CN109100701A - A kind of fast two-dimensional CFAR object detection system and detection method - Google Patents
A kind of fast two-dimensional CFAR object detection system and detection method Download PDFInfo
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- CN109100701A CN109100701A CN201811267196.5A CN201811267196A CN109100701A CN 109100701 A CN109100701 A CN 109100701A CN 201811267196 A CN201811267196 A CN 201811267196A CN 109100701 A CN109100701 A CN 109100701A
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- 238000001514 detection method Methods 0.000 title claims abstract description 130
- 230000001427 coherent effect Effects 0.000 claims abstract description 41
- 230000010354 integration Effects 0.000 claims abstract description 39
- 238000009825 accumulation Methods 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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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
Abstract
The invention discloses a kind of fast two-dimensional CFAR object detection system and detection methods.It include: coherent integration result read module, apart from Victoria C FAR detection module, speed Victoria C FAR detection module；The coherent integration result read module reads echo and mutually accumulates as a result, and recording；Coherent integration result is tieed up in distance apart from Victoria C FAR detection module and carries out CFAR detection；Speed Victoria C FAR detection module will be tieed up in speed by the point apart from Victoria C FAR and carry out CFAR detection.CFAR detection realization fast two-dimensional CFAR detection is done respectively apart from peacekeeping speed dimension by decomposing two-dimentional coherent integration result, being verified by engineering practice, can be greatly reduced detection time, meeting radar real-time processing requirement.
Description
Technical field
The present invention relates to a kind of two dimension CFAR object detection system and detection method, especially a kind of fast two-dimensional CFAR mesh
Mark detection system and detection method.
Background technique
With universal and signal processor processes ability the promotion of solid state transmitter, modern radar generallys use coherent product
Tired technology improves radar signal-to-noise ratio, and after completing correlative accumulation by Fast Fourier Transform (FFT), how general the distance for obtaining target is
Two dimension accumulation is strangled as a result, target detection expands to distance and Doppler's two-dimensional detection from traditional distance dimension detection, in order to guarantee
Constant false-alarm probability, it is general to be detected using two dimension CFAR, it needs to accumulate in range Doppler two dimension sliding using two dimension in result
Window detection, calculation amount is detected compared to one-dimensional CFAR to be increased at geometry grade, and target detection real-time is difficult to ensure.
Summary of the invention
Present invention aims at a kind of fast two-dimensional CFAR object detection method is designed, coherent radar two dimension CFAR mesh is solved
Mark the real time problems of detection.
Fast two-dimensional CFAR object detection system of the present invention, including coherent integration result read module, distance dimension
CFAR detection module and speed Victoria C FAR detection module.
Further, the coherent integration result read module is used to read two-dimentional correlative accumulation as a result, being denoted as A (n, m),
Wherein m=1,2 ..., M, n=1,2 ..., N, M, N respectively indicate speed unit number and count apart from dimension.
Further, described to be used to tie up progress CFAR inspection in distance to coherent integration result apart from Victoria C FAR detection module
It surveys, and records.
Further, it is described apart from Victoria C FAR detection module for extract n-th in coherent integration result (n=1,2 ...,
N) row data, and be denoted as A (n :), while one-dimensional CFAR detection, all mesh for crossing detection thresholds of record line n are done to A (n :)
Mark corresponding distance unit cn(i), wherein cn(i)≤N；After having traversed all rows, by cn(i) identical data merge in,
Obtained mistake is recorded apart from the corresponding distance unit number set k={ k of Victoria C FAR detection target1,...,kK, wherein K≤N.
Further, the speed Victoria C FAR detection module is carried out for that will be tieed up by the point apart from Victoria C FAR in speed
CFAR detection.
Further, the speed Victoria C FAR detection module is for reading distance unit k in coherent integration resultiIt is corresponding
Speed dimension data, be denoted as A (:, ki), to A (:, ki) one-dimensional CFAR detection is done, recorded the corresponding speed of point of detection threshold
Unit number fci, traversed the two-dimentional CFAR testing result after the corresponding column data of distance unit number, recorded in all set k
A(fci,ki), wherein i≤N, c≤M.
Further, the detection method of the fast two-dimensional CFAR object detection system: include the following steps:
(1) build CFAR detection system, wherein the CFAR detection system include: coherent integration result read module, away from
From Victoria C FAR detection module, speed Victoria C FAR detection module；
(2) the coherent integration result read module reads echo and mutually accumulates as a result, and recording；
(3) coherent integration result is tieed up apart from Victoria C FAR detection module in distance and carries out CFAR detection；
(4) speed Victoria C FAR detection module will be tieed up in speed by the point apart from Victoria C FAR and carry out CFAR detection.
Further, in the step (2), the coherent integration result read module read two-dimentional correlative accumulation as a result,
Be denoted as A (n, m), wherein m=1,2 ..., M, n=1,2 ..., N, M, N respectively indicate speed unit number and count apart from dimension.
