CN109143217A - A kind of distance folding echo suppressing method based on MISO system - Google Patents
A kind of distance folding echo suppressing method based on MISO system Download PDFInfo
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- CN109143217A CN109143217A CN201810967205.5A CN201810967205A CN109143217A CN 109143217 A CN109143217 A CN 109143217A CN 201810967205 A CN201810967205 A CN 201810967205A CN 109143217 A CN109143217 A CN 109143217A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/20—Systems for measuring distance only using transmission of interrupted, pulse modulated waves whereby multiple time-around echoes are used or eliminated
Abstract
A kind of distance folding echo suppressing method based on MISO system, it is used for radar resistant to collapsing echo technique field.The present invention solves existing Waveform Design and distance folding echo method is inhibited really will cannot to promote the limited problem of effect to radar data reduction apart from echo suppressing is folded.Make distance fold echo the present invention is based on phase-coded signal between a kind of arteries and veins of MISO system design to move in angle dimension generation, distance folds echo and can move from radar spatial observation region to non-observation area, i.e., will fold echo and curb by airspace filter method；If observation area cannot be moved away from completely by folding echo, then emit phase-coded signal between arteries and veins and not can solve distance and fold the MISO signal of echo problems, it will subtract each other after its corresponding echo data matching treatment, obtain clean folding echo data, echo will be folded in former echo data by Wiener Filtering using it to filter out, obtain distance without ambiguous returns data.Present invention could apply to radar resistant to collapsing echo technique field use.
Description
Technical field
The invention belongs to the anti-distances of radar to fold echo technique field, and in particular to a kind of distance folding based on MISO system
Folded echo suppressing method.
Background technique
Radar can be received positioned at its maximum stronger echo without the object except fuzzy detection range, and be mistaken for
It obscuring within detection range positioned at its maximum nothing, is folded to generate distance, this distance folding echo can flood echo signal,
It causes echo signal that can not be correctly detected, therefore its detection performance for drastically influencing radar, how effectively to inhibit distance
Folding echo just becomes a critical issue of radar system detection performance research.The existing anti-distance of Design of Signal folds echo
Method will really can not inhibit apart from folding echo, therefore the effect promoted to radar system detection performance is limited.
Summary of the invention
Inhibiting distance to fold echo method present invention aim to address existing Design of Signal cannot really will be apart from folding
The problem of folded echo is inhibited, to influence radar system detection performance.
The technical solution adopted by the present invention to solve the above technical problem is:
A kind of distance folding echo suppressing method based on MISO system, method includes the following steps:
Step 1: radar emits unlike signal, the linear array of M array element, by single battle array by the array element that M spacing is d
First receives echo-signal, and there be M matched filter in receiving end, realizes the separation of M array element transmitting signal；
Design k-th of pulse signal u of m-th of array element of radar transmittingt,(m,k)(t) shown in expression formula such as formula (1):
Wherein: j is imaginary unit, and m is array element serial number, and m=1,2 ..., M, k is pulse signal serial number, and K is accumulation pulse
Number, k=1,2 ..., K, TrFor the pulse repetition period, T is pulse width, f0To emit signal carrier frequency, b is to move coefficient rect
() is rectangular pulse functions, and t represents the time；
smIt (t) is orthogonal waveforms, and sm(t) meet
Wherein: * is convolution algorithm symbol, and δ (t) is impulse function, i ' and j ' respectively represent in M the i-th ' is a and jth ' a
Array element；
Signal detection target shown in radar emission formula (1), then k-th of pulse signal of m-th of array element transmitting is corresponding
Echo-signal ur,(m,k)(t) as shown in formula (4):
Wherein: τ is echo delay, and echo delay τ is expressed as follows:
Wherein: R indicates that detected target and the practical radial distance of radar, v are detected target radial velocity, and c is the light velocity,
R0For detected target and radar equivalent radial distance, RmaxFor the maximum unambiguous distance of detected target and radar, n is indicated
Echo folding times；
The corresponding flow pattern vector a (θ) of wave digression θ is expressed as follows:
Wherein: λ is transmitting signal wavelength, and λ=c/f0；For multiplication operator, []TFor matrix transposition operator；
The then corresponding echo data U of k-th of pulse signal of radar emission signalr,k(t) it is expressed as follows:
Wherein: ur,(m,k)(t) the corresponding echo-signal of k-th of pulse signal of m-th of array element transmitting, and u are indicatedr,(m,k)
It (t) is a row vector；
When echo folding times are n, echo-signal ur,(m,k)(t) in receiving end and reference signal urefer,(m,k+n)It carries out
Matching treatment, reference signal urefer,(m,k+n)Form such as formula (8) shown in:
The echo data u obtained by matching treatmentmatch,(m,k,n)As shown in formula (9):
Wherein:For intermediate variable,ρ indicates echo strength, nb
The echo for being n for folding times ties up the amount of moving in angle；
Designed distance folds echo and moves coefficient b what angle dimension moved radar non-viewing space angle range；
Step 2: each array element difference Emission Formula (1) signal of radar folds echoing with not can solve distance
MISO signal, the echo data U that formula (1) signal is obtained after the matching treatment of receiving endk(t) it and not can solve distance to fold
The echo data X that the MISO signal of echoing obtains after the matching treatment of receiving endk(t) subtract each other, obtain distance and fold echo
Data Yk(t)；
The MISO signal that not can solve distance folding echoing refers to that cannot make to fold echo produces in angle dimension
The raw MISO signal moved, and then separated with no ambiguous returns.
