplitude value of the target based on the doppler velocity channel of the target and the range bin of the target.
The method comprises the following specific steps of:
s301, fuzzifying the amplitude value of the target on a certain doppler velocity channel in the 1 st range bin, that is, comparing the amplitude value of the target on a certain doppler velocity channel in the 1 st range bin with 1db, if the amplitude value of the target on the certain doppler velocity channel is greater than 1db, determining whether the amplitude values of the targets on two doppler velocity channels adjacent to the certain doppler velocity channel are both greater than 0db, and if the amplitude value of the target on the left adjacent doppler velocity channel or the amplitude value of the target on the right adjacent doppler velocity channel is 0db, directly assigning the amplitude value of the target on the doppler velocity channel with the amplitude value of the target on the two adjacent doppler velocity channels being 0db to 1 db; if the amplitude values of the targets on the two adjacent Doppler velocity channels are both greater than 0db, skipping to execute the step S302;
if the amplitude value of the target on the certain doppler velocity channel is not greater than 1db, jumping to execute step S302;
if the certain Doppler velocity channel is the 1 st Doppler velocity channel, only the amplitude value of the target on the right adjacent Doppler velocity channel is judged; if the certain Doppler velocity channel is the last 1 Doppler velocity channel, only judging the amplitude value of the target on the left adjacent Doppler velocity channel;
s302, according to the mode of the step S301, continuously fuzzifying the amplitude values of the targets on the next Doppler velocity channel of the 1 st distance library until the fuzzification processing of the amplitude values of the targets on all the Doppler velocity channels of the 1 st distance library is completed;
and S303, continuously performing fuzzification processing on the amplitude value of the target on each Doppler velocity channel of the next distance library from the 1 st Doppler velocity channel to the end of the last 1 Doppler velocity channel in sequence according to the mode of the steps S301-S302 until the fuzzification processing on the amplitude value of the target on each Doppler velocity channel of the last 1 distance library from the 1 st Doppler velocity channel to the end of the last 1 Doppler velocity channel is completed in sequence, and obtaining the target echo information after fuzzification processing according to the Doppler velocity channel of the target.
Fuzzification processing is carried out on the amplitude value of the target according to the distance library of the target, and the method comprises the following steps:
s311, fuzzifying the amplitude value of the target in a certain distance library of the 1 st Doppler velocity channel, namely sequentially comparing the amplitude value of the target in the certain distance library of the 1 st Doppler velocity channel with 1db, judging whether the amplitude value of the target in the certain distance library is greater than 1db, if the amplitude value of the target in the certain distance library is greater than 1db, judging whether the amplitude values of the targets in two distance libraries adjacent to the certain distance library are both greater than 0db, and if the amplitude value of the target in the left adjacent distance library or the amplitude value of the target in the right adjacent distance library is 0db, directly assigning the amplitude value of the target in the distance library with the amplitude value of the target in the left and right adjacent distance libraries being 0db to 1 db; if the amplitude values of the targets on the two adjacent distance libraries are both larger than 0db, skipping to execute the step S312;
if the amplitude value of the target on the certain distance library is not greater than 1db, skipping to execute step S312;
if the certain distance library is the 1 st distance library, only judging the amplitude value of the target on the distance library right adjacent to the certain distance library; if the certain distance library is the last 1 distance library, only judging the amplitude value of the target on the distance library adjacent to the left side of the certain distance library;
s312, continuing to fuzzify the amplitude value of the target in the next range bin of the 1 st doppler velocity channel in the manner of step S311 until the fuzzification of the amplitude values of the target in all range bins of the 1 st doppler velocity channel is completed;
and S313, continuously performing fuzzification processing on the amplitude value of the target on each distance library of the next Doppler velocity channel from the 1 st distance library to the end of the last 1 distance library in sequence according to the mode of the steps S311-S312 until the amplitude value of the target on each distance library of the last 1 Doppler velocity channel from the 1 st distance library to the end of the last 1 distance library is subjected to fuzzification processing in sequence, and thus the target echo information after fuzzification processing is performed according to the distance library of the target is obtained.
According to the echo information of the target after the fuzzification processing obtained in the steps S301-S303 and the steps S312-S313, taking the distance library of the target as the y axis of the two-dimensional image, namely the y axis is from the 1 st distance library to the 2000 th distance library; taking the Doppler velocity channel of the target as the x-axis of the two-dimensional image, namely taking the x-axis from the 1 st Doppler velocity channel to the 64 th Doppler velocity channel; the amplitude value of the target in the target echo information after the blurring process is used as a pixel value to construct a 2000-line × 64-column two-dimensional image.
