CN109116326A - A kind of adaption radar ocean clutter cancellation method based on medion estimator - Google Patents
A kind of adaption radar ocean clutter cancellation method based on medion estimator Download PDFInfo
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Abstract
The adaption radar ocean clutter cancellation method based on medion estimator that the present invention relates to a kind of, ocean clutter cancellation filter is constructed by sequence of real numbers, do not change the phase for inhibiting the doppler spectral of front and back, estimated and handled merely with the data of a pulse accumulation time, operation is simple, has very strong real-time；In practical application, be for each distance element and each tempon (i.e. pulse accumulation time) it is adaptive, it is non-stationary in time domain and airspace to overcome sea clutter；And can effectively inhibit sea clutter, improve signal to noise ratio, so that weak target be made to highlight.
Description
Technical field
The adaption radar ocean clutter cancellation method based on medion estimator that the present invention relates to a kind of belongs to radar and receives letter
Number processing technology field.
Background technique
Sea is influenced by a variety of natural causes such as wind-force, surge and ambient humidity, thus complex, is had very strong
Dynamic characteristic.Sea clutter is backscattering echo of the extra large surface to radar emission signal.It usually seriously limits radar
Detection performance, especially for Small object near sea, such as canoe, navigation buoy, low latitude helicopter etc..Therefore, sea is miscellaneous
The suppression technology of wave, which is one in radar sea-surface target field of detecting, has realistic meaning and problem urgently to be resolved.
For relevant high-resolution radar, classical clutter suppression method is moving-target instruction (Moving Target
Indication, MTI) technology.Since many clutters are all the scatter echos of stationary object, so being scattered by these stationary objects
The frequency spectrum for the clutter that echo is formed is generally concentrated at zero-frequency nearby or near the integral multiple of pulse recurrence frequency.It is miscellaneous relative to these
Wave, target mostly quickly move.So in order to which the target of these microinchings or fixation is distinguished with the target quickly moved
It comes and special filter can be used, this kind of filter is known as moving-target indicator.In fact, the purpose of mti filter is just
It is to inhibit microinching or fixed object to be formed by clutter, and it is lossy or loss very little logical not have Moving Target Return
Band filter.But MTI method is not particularly suited for the inhibition problem of sea clutter: first is that the centre frequency of sea clutter is time-varying,
And often deviate from zero-frequency position；Second is that the shape and spectrum width of sea clutter as changes will occur for time and space, fix shape
The mti filter group of state cannot in time react to these variations.
Summary of the invention
The adaption radar sea clutter suppression based on medion estimator that technical problem to be solved by the invention is to provide a kind of
Method processed can overcome the problems, such as that transient echo signal is fainter in sea clutter, signal to noise ratio is low, and can overcome sea clutter
It is non-stationary when the sky of signal, realize adaptive clutter recognition scheme.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme: the present invention devises a kind of based on median
The adaption radar ocean clutter cancellation method of estimation includes the following steps: for realizing the inhibition to target radar sea clutter
Step A. acquires the echo-signal of target radar, and carries out Short Time Fourier Transform, obtains doppler spectral, then into
Enter step B；
Step B. uses median operator estimation method, calculate obtain in doppler spectral under each distance element, each frequency channel
Sea clutter intensity, subsequently into step C；
Step C. according under distance element each in doppler spectral, the sea clutter intensity of each frequency channel, construct target radar institute
Corresponding ocean clutter cancellation filter, subsequently into step D；
The echo-signal of target radar is passed through ocean clutter cancellation filter corresponding to target radar, realization pair by step D.
The inhibition of target radar sea clutter.
As a preferred technical solution of the present invention: in the step A, acquiring the echo-signal of target radar, go forward side by side
Row Short Time Fourier Transform obtains doppler spectral, if wherein the number of Doppler frequency domain upper channel is less than 2N+1, holds again
Row step A；Otherwise enter step B；Wherein,In formula,Expression rounds up, and Δ f indicates point of doppler spectral
Resolution, fBIndicate Bragg frequency corresponding to target radar.