Further, described successively extract n-th in coherent integration result apart from Victoria C FAR detection module (n=1,2 ...,
N) row data, and be denoted as A (n :), while one-dimensional CFAR detection, all mesh for crossing detection thresholds of record line n are done to A (n :)
Mark corresponding distance unit cn(i), wherein cn(i)≤N；After having traversed all rows, by cn(i) identical data merge in,
Distance unit number set k={ k corresponding apart from Victoria C FAR detection target is obtained1,...,kK, wherein K≤N.
Further, the speed Victoria C FAR detection module reads distance unit k in coherent integration resultiCorresponding speed
Spend dimension data, be denoted as A (:, ki), to A: () kiOne-dimensional CFAR detection is done, the corresponding speed unit of point of detection threshold was recorded
Number fci, traversed in all set k after the corresponding column data of distance unit number, obtained two-dimentional CFAR testing result A (fci,ki),
Wherein i≤N, c≤M.
Using possessed by technical solution of the present invention the utility model has the advantages that
(1) fast two-dimensional CFAR object detection method of the present invention, by by two-dimentional coherent integration result decompose away from
CFAR detection is done respectively from peacekeeping speed dimension and realizes fast two-dimensional CFAR detection, is verified, can be greatly reduced by engineering practice
Detection time meets radar real-time processing requirement.
Specific embodiment
Technical solution of the present invention is clearly and completely described below, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The object detection system of fast two-dimensional CFAR described in present embodiment, including coherent integration result read module, away from
From Victoria C FAR detection module and speed Victoria C FAR detection module.
Further, the coherent integration result read module is used to read two-dimentional correlative accumulation as a result, being denoted as A (n, m),
Wherein m=1,2 ..., M, n=1,2 ..., N, M, N respectively indicate speed unit number (i.e. FFT points) and count apart from dimension.
Further, described to be used to tie up progress CFAR inspection in distance to coherent integration result apart from Victoria C FAR detection module
It surveys, and records；Preferably, it is described apart from Victoria C FAR detection module for extract n-th in coherent integration result (n=1,2 ...,
N) row data, and be denoted as A (n :), while one-dimensional CFAR detection, all mesh for crossing detection thresholds of record line n are done to A (n :)
Mark corresponding distance unit cn(i), wherein cn(i)≤N；After having traversed all rows, by cn(i) identical data merge in,
Obtained mistake is recorded apart from the corresponding distance unit number set k={ k of Victoria C FAR detection target1,...,kK, wherein K≤N.
Further, the speed Victoria C FAR detection module is carried out for that will be tieed up by the point apart from Victoria C FAR in speed
CFAR detection；Preferably, the speed Victoria C FAR detection module is for reading distance unit k in coherent integration resultiIt is corresponding
Speed dimension data, be denoted as A (:, ki), to A (:, ki) one-dimensional CFAR detection is done, recorded the corresponding speed of point of detection threshold
Unit number fci, traversed the two-dimentional CFAR testing result after the corresponding column data of distance unit number, recorded in all set k
A(fci,ki), wherein i≤N, c≤M.
Further, the present invention also provides the detection methods of the fast two-dimensional CFAR object detection system: including such as
Lower step:
(1) build CFAR detection system, wherein the CFAR detection system include: coherent integration result read module, away from
From Victoria C FAR detection module, speed Victoria C FAR detection module；
(2) the coherent integration result read module reads echo and mutually accumulates as a result, and recording；
(3) coherent integration result is tieed up apart from Victoria C FAR detection module in distance and carries out CFAR detection；
(4) speed Victoria C FAR detection module will be tieed up in speed by the point apart from Victoria C FAR and carry out CFAR detection.
Preferably, in the step (2), the coherent integration result read module read two-dimentional correlative accumulation as a result,
Be denoted as A (n, m), wherein m=1,2 ..., M, n=1,2 ..., N, M, N respectively indicate speed unit number and count apart from dimension.
Preferably, described successively to be extracted in coherent integration result apart from Victoria C FAR detection module in the step (3)
N (n=1,2 ..., N) row data, and be denoted as A (n :), while one-dimensional CFAR detection is done to A (n :), record all mistakes of line n
The corresponding distance unit c of the target of detection thresholdn(i), wherein cn(i)≤N；After having traversed all rows, by cn(i) phase in
Same data merge, and distance unit number set k={ k corresponding apart from Victoria C FAR detection target is obtained1,...,kK, wherein K
≤N。
Preferably, in the step (4), the speed Victoria C FAR detection module reads distance list in coherent integration result
Member kiCorresponding speed dimension data, be denoted as A (:, ki), to A (:, ki) one-dimensional CFAR detection is done, recorded the point of detection threshold
Corresponding speed unit fci, traversed in all set k after the corresponding column data of distance unit number, obtained two-dimentional CFAR detection
As a result A (fci,ki), wherein i≤N, c≤M.