Steps S301 to S303 and steps S312 to S313 are processing procedures that are not performed sequentially and independently.
As shown in fig. 9, in step S4, the target edge extraction includes the following steps:
s41, performing binarization processing on the pixel values of the two-dimensional image with 2000 rows and 64 columns, sequentially judging whether the pixel value of each pixel point on the two-dimensional image is less than 1db, and if not, setting the pixel value of the pixel point to 1 db; otherwise, setting the pixel value of the pixel point to 0 db;
s42, edge detection is carried out on the pixel points of the binary image by utilizing a Sobel edge detection operator, wherein the Sobel edge detection operator is two groups of 3 multiplied by 3 matrixes GX、GyFrom the pixel point Z to be detected5Pixel value and pixel point Z to be detected5The pixel values of the pixel points of the neighborhood form a matrix f, and the matrix f and the matrix G are combinedX、GySubstituting the edge estimation value into a formula 2 to calculate and obtain an edge estimation value g;
g＝|f*Gx|+|f*Gyequation 2
Wherein G isXTemplates for transverse edge detection operators, GyTemplate for longitudinal edge detection operator, matrix GX、GyThe expressions of f are respectively as follows:
Figure GDA0002734926090000211
s43, judging whether g is smaller than a specified threshold value T or not, in the embodiment, specifyingIs 1, if g is less than T, go to step S44; if g is not less than T, the pixel point Z to be detected5If the edge pixel is the edge pixel, go to step S45;
s44, deleting the pixel point Z5Target echo information of (1);
s45, performing edge detection on all pixel points on the binary image in a sliding window detection mode, obtaining pixel points belonging to the same target according to the edge pixel points, and obtaining target echo information belonging to the same target according to target echo information corresponding to each pixel point belonging to the same target; the pixel points belonging to the same target comprise pixel points on and in the target contour, namely, the target echo information belonging to the same target comprises the target echo information on and in the target contour.
According to the characteristics of the radar detection target, the target and the clutter are different in that the target occupies a certain continuous distance bank quantity in distance; the target occupies a certain number of consecutive doppler velocity channels on the doppler velocity channel, rather than an isolated single point. Therefore, if the pixel point to be detected does not have 8 neighborhood pixel points, that is, when the matrix f is not formed, edge detection is not performed on the pixel point to be detected without 8 neighborhood pixel points, and edge detection is performed on the pixel point adjacent to and continuous with the pixel point to be detected, if the pixel point to be detected does not have adjacent and continuous pixel points, the pixel point to be detected is an isolated pixel point, and the pixel point to be detected is not a target pixel point.
In step S41, the binarization processing improves detection efficiency, reduces computation, reduces target splitting caused by misdetection of target edges, and reduces false edges or double edges caused by non-uniform amplitude values in target echo information.
As shown in fig. 10, in step S5, the filtering process of the feature object includes the following steps:
s51, the 32 th Doppler velocity frequency channel is a zero frequency channel, namely the velocity represented by the 32 th Doppler velocity frequency channel is 0m/S, the velocities represented by the 30 th, 31 th, 33 th and 34 th Doppler velocity frequency channels are all regarded as 0m/S, and the target echo information detected by the radar on the 30 th, 31 th, 32 th, 33 th and 34 th Doppler velocity frequency channels is judged as ground clutter; the ground clutter is target echo information of the ground target.
S52, counting the number N of pixel points belonging to the same target; and counting the number M of the ground clutter of the target echo information belonging to the same target.
S53, judging whether the value of M/N is larger than the set ratio, in the embodiment, the set ratio is 0.3, if so, the target is a ground object target, and executing the step S54; otherwise, the target is a non-ground object target, and ground object target filtering processing is not carried out.
And S54, deleting the target echo information of the target.
In a third embodiment, a target aggregation method based on a ground monitoring radar system includes the following steps:
s1, acquiring target echo information processed by the radar front end through a network;
s2, false trace filtering processing is carried out on the target echo information, and filtered target echo information is obtained;
s3, carrying out speed aggregation on the filtered target echo information to obtain the target echo information after speed aggregation on the same distance library;
s4, performing distance aggregation on the target echo information subjected to the speed aggregation on the same distance library to obtain target echo information subjected to distance aggregation in the same direction, and calculating target parameter information subjected to distance aggregation;
and S5, performing azimuth aggregation on the target echo information after distance aggregation in the same azimuth to obtain target echo information which belongs to the same target after azimuth aggregation, and calculating target parameter information which belongs to the same target.