As a preferred technical solution of the present invention: in the step B, respectively for each distance in doppler spectral
Member executes following steps B1 to step B2, obtains the sea clutter intensity of each frequency channel under distance element, and then obtain doppler spectral
In under each distance element, the sea clutter intensity of each frequency channel, subsequently into step C；
Step B1. using each frequency channel under distance element as frequency channel to be estimated, respectively for it is each to
Estimate frequency channel, execute following steps B1-1 to step B1-3, obtain power value sequence corresponding to frequency channel to be estimated,
And then the corresponding power value sequence of each frequency channel difference to be estimated is obtained, subsequently into step B2；
Step B1-1. judges under the distance element, whether the number of frequency channel is less than N before frequency channel to be estimated, is
The performance number of each frequency channel before then obtaining frequency channel to be estimated respectively, the performance number of frequency channel to be estimated and to
The performance number of N number of frequency channel, constitutes power value sequence corresponding to frequency channel to be estimated after estimation frequency channel；Otherwise
Enter step B1-2；
Step B1-2. judges under the distance element, whether the number of frequency channel is less than N after frequency channel to be estimated, is
Then obtain respectively the performance number of the top n frequency channel of frequency channel to be estimated, the performance number of frequency channel to be estimated and to
The performance number of each frequency channel, constitutes power value sequence corresponding to frequency channel to be estimated after estimation frequency channel；Otherwise
Enter step B1-3；
Step B1-3. obtains the performance number of the top n frequency channel of frequency channel to be estimated, frequency channel to be estimated respectively
Performance number and frequency channel to be estimated after N number of frequency channel performance number, constitute corresponding to frequency channel to be estimated
Power value sequence；
Step B2. is directed to each frequency channel to be estimated under the distance element respectively, right for frequency channel institute to be estimated
It answers each performance number in power value sequence to be ranked up, the median in sequence is obtained, as the frequency channel to be estimated
Sea clutter intensity, and then obtain under the distance element, the sea clutter intensity of each frequency channel.
As a preferred technical solution of the present invention: in the step B2, respectively under the distance element it is each to
Estimate frequency channel, be ranked up for each performance number in power value sequence corresponding to frequency channel to be estimated, and by such as
Lower formula:
Obtain the median in sequence, the sea clutter intensity as the frequency channel to be estimatedAnd then obtain should be away from
From under member, the sea clutter intensity of each frequency channel；Wherein, 1≤m≤M, M indicate the number of distance element in doppler spectral,frIndicate the pulse recurrence frequency of target radar,Indicate in doppler spectral under m-th of distance element,
The sea clutter intensity of f frequency channel；PlwThe function of corresponding each frequency channel before indicating to obtain frequency channel to be estimated by step B1
Rate value, PprocIndicate the frequency values of frequency channel to be estimated, PrwIt indicates to correspond to after obtaining frequency channel to be estimated by step B1
The performance number of each frequency channel, [Plw,Pproc,Prw] indicate Plw、Pproc、PrwThe row of each frequency channel frequency values institute structure performance number
Sequence sequence, median { } indicate that median obtains.
As a preferred technical solution of the present invention: in the step C, according under distance element each in doppler spectral, it is each
The sea clutter intensity of frequency channelAs follows:
It obtains in doppler spectral under each distance element, ocean clutter cancellation filter H corresponding to each frequency channelm(f), in turn
Constitute ocean clutter cancellation filter corresponding to target radar, wherein Hm(f) it indicates in doppler spectral under m-th of distance element, f
Ocean clutter cancellation filter corresponding to frequency channel, min { } indicate that minimum value obtains.
As a preferred technical solution of the present invention: in the step D, the echo-signal of target radar being passed through target
The corresponding ocean clutter cancellation filter of radar, passes through echo-signal and ocean clutter cancellation filter phase corresponding to target radar
Multiply, realizes the inhibition to target radar sea clutter.
A kind of adaption radar ocean clutter cancellation method based on medion estimator of the present invention uses the above technical side
Case compared with prior art, has following technical effect that
The designed adaption radar ocean clutter cancellation method based on medion estimator of the invention, is constructed by sequence of real numbers
Ocean clutter cancellation filter does not change the phase for inhibiting the doppler spectral of front and back, merely with the data of a pulse accumulation time
Estimated and handled, operation is simple, has very strong real-time；In practical application, for each distance element and each
Tempon (i.e. pulse accumulation time) be all it is adaptive, it is non-stationary in time domain and airspace to overcome sea clutter；And
Sea clutter can effectively be inhibited, improve signal to noise ratio, so that weak target be made to highlight.