Through the above steps, CFAR detection is done respectively apart from peacekeeping speed dimension by decomposing two-dimentional coherent integration result
Realize fast two-dimensional CFAR detection, this method is verified by engineering practice, can greatly reduce detection time, it is real-time to meet radar
Process demand.
Obviously, the above embodiments are merely examples for clarifying the description, rather than the restriction to embodiment.For
For person of an ordinary skill in the technical field, other various forms of variations can also be made on the basis of the above description
Or it changes.There is no necessity and possibility to exhaust all the enbodiments.And obvious variation extended from this
Or it changes and still falls among the protection scope of the invention.
Claims (10)
1. a kind of detection system of fast two-dimensional CFAR target detection, which is characterized in that including coherent integration result read module,
Apart from Victoria C FAR detection module and speed Victoria C FAR detection module.
2. fast two-dimensional CFAR object detection system according to claim 1, which is characterized in that the coherent integration result
Read module is for reading two-dimentional correlative accumulation as a result, being denoted as A (n, m), wherein m=1, and 2 ..., M, n=1,2 ..., N, M, N
It respectively indicates speed unit number and counts apart from dimension.
3. fast two-dimensional CFAR object detection system according to claim 1 or 2, which is characterized in that the distance dimension
CFAR detection module, which is used to tie up coherent integration result in distance, carries out CFAR detection, and records.
4. fast two-dimensional CFAR object detection system according to claim 3, which is characterized in that described to be examined apart from Victoria C FAR
Module is surveyed for extracting (n=1,2 ..., N) row data n-th in coherent integration result, and is denoted as A (n :), while to A (n :)
It is one-dimensional CFAR detection, all corresponding distance unit c of target for crossing detection threshold of record line nn(i), wherein cn(i)≤
N；After having traversed all rows, by cn(i) identical data merge in, and what is recorded is corresponding apart from Victoria C FAR detection target
Distance unit number set k={ k1,...,kK, wherein K≤N.
5. fast two-dimensional CFAR object detection system according to any one of claims 1 to 4, which is characterized in that the speed
Victoria C FAR detection module carries out CFAR detection for that will tie up by the point apart from Victoria C FAR in speed.
6. fast two-dimensional CFAR object detection system according to claim 5, which is characterized in that the speed Victoria C FAR inspection
Module is surveyed for reading distance unit k in coherent integration resultiCorresponding speed dimension data, be denoted as A (:, ki), to A (:, k)i
One-dimensional CFAR detection is done, the corresponding speed unit f of point of detection threshold was recordedci, traversed distance unit in all set k
After number corresponding column data, the two-dimentional CFAR testing result A (f that recordsci,ki), wherein i≤N, c≤M.
7. the detection method of any fast two-dimensional CFAR object detection system of claim 1~6: including the following steps:
(1) CFAR detection system is built, wherein the CFAR detection system includes: coherent integration result read module, distance dimension
CFAR detection module, speed Victoria C FAR detection module；
(2) the coherent integration result read module reads echo and mutually accumulates as a result, and recording；
(3) coherent integration result is tieed up apart from Victoria C FAR detection module in distance and carries out CFAR detection；
(4) speed Victoria C FAR detection module will be tieed up in speed by the point apart from Victoria C FAR and carry out CFAR detection.
8. detection method according to claim 7, which is characterized in that in the step (2), the coherent integration result is read
Modulus block reads two-dimentional correlative accumulation as a result, being denoted as A (n, m), wherein m=1,2 ..., M, n=1,2 ..., N, M, N distinguish table
Show speed unit number and counts apart from dimension.
9. detection method according to claim 7 or 8, which is characterized in that described successively to be mentioned apart from Victoria C FAR detection module
(n=1,2 ..., N) row data n-th in coherent integration result are taken, and are denoted as A (n :), while one-dimensional CFAR inspection is done to A (n :)
It surveys, all corresponding distance unit c of target for crossing detection threshold of record line nn(i), wherein cn(i)≤N；It has traversed all
After row, by cn(i) identical data merge in, and distance unit number set k corresponding apart from Victoria C FAR detection target is obtained
={ k1,...,kK, wherein K≤N.
10. according to any detection method of claim 7~9, which is characterized in that the speed Victoria C FAR detection module is read
Take distance unit k in coherent integration resultiCorresponding speed dimension data, be denoted as A (:, ki), to A (:, ki) do one-dimensional CFAR inspection
It surveys, recorded the corresponding speed unit f of point of detection thresholdci, traversed the corresponding columns of distance unit number in all set k
According to rear, two-dimentional CFAR testing result A (f is obtainedci,ki), wherein i≤N, c≤M.
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