The target condensing method of this embodiment is a method of processing in real time according to target echo information in each azimuth received during the radar scanning process.
In step S1, the target echo information after radar front-end processing includes: the position of the target, the range bin of the target, the doppler velocity channel of the target, the timestamp of the target, and the amplitude value of the target.
And the range table of the target represents a range unit where the range of the target detected by the radar is located.
The distance library is as follows: the range of the detection distance of the radar is quantized, and the distance unit after quantization is called a distance library.
The doppler velocity channel of the target represents the velocity cell in which the radar detects the velocity of the target.
The doppler velocity channel of the target represents the velocity cell in which the radar detects the velocity of the target. Principle of radar speed measurement: by utilizing the Doppler effect, when a target moves relative to the radar, the target echo frequency received by the radar is different from the radar transmitting frequency, and the frequency difference between the target echo frequency and the radar transmitting frequency is called Doppler frequency; when the target moves towards the radar, the target echo frequency is higher than the radar transmitting frequency, and the Doppler frequency is positive; when the target moves away from the radar, the target echo frequency is lower than the radar transmitting frequency, and the Doppler frequency is negative; and calculating the relative speed of the target and the radar according to the change value of the Doppler frequency.
The timestamp of the target is the time when the radar detected the target.
The amplitude value of the target is an energy value of the target detected by the radar, an artificial threshold is set to be 5db when the radar front end processes the target, if the amplitude value of a certain target detected by the radar is smaller than the artificial threshold, the amplitude value of the target is directly set to be 0db, and the target is considered to be not detected by the radar.
The radar front end processing is radar signal processing, including: radio frequency amplification, local oscillator signal generation, intermediate frequency amplification, frequency mixing and Doppler filtering.
In step S2, the filtering process of the false trace points includes the following steps:
s21, detecting the performance of the target in clutter based on the radar, i.e. the signal to clutter ratio S/C of the target, and the decibel number S of the minimum detectable power of the signaldb(R) initially estimating the initial value of the clutter threshold, and then estimating the initial value of the clutter threshold according to the ground environment of the radar erectionAdjusting the line to obtain a clutter threshold, wherein the clutter threshold is 50db in the embodiment;
s22, in the same direction, sequentially substituting the amplitude value of the target and the distance of the target in the target echo information detected by the radar into formula 1 for calculation, and obtaining a target comprehensive value;
target integrated value of 10 × log10(amplitude value of object x distance of object)4) Equation 1
S23, judging whether the target comprehensive value is larger than the clutter threshold, if so, keeping the target echo information; and if the target echo information is smaller than the clutter threshold, filtering the target echo information as clutter.
Wherein, the signal-to-noise ratio S/C, the decibel number of the minimum detectable power S of the signaldb(R)：
Figure GDA0002734926090000241
SdB(R)＝40lg(R0F/R)-LdB，
FtFor a targeted pattern propagation factor, FcPropagation factor of pattern being clutter, σtFor radar to illuminate the surface area of the target, σcSurface area of radar illumination clutter; r0To a distance relative to free space, LdBF represents the actual atmospheric loss in decibels at distance R, based on the spherical ground equation, the pattern propagation factor from the target to the receive antenna.
In the embodiment, 20km to 30km is taken as a far zone, 0km to 1km is taken as a near zone, and 1km to 10km is a normal zone for radar detection, and as the amplitude value of the target is large when the target is in the near zone and the amplitude value of the target is small when the target is in the far zone, the detection probability of the radar to the target is inconsistent in the near zone, the far zone and the normal zone; the false trace filtering process ensures the consistency of the detection probability of the radar to the target in a near region, a far region and a normal region, reduces the false alarm rate of the near region target and improves the discovery rate of the far region target.
In step S3, the velocity agglomeration includes the steps of:
s31, comparing the amplitude values of the targets in the target echo information on the Doppler velocity channel of the same distance library, and finding out the target echo information with the maximum amplitude value of the target;
s32, judging whether the target echo information with the maximum target amplitude value is ground clutter or not; if yes, deleting the target echo information, and re-executing the step S31; if not, only keeping the target echo information with the maximum amplitude value of the target on the distance library to obtain the target echo information after velocity aggregation on the distance library;
and S33, sequentially carrying out velocity aggregation on each distance library to obtain target echo information after velocity aggregation on each distance library.