Detailed description of the invention
Fig. 1 is the flow chart of the adaption radar ocean clutter cancellation method based on medion estimator designed by the present invention；
Fig. 2 is the exemplary diagram for realizing the estimation of sea clutter power in the present invention using sliding window and median；
Fig. 3 a is the power attenuation situation schematic diagram that each Doppler channel is corresponded to using design method of the present invention；
Fig. 3 b is the schematic diagram corresponded to before and after each Doppler channel progress ocean clutter cancellation using design method of the present invention；
Fig. 4 a is the range-Doppler spectrum schematic diagram of original measured data；
Fig. 4 b is for the effect diagram after Fig. 4 a application design method of the present invention.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
Theory analysis and measured data show when microwave radar with graze firing angle detection sea when, sea return it is how general
It strangles spectrum and shows as a broad peak with large energy density, spectrum center and spectral width quickly become with time and space
Change.We design the high-pass filter of a time-varying to inhibit sea clutter to above-mentioned inspired by phenomenon, that is, utilize neighbouring Doppler channel
Performance number estimate the power of sea clutter.But echo signal or the anomalous variation occurred once in a while will lead to estimated value deviation
Normal sea clutter power spectrum.Using median operator can in the power spectrum of real-time estimation clutter automatic rejection open country point shadow
It rings.Therefore, using the clutter recognition filter based on medion estimator, it is capable of the Adaptive Suppression of real-time implementation sea clutter, and
And operation is simple.
Based on above-mentioned, the present invention devises a kind of adaption radar ocean clutter cancellation method based on medion estimator, uses
In inhibition of the realization to target radar sea clutter, practical application, as shown in Figure 1, specifically comprising the following steps:
Step A. acquires the echo-signal of target radar, and carries out Short Time Fourier Transform, doppler spectral is obtained, if wherein
The number of Doppler frequency domain upper channel is less than 2N+1, then re-execute the steps A；Otherwise enter step B；Wherein,In formula,Expression rounds up, and Δ f indicates the resolution ratio of doppler spectral, fBIt indicates corresponding to target radar
Bragg frequency.
Step B. uses median operator estimation method, respectively for each distance element in doppler spectral, executes as follows
Step B1 to step B2 obtains the sea clutter intensity of each frequency channel under distance element, and then obtains each distance element in doppler spectral
Under, the sea clutter intensity of each frequency channel, subsequently into step C.
Step B1. using each frequency channel under distance element as frequency channel to be estimated, respectively for it is each to
Estimate frequency channel, execute following steps B1-1 to step B1-3, obtain power value sequence corresponding to frequency channel to be estimated,
And then the corresponding power value sequence of each frequency channel difference to be estimated is obtained, subsequently into step B2.
Step B1-1. judges under the distance element, whether the number of frequency channel is less than N before frequency channel to be estimated, is
The performance number of each frequency channel before then obtaining frequency channel to be estimated respectively, the performance number of frequency channel to be estimated and to
The performance number of N number of frequency channel, constitutes power value sequence corresponding to frequency channel to be estimated after estimation frequency channel；Otherwise
Enter step B1-2.
Step B1-2. judges under the distance element, whether the number of frequency channel is less than N after frequency channel to be estimated, is
Then obtain respectively the performance number of the top n frequency channel of frequency channel to be estimated, the performance number of frequency channel to be estimated and to
The performance number of each frequency channel, constitutes power value sequence corresponding to frequency channel to be estimated after estimation frequency channel；Otherwise
Enter step B1-3.
Step B1-3. obtains the performance number of the top n frequency channel of frequency channel to be estimated, frequency channel to be estimated respectively
Performance number and frequency channel to be estimated after N number of frequency channel performance number, constitute corresponding to frequency channel to be estimated
Power value sequence.
Step B2. is directed to each frequency channel to be estimated under the distance element respectively, right for frequency channel institute to be estimated
Each performance number in power value sequence is answered to be ranked up, as follows:
Obtain the median in sequence, the sea clutter intensity as the frequency channel to be estimatedAnd then obtain should be away from
From under member, the sea clutter intensity of each frequency channel；Wherein, 1≤m≤M, M indicate the number of distance element in doppler spectral,frIndicate the pulse recurrence frequency of target radar,Indicate in doppler spectral under m-th of distance element,
The sea clutter intensity of f frequency channel；PlwThe function of corresponding each frequency channel before indicating to obtain frequency channel to be estimated by step B1
Rate value, PprocIndicate the frequency values of frequency channel to be estimated, PrwIt indicates to correspond to after obtaining frequency channel to be estimated by step B1
The performance number of each frequency channel, [Plw,Pproc,Prw] indicate Plw、Pproc、PrwThe row of each frequency channel frequency values institute structure performance number
Sequence sequence, median { } indicate that median obtains.