In step S4, the distance clustering includes the following steps:
s41, sequentially judging from the 3 rd distance library to the 1998 th distance library according to the target echo information after velocity aggregation on each distance library, judging whether the target echo information after velocity aggregation on the distance library is abnormal target echo information, and deleting the target echo information after velocity aggregation on the distance library if the target echo information on a certain distance library is abnormal target echo information, namely the amplitude value of a target in the target echo information after velocity aggregation on the distance library is not 0db, and the amplitude values of targets in the target echo information after velocity aggregation on the first two distance libraries and the second two distance libraries adjacent to the distance library are 0 db;
s42, starting judgment of the distance of the target is carried out in sequence from the 3 rd distance library to the end of the 1998 th distance library, and the distance library of the target in the target echo information after the velocity aggregation that the amplitude value of the target appearing for the first time is not 0db is taken as the starting distance library of the target and is marked as RstartAnd store the starting distance in the RstartThe Doppler velocity channel of the target in the target echo information after the upper velocity condensation is recorded as Vp；
S43, from the initial distance library RstartStarting to the 1998 distance library, the judgment of the distance termination of the target is made in sequence, if the speed on the two consecutive distance libraries of a certain distance libraryThe amplitude value of the target in the condensed target echo information is 0db, or the Doppler velocity channel V of the target in the velocity-condensed target echo information on the range bincFrom the starting distance library RstartDoppler velocity channel V of target in target echo information after upper velocity condensationpBy more than 4 channels, i.e. | Vc-VpIf | is greater than 4, the distance library is taken as the termination distance library of the target and is marked as Rend；
S44, for the starting distance library RstartStart to end distance bin RendThe N finished target echo information after velocity aggregation is subjected to weighted averaging processing, and target parameters after azimuth distance aggregation are calculated
Figure GDA0002734926090000251
Figure GDA0002734926090000252
Figure GDA0002734926090000253
Figure GDA0002734926090000261
Wherein superscript v represents velocity agglomeration; superscript d represents distance agglomeration; subscript i represents the ith, i.e. 1. ltoreq. N; n ═ Rend-Rstart+1；
Figure GDA0002734926090000262
The distance library of the target in the echo information of the target after velocity coagulation on the ith distance library,
Figure GDA0002734926090000263
the amplitude value of the target in the target echo information after velocity coagulation on the ith distance library,
Figure GDA0002734926090000264
a Doppler velocity channel of a target in the target echo information after velocity coagulation on the ith distance library;
Figure GDA0002734926090000265
a range library of azimuthally distant objects in the condensed echo information of the objects,
Figure GDA0002734926090000266
a Doppler velocity channel of a target in the echo information of the target after the aggregation of the distances in the direction;
for the starting distance library RstartStart to end distance bin RendComparing the amplitude values of the targets in the N pieces of velocity-condensed target echo information, wherein the maximum amplitude value of the target is the amplitude value of the target in the azimuth distance-condensed target echo information
Figure GDA0002734926090000267
In step S5, the azimuth aggregation is a real-time processing process performed according to the scanning direction of the radar; the radar starts to scan from the 1 st azimuth, receives the target echo information in the 1 st azimuth, performs speed condensation and distance condensation on the target echo information in the 1 st azimuth to obtain the target echo information after distance condensation in the 1 st azimuth, scans the next azimuth in sequence according to the scanning direction of the radar, receives the target echo information in the azimuth, performs speed condensation and distance condensation on the target echo information in the azimuth to obtain the target echo information after distance condensation in the azimuth, and performs azimuth condensation according to the target echo information after distance condensation in the azimuth, the method comprises the following steps:
s51, according to the radar scanning direction, the azimuth initial judgment of the target is carried out, the azimuth of the target in the target echo information after the first-appearing range value of the target is not 0db is condensed as the initial azimuth of the target, and the initial azimuth is recorded as DstartAnd condensing the azimuthal distanceThe range bin of the target and the Doppler velocity channel of the target in the echo information are recorded as
Figure GDA0002734926090000268
S52, starting from the starting position D of the targetstartAt the beginning, according to the radar scanning direction, the rear direction is in sliding window type
Figure GDA0002734926090000269
Judging the direction termination of the target, and judging the next direction
Figure GDA00027349260900002610
Whether the upper distance condensed target echo information meets the requirement
Figure GDA00027349260900002611
And is
Figure GDA00027349260900002612
And the amplitude value of the target is not 0db, if the amplitude value is satisfied, the azimuth is determined
Figure GDA00027349260900002613
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target; if not, the orientation
Figure GDA00027349260900002614
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is target echo information which does not belong to the same target;
wherein the content of the first and second substances,
Figure GDA0002734926090000271
is an azimuth
Figure GDA0002734926090000272
A distance library of targets in the target echo information after the upper distance aggregation;
Figure GDA0002734926090000273
is an azimuth
Figure GDA0002734926090000274
A Doppler velocity channel of the target in the echo information of the target after the upper distance condensation;
s53, according to the mode of step S52, continuing to adjust the direction
Figure GDA0002734926090000275
The latter position of the target is subjected to position termination judgment; if the target echo information after the distance condensation in a certain direction and the initial direction D appearstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target, and the target echo information after the upper distance aggregation and the initial position D in the last two continuous positions of the positionstartThe target echo information after the upper distance aggregation is the target echo information which does not belong to the same target, and the position is taken as the termination position of the target and is marked as Dend；
S54, for the orientation D from the beginningstartStarting to ending orientation DendThe finished N distance condensed target echo information is weighted and averaged, and the target parameter after azimuth condensation is calculated
Figure GDA0002734926090000276
Figure GDA0002734926090000277
Figure GDA0002734926090000278
Figure GDA0002734926090000279
Wherein the superscript p represents azimuthal cohesion; lower partThe mark j represents the jth, and j is more than or equal to 1 and less than or equal to M; m ═ Dend-Dstart+1；
Figure GDA00027349260900002710
A range bin for the target in the condensed echo information at the j-th azimuth,
Figure GDA00027349260900002711
the amplitude value of the target in the echo information of the j-th position from the condensed target,
Figure GDA00027349260900002712
is the doppler velocity channel at the j-th azimuth from the target in the condensed echo information,
Figure GDA00027349260900002713
the azimuth of the target in the condensed target echo information at the jth azimuth, namely the azimuth corresponding to the jth azimuth;
Figure GDA00027349260900002714
a distance library of the echo information of the target after azimuth condensation,
Figure GDA00027349260900002715
for the doppler velocity channel in the azimuth condensed target echo information,
Figure GDA00027349260900002716
the azimuth of the target in the target echo information after azimuth aggregation is obtained;
in step S51, if a certain direction and the target end direction D of the existing target are presentendAnd if the difference is more than 2 azimuths and the amplitude value of the target in the echo information of the target after the distance aggregation in the azimuths is not 0db, the azimuths are the target starting azimuths of the new target.
The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. A target condensation method based on a ground monitoring radar system is characterized by comprising the following steps:
s1, acquiring target echo information processed by the radar front end;
s2, carrying out false trace filtering processing on the target echo information to obtain filtered target echo information;
s21, fuzzifying the filtered target echo information to obtain fuzzified target echo information, and forming a two-dimensional image according to the fuzzified target echo information;
s22, extracting the target edge of the two-dimensional image to obtain target echo information belonging to the same target;
s23, performing ground object target filtering processing on the target echo information belonging to the same target to obtain the target echo information belonging to the same target after the ground object target filtering processing;
s3, carrying out speed aggregation on the filtered target echo information to obtain the target echo information after speed aggregation on the same distance library;
s4, performing distance aggregation on the target echo information subjected to the speed aggregation on the same distance library to obtain target parameters and target echo information subjected to the distance aggregation in the same direction;
s5, performing azimuth aggregation on the target echo information after distance aggregation in the same azimuth to obtain target parameters and target echo information which belong to the same target after azimuth aggregation;
step 21, fuzzifying the amplitude value of the target according to the doppler velocity channel of the target and the distance library of the target respectively;
the method comprises the following specific steps of:
s201, fuzzifying the amplitude value of the target on a certain doppler velocity channel in the 1 st range bin, that is, comparing the amplitude value of the target on a certain doppler velocity channel in the 1 st range bin with 1db, if the amplitude value of the target on the certain doppler velocity channel is greater than 1db, determining whether the amplitude values of the targets on two doppler velocity channels adjacent to the certain doppler velocity channel are both greater than 0db, and if the amplitude value of the target on the left adjacent doppler velocity channel or the amplitude value of the target on the right adjacent doppler velocity channel is 0db, directly assigning the amplitude value of the target on the doppler velocity channel with the amplitude value of the target on the two adjacent doppler velocity channels being 0db to 1 db; if the amplitude values of the targets on the two adjacent Doppler velocity channels are both greater than 0db, skipping to execute the step S202;