In above-mentioned steps B using sliding window realize frequency channel to be estimated and before it, the acquisition of frequency channel later,
Wherein the length of sliding window is 2N+1, and frequency channel to be estimated is always positioned at the middle position of sliding window, is designed and is realized by this sliding window
The operation of above-mentioned steps B.
Step C. according under distance element each in doppler spectral, the sea clutter intensity of each frequency channelBy following public affairs
Formula:
It obtains in doppler spectral under each distance element, ocean clutter cancellation filter H corresponding to each frequency channelm(f), in turn
Ocean clutter cancellation filter corresponding to target radar is constituted, subsequently into step D, wherein Hm(f) it indicates the in doppler spectral
Under m distance element, ocean clutter cancellation filter corresponding to f frequency channel, min { } indicate minimum value obtain.
The echo-signal of target radar is passed through ocean clutter cancellation filter corresponding to target radar by step D., by returning
Wave signal is multiplied with ocean clutter cancellation filter corresponding to target radar, realizes the inhibition to target radar sea clutter.
By the above-mentioned designed adaption radar ocean clutter cancellation method based on medion estimator, it is applied to specific embodiment
In the middle, wherein it tests the S-band ocean remote sensing instrument that radar return data used are independent developments and will be obtained in the end of the year 2012,
Radar major parameter is as follows: tranmitting frequency 2.85GHz, distance resolution 7.5m, pulse recurrence frequency 256Hz, antenna
Main lobe width is 30 °；Environment major parameter is as follows: significant wave height 1.68m, and the effectively wave period is 8s, wind speed 6.4m/s.Number
According in processing, designed according to algorithm each relative parameters setting is as follows: Coherent processing time CPI=0.5s, Fourier becomes in short-term
The time window length N changedFu=PRFCPI=128, left and right reference unit number
Take out the 240th tempon, the data of the 20th distance element illustrate applicable cases of the invention as example.Such as
Shown in Fig. 2, the spectrum of original doppler spectral and estimation is observed, the sea it can be found that doppler spectral that estimation obtains can coincide well
Distribution situation of the clutter power in each Doppler channel；Each Doppler channel is corresponded to using design method of the present invention as shown in Figure 3a
Power attenuation situation schematic diagram and Fig. 3 b shown in using design method of the present invention correspond to each Doppler channel progress sea clutter
Inhibit the schematic diagram of front and back；Therefrom it can be seen that, the sef-adapting filter of building can effectively inhibit sea clutter, retain simultaneously
Echo signal.The about 5dB although echo signal has decayed after through filter, sea clutter are inhibited by 28dB or so,
It is equivalent to signal to noise ratio and improves about 23dB.The range-Doppler spectrum schematic diagram of original measured data as shown in fig. 4 a, Yi Jitu
For the effect diagram after Fig. 4 a application design method of the present invention shown in 4b；Therefrom it can be seen that, sea clutter signal obtains
Effective inhibition, and the loss of echo signal is smaller.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (6)
1. a kind of adaption radar ocean clutter cancellation method based on medion estimator, for realizing to target radar sea clutter
Inhibit, which comprises the steps of:
Step A. acquires the echo-signal of target radar, and carries out Short Time Fourier Transform, doppler spectral is obtained, subsequently into step
Rapid B；
Step B. uses median operator estimation method, calculate obtain in doppler spectral under each distance element, the sea of each frequency channel
Noise intensity, subsequently into step C；
Step C. according under distance element each in doppler spectral, the sea clutter intensity of each frequency channel, construct target radar corresponding to
Ocean clutter cancellation filter, subsequently into step D；
Step D. by ocean clutter cancellation filter corresponding to target radar, realizes the echo-signal of target radar to target
The inhibition of radar sea clutter.
2. a kind of adaption radar ocean clutter cancellation method based on medion estimator, feature exist according to claim 1
In: in the step A, the echo-signal of target radar is acquired, and carry out Short Time Fourier Transform, obtains doppler spectral, if its
The number of middle Doppler frequency domain upper channel is less than 2N+1, then re-execute the steps A；Otherwise enter step B；Wherein,In formula,Expression rounds up, and Δ f indicates the resolution ratio of doppler spectral, fBIt indicates corresponding to target radar
Bragg frequency.