if the amplitude value of the target on the certain doppler velocity channel is not greater than 1db, skipping to execute step S202;
if the certain Doppler velocity channel is the 1 st Doppler velocity channel, only the amplitude value of the target on the right adjacent Doppler velocity channel is judged; if the certain Doppler velocity channel is the last 1 Doppler velocity channel, only judging the amplitude value of the target on the left adjacent Doppler velocity channel;
s202, according to the mode of the step S201, continuously fuzzifying the amplitude values of the targets on the next Doppler velocity channel of the 1 st distance library until the fuzzification processing of the amplitude values of the targets on all the Doppler velocity channels of the 1 st distance library is completed;
s203, continuously performing fuzzification processing on the amplitude value of the target on each Doppler velocity channel of the next distance library from the 1 st Doppler velocity channel to the end of the last 1 Doppler velocity channel in sequence according to the mode of the steps S201-S202 until the fuzzification processing on the amplitude value of the target on each Doppler velocity channel of the last 1 distance library from the 1 st Doppler velocity channel to the end of the last 1 Doppler velocity channel is completed in sequence, and obtaining the target echo information after fuzzification processing according to the Doppler velocity channel of the target;
fuzzification processing is carried out on the amplitude value of the target according to the distance library of the target, and the method comprises the following steps:
s211, fuzzifying the amplitude value of the target in a certain distance library of the 1 st doppler velocity channel, that is, sequentially comparing the amplitude value of the target in a certain distance library of the 1 st doppler velocity channel with 1db, determining whether the amplitude value of the target in the certain distance library is greater than 1db, if the amplitude value of the target in the certain distance library is greater than 1db, determining whether the amplitude values of the targets in two distance libraries adjacent to the certain distance library are both greater than 0db, and if the amplitude value of the target in the left adjacent distance library or the amplitude value of the target in the right adjacent distance library is 0db, directly assigning the amplitude value of the target in the distance library, in which the amplitude value of the target in the left adjacent distance library or the amplitude value of the target in the right adjacent distance library is 0db, to 1 db; if the amplitude values of the targets on the two adjacent distance libraries are both larger than 0db, skipping to execute the step S212;
if the amplitude value of the target on the certain distance library is not greater than 1db, jumping to execute step S212;
if the certain distance library is the 1 st distance library, only judging the amplitude value of the target on the distance library right adjacent to the certain distance library; if the certain distance library is the last 1 distance library, only judging the amplitude value of the target on the distance library adjacent to the left side of the certain distance library;
s212, continuing to fuzzify the amplitude value of the target in the next range bin of the 1 st doppler velocity channel in the manner of step S211 until the fuzzification of the amplitude values of the target in all range bins of the 1 st doppler velocity channel is completed;
and S213, continuously performing fuzzification processing on the amplitude value of the target on each distance library of the next Doppler velocity channel from the 1 st distance library to the end of the last 1 distance library in sequence according to the mode of the steps S211 to S212 until the amplitude value of the target on each distance library of the last 1 Doppler velocity channel from the 1 st distance library to the end of the last 1 distance library is subjected to fuzzification processing in sequence, and thus the target echo information after fuzzification processing is performed according to the distance library of the target is obtained.
2. The method for target aggregation based on ground monitoring radar system as claimed in claim 1, wherein in step S1, the target echo information processed by the radar front end includes: the method comprises the following steps of (1) orientation of a target, a distance library of the target, a Doppler velocity channel of the target, a time stamp of the target and an amplitude value of the target;
the target distance table represents a distance unit where the distance of the target detected by the radar is located;
the distance library is as follows: quantizing the range of the detection distance of the radar, and calling a quantized distance unit as a distance library;
the Doppler velocity channel of the target represents a velocity unit where the velocity of the target detected by the radar is located;
the doppler velocity channel: quantizing the range of the detection speed of the radar, and calling a quantized speed unit as a Doppler speed channel;
setting an artificial threshold when the amplitude value of the target detected by the radar is processed at the front end of the radar, and if the amplitude value of a certain target detected by the radar is smaller than the artificial threshold, directly setting the amplitude value of the target to be 0db and regarding that the target is not detected by the radar;
the radar front-end processing is radar signal processing.
3. The method for condensing the target based on the ground monitoring radar system according to claim 2, wherein in step S2, the false point trace filtering process comprises: calculating target echo information on each distance library to obtain a target comprehensive value, comparing the target comprehensive value with a clutter threshold, and if the target comprehensive value is smaller than the clutter threshold, filtering the target echo information as clutter;
wherein, the calculation formula of the target comprehensive value is as follows:
target integrated value of 10 × log10(amplitude value of object x distance of object)4)。
4. The method for condensing the target based on the ground monitoring radar system according to the claim 2, wherein the velocity condensing in the step S3 comprises the following steps:
s31, comparing the amplitude values of the targets in the target echo information on each Doppler velocity channel in the same distance library in the same direction, and finding out the target echo information with the maximum amplitude value of the target;
s32, judging whether the Doppler velocity channel of the target in the target echo information with the maximum amplitude value of the target is the Doppler velocity channel where the ground clutter is located; if yes, deleting the target echo information; if not, only keeping the target echo information with the maximum amplitude value of the target on the distance library to obtain the target echo information after velocity aggregation on the distance library;
s33, sequentially carrying out velocity aggregation on each distance library in the same direction to obtain velocity aggregated target echo information on each distance library in the same direction;
in step S32, the doppler velocity channel where the ground clutter is located includes: a frequency channel V with zero Doppler velocity, and four frequency channels V-2, V-1, V +1 and V +2 adjacent to the frequency channel V with zero Doppler velocity.
5. The method for condensing the target based on the ground monitoring radar system according to the claim 4, wherein the condensing the distance in the step S4 comprises the following steps:
s41, sequentially judging from the 3 rd distance library to the 2 nd last distance library according to the target echo information after velocity aggregation on the distance libraries in the same direction, judging whether the target echo information after velocity aggregation on the distance libraries is abnormal target echo information, and deleting the target echo information after velocity aggregation on the distance libraries if the target echo information on a certain distance library is abnormal target echo information, namely the amplitude value of a target in the target echo information after velocity aggregation on the distance library is not 0db, and the amplitude values of targets in the target echo information after velocity aggregation on the first two distance libraries and the second two distance libraries adjacent to the distance library are 0 db;
s42, sequentially judging the distance start of the target from the 3 rd distance library to the 2 nd distance library end, taking the distance library of the target in the target echo information after the velocity aggregation with the amplitude value of the first appearing target not being 0db as the start distance library of the target, and recording as RstartAnd store the starting distance in the RstartThe Doppler velocity channel of the target in the target echo information after the upper velocity condensation is recorded as Vp；
S43, from the initial distance library RstartSequentially judging the distance termination of the target from the beginning to the 2 nd distance library, if the amplitude value of the target in the target echo information after velocity aggregation on two continuous distance libraries of a certain distance library is 0db, or the Doppler velocity channel V of the target in the target echo information after velocity aggregation on the distance librarycFrom the starting distance library RstartDoppler velocity channel V of target in target echo information after upper velocity condensationpBy more than 4 channels, i.e. | Vc-VpIf | is greater than 4, the distance library is taken as the termination distance library of the target and is marked as Rend；
S44, for the starting distance library RstartStart to end distance bin RendThe N finished target echo information after velocity aggregation is subjected to weighted averaging processing, and target parameters after azimuth distance aggregation are calculated
Figure FDA0002734926080000051
Figure FDA0002734926080000052
Figure FDA0002734926080000053
Figure FDA0002734926080000054
Wherein superscript v represents velocity agglomeration; superscript d represents distance agglomeration; subscript i represents the ith, i.e. 1. ltoreq. N; n ═ Rend-Rstart+1；
Figure FDA0002734926080000055
The distance library of the target in the echo information of the target after velocity coagulation on the ith distance library,
Figure FDA0002734926080000056
the amplitude value of the target in the target echo information after velocity coagulation on the ith distance library,
Figure FDA0002734926080000057
a Doppler velocity channel of a target in the target echo information after velocity coagulation on the ith distance library;
Figure FDA0002734926080000058
a range library of azimuthally distant objects in the condensed echo information of the objects,
Figure FDA0002734926080000059
a Doppler velocity channel of a target in the echo information of the target after the aggregation of the distances in the direction;
for the starting distance library RstartStart to end distance bin RendComparing the amplitude values of the targets in the N pieces of velocity-condensed target echo information, wherein the maximum amplitude value of the target is the amplitude value of the target in the azimuth distance-condensed target echo information