3. a kind of adaption radar ocean clutter cancellation method based on medion estimator, feature exist according to claim 2
In: in the step B, respectively for each distance element in doppler spectral, following steps B1 to step B2 is executed, obtains distance
The sea clutter intensity of each frequency channel under member, so obtain in doppler spectral under each distance element, the sea clutter of each frequency channel it is strong
Degree, subsequently into step C；
Step B1. is using each frequency channel under distance element as frequency channel to be estimated, respectively for each to be estimated
Frequency channel executes following steps B1-1 to step B1-3, obtains power value sequence corresponding to frequency channel to be estimated, in turn
The corresponding power value sequence of each frequency channel difference to be estimated is obtained, subsequently into step B2；
Step B1-1. judges under the distance element, whether the number of frequency channel is less than N before frequency channel to be estimated, is to divide
The performance number of each frequency channel before not obtaining frequency channel to be estimated, the performance number of frequency channel to be estimated and to be estimated
The performance number of N number of frequency channel after frequency channel, constitutes power value sequence corresponding to frequency channel to be estimated；Otherwise enter
Step B1-2；
Step B1-2. judges under the distance element, whether the number of frequency channel is less than N after frequency channel to be estimated, is to divide
The performance number of the top n frequency channel of frequency channel to be estimated, the performance number of frequency channel to be estimated and to be estimated are not obtained
The performance number of each frequency channel after frequency channel, constitutes power value sequence corresponding to frequency channel to be estimated；Otherwise enter
Step B1-3；
Step B1-3. obtains the function of the performance number of the top n frequency channel of frequency channel to be estimated, frequency channel to be estimated respectively
The performance number of N number of frequency channel, constitutes power corresponding to frequency channel to be estimated after rate value and frequency channel to be estimated
Value sequence；
Step B2. is directed to each frequency channel to be estimated under the distance element respectively, for function corresponding to frequency channel to be estimated
Each performance number in rate value sequence is ranked up, and obtains the median in sequence, and the sea as the frequency channel to be estimated is miscellaneous
Intensity of wave, and then obtain under the distance element, the sea clutter intensity of each frequency channel.
4. a kind of adaption radar ocean clutter cancellation method based on medion estimator, feature exist according to claim 3
In: it is right for frequency channel institute to be estimated respectively for each frequency channel to be estimated under the distance element in the step B2
Each performance number in power value sequence is answered to be ranked up, and as follows:
Obtain the median in sequence, the sea clutter intensity as the frequency channel to be estimatedAnd then obtain the distance element
Under, the sea clutter intensity of each frequency channel；Wherein, 1≤m≤M, M indicate the number of distance element in doppler spectral,frIndicate the pulse recurrence frequency of target radar,Indicate in doppler spectral under m-th of distance element,
The sea clutter intensity of f frequency channel；PlwThe function of corresponding each frequency channel before indicating to obtain frequency channel to be estimated by step B1
Rate value, PprocIndicate the frequency values of frequency channel to be estimated, PrwIt indicates to correspond to after obtaining frequency channel to be estimated by step B1
The performance number of each frequency channel, [Plw,Pproc,Prw] indicate Plw、Pproc、PrwThe row of each frequency channel frequency values institute structure performance number
Sequence sequence, median { } indicate that median obtains.
5. a kind of adaption radar ocean clutter cancellation method based on medion estimator, feature exist according to claim 4
In: in the step C, according under distance element each in doppler spectral, the sea clutter intensity of each frequency channelBy following public affairs
Formula:
It obtains in doppler spectral under each distance element, ocean clutter cancellation filter H corresponding to each frequency channelm(f), it and then constitutes
Ocean clutter cancellation filter corresponding to target radar, wherein Hm(f) it indicates in doppler spectral under m-th of distance element, f frequency
Ocean clutter cancellation filter corresponding to channel, min { } indicate that minimum value obtains.
6. according to claim 1 or a kind of 5 adaption radar ocean clutter cancellation methods based on medion estimator, feature
It is: in the step D, by the echo-signal of target radar by ocean clutter cancellation filter corresponding to target radar, leads to
It crosses echo-signal to be multiplied with ocean clutter cancellation filter corresponding to target radar, realizes the inhibition to target radar sea clutter.
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