Figure FDA00027349260800000510
6. The method for condensing targets based on ground monitoring radar system according to claim 5, wherein in step S5, the orientation condensing is a real-time process according to the scanning direction of radar; the radar starts scanning from the 1 st azimuth, receives target echo information on the 1 st azimuth, performs speed condensation and distance condensation on the target echo information on the 1 st azimuth to obtain target echo information after distance condensation in the 1 st azimuth, scans the next azimuth in sequence according to the scanning direction of the radar, receives the target echo information on the azimuth, performs speed condensation and distance condensation on the target echo information on the azimuth to obtain the target echo information after distance condensation in the azimuth, and performs azimuth condensation according to the target echo information after distance condensation in the azimuth and the target echo information after distance condensation in the azimuth before the azimuth;
the orientation condensation specifically comprises the following steps:
s51, according to the radar scanning direction, the azimuth initial judgment of the target is carried out, the azimuth of which the amplitude value of the target in the target echo information after the first-appearing distance condensation is not 0db is taken as the initial azimuth of the target, and is recorded as DstartAnd the range library of the target in the echo information of the target with condensed range in the azimuth
Figure FDA0002734926080000061
And Doppler velocity channel of the target
Figure FDA0002734926080000062
Are respectively marked as
Figure FDA0002734926080000063
S52, starting from the starting position D of the targetstartAt the beginning, according to the radar scanning direction, the rear direction is in sliding window type
Figure FDA0002734926080000064
Judging the direction termination of the target, and judging the next direction
Figure FDA0002734926080000065
Whether the upper distance condensed target echo information meets the requirement
Figure FDA0002734926080000066
And is
Figure FDA0002734926080000067
And the amplitude value of the target is not 0db, if the amplitude value is satisfied, the azimuth is determined
Figure FDA0002734926080000068
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target; if not, the orientation
Figure FDA0002734926080000069
Target echo information and initial direction D after upper distance condensationstartThe target echo information after the upper distance aggregation is target echo information which does not belong to the same target;
wherein the content of the first and second substances,
Figure FDA00027349260800000610
is an azimuth
Figure FDA00027349260800000611
A distance library of targets in the target echo information after the upper distance aggregation;
Figure FDA00027349260800000612
is an azimuth
Figure FDA00027349260800000613
A Doppler velocity channel of the target in the echo information of the target after the upper distance condensation;
s53, according to the mode of step S52, continuing to adjust the direction
Figure FDA00027349260800000614
The latter position of the target is subjected to position termination judgment; if the target echo information after the distance condensation in a certain direction and the initial direction D appearstartThe target echo information after the upper distance aggregation is the target echo information belonging to the same target, and the target echo information after the upper distance aggregation and the initial position D in the last two continuous positions of the positionstartThe target echo information after the upper distance aggregation is the target echo information which does not belong to the same target, and the position is taken as the termination position of the target and is marked as Dend；
S54, for the orientation D from the beginningstartStarting to ending orientation DendThe finished N distance condensed target echo information is weighted and averaged, and the target parameter after azimuth condensation is calculated
Figure FDA00027349260800000615
Figure FDA0002734926080000071
Figure FDA0002734926080000072
Figure FDA0002734926080000073
Wherein the superscript p represents azimuthal cohesion; the subscript j represents the jth, j is more than or equal to 1 and less than or equal to M; m ═ Dend-Dstart+1；
Figure FDA0002734926080000074
A range bin for the target in the condensed echo information at the j-th azimuth,
Figure FDA0002734926080000075
the amplitude value of the target in the echo information of the j-th position from the condensed target,
Figure FDA0002734926080000076
is the doppler velocity channel at the j-th azimuth from the target in the condensed echo information,
Figure FDA0002734926080000077
the azimuth of the target in the condensed target echo information at the jth azimuth, namely the azimuth corresponding to the jth azimuth;
Figure FDA0002734926080000078
a distance library of the echo information of the target after azimuth condensation,
Figure FDA0002734926080000079
for the doppler velocity channel in the azimuth condensed target echo information,
Figure FDA00027349260800000710
the azimuth of the target in the target echo information after azimuth aggregation is obtained;
in step S51, if a certain direction and the target end direction D of the existing target are presentendAnd if the difference is more than 2 azimuths and the amplitude value of the target in the echo information of the target after the distance aggregation in the azimuths is not 0db, the azimuths are the target starting azimuths of the new target.
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