Step 3: it calculates distance and folds echo data Yk(t) covariance matrix, and optimal weight vector is acquired by filtering
wm,opt；
Step 4: calculating each array element transmitting of radar using optimal weight vector not can solve distance folding echoing
The corresponding distance of MISO signal rolls over the distance in the corresponding echo data of each array element transmitting signal without ambiguous returns data
Folded echo component curbs, and obtains distance without ambiguous returns data.
The beneficial effects of the present invention are: the present invention is a kind of distance folding echo suppressing method based on MISO system, this
Invention makes distance folding echo generate certain amount of moving in angle dimension based on phase-coded signal between a kind of arteries and veins of MISO system design,
Distance folds echo and can move from radar spatial observation region to non-observation area, then can will pass through airspace apart from echo is folded
The method of filtering curbs；If radar spatial observation region cannot be moved away from completely apart from echo is folded, by emitting this hair simultaneously
Phase-coded signal and the MISO signal that not can solve distance folding echo problems between the arteries and veins based on MISO system of bright design, will
Subtract each other after its corresponding echo data matching treatment, obtains clean distance and fold echo data, can be filtered by wiener using it
Distance in former echo data is folded echo and filtered out by wave method, obtains distance without ambiguous returns data, and it is proposed by the present invention away from
It disintegrates folded echo suppressing method not conflict with existing various signal processing methods, cascade processing can be carried out.
Detailed description of the invention
Fig. 1 is the linear array schematic diagram that M array element of radar of the invention forms；
Fig. 2 is the schematic diagram that not can solve distance and fold the MISO signal of echoing of each array element transmitting of radar；
Fig. 3 (a) is formula (1) signal that the radar emission present invention designs, the result figure after matching treatment；
Wherein: distance is unchanged without ambiguous returns position, and primary distance folds echo and ties up in positive-angle direction in angle
0.2 unit is moved, secondary range folds echo and moved 0.4 unit in positive-angle direction in angle dimension；
Fig. 3 (b) is formula (1) signal that the radar emission present invention designs and not can solve apart from folding echoing
MISO signal, obtaining each array element transmitting not can solve the corresponding distance of MISO signal of distance folding echoing without ambiguous returns
Data dm(t) result figure；
Wherein: primary and secondary range folds echo and is suppressed, and is only left distance on angle doppler spectral without fuzzy
Echo.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawing, and however, it is not limited to this, all to this
Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered
Within the protection scope of the present invention.
Specific embodiment 1: embodiment is described with reference to Fig. 1.One kind described in present embodiment is based on MISO system
Distance fold echo suppressing method, method includes the following steps:
Step 1: radar emits unlike signal, the linear array of M array element, by single battle array by the array element that M spacing is d
First receives echo-signal, and there be M matched filter in receiving end, realizes the separation of M array element transmitting signal；
Design k-th of pulse signal u of m-th of array element of radar transmittingt,(m,k)(t) shown in expression formula such as formula (1):
Wherein: j is imaginary unit, and m is array element serial number, and m=1,2 ..., M, k is pulse signal serial number, and K is accumulation pulse
Number, k=1,2 ..., K, TrFor the pulse repetition period, T is pulse width, f0To emit signal carrier frequency, b is to move coefficient, is used for
Adjustment distance folds move amount of the echo in angle dimension, and bmk phase code between arteries and veins, rect () is rectangular pulse functions, t generation
The table time；
sm(t) it is orthogonal waveforms, guarantees to realize signal sorting, and s in radar receiving endm(t) meet
Wherein: * is convolution algorithm symbol, and δ (t) is impulse function, i ' and j ' respectively represent in M the i-th ' is a and jth ' a
Array element；si′(t) and sj′It (t) is orthogonal waveforms；
Signal detection target shown in radar emission formula (1), then k-th of pulse signal of m-th of array element transmitting is corresponding
Echo-signal ur,(m,k)(t) as shown in formula (4):
Wherein: τ is echo delay, and echo delay τ is expressed as follows:
Wherein: R indicates that detected target and the practical radial distance of radar, v are detected target radial velocity, and c is the light velocity,
R0For detected target and radar equivalent radial distance, RmaxFor the maximum unambiguous distance of detected target and radar, n is indicated
Echo folding times；Indicate echo distance without fuzzy as n=0；
Wave digression θ refers to that the line of detected target and radar and horizontal direction are angle o, the corresponding flow pattern arrow of wave digression θ
Amount a (θ) is expressed as follows:
Wherein: λ is transmitting signal wavelength, and λ=c/f0；It is required thatPresent invention settingFor multiplication
Operator, []TFor matrix transposition operator；
The then corresponding echo data U of k-th of pulse signal of radar emission signalr,k(t) it is expressed as follows:
Wherein: ur,(m,k)(t) the corresponding echo-signal of k-th of pulse signal of m-th of array element transmitting, and u are indicatedr,(m,k)
It (t) is a row vector；
When echo folding times are n, since each array element transmitting signal is mutually orthogonal, echo-signal ur,(m,k)(t) it is connecing
Receiving end and reference signal urefer,(m,k+n)Carry out matching treatment, reference signal urefer,(m,k+n)Form such as formula (8) shown in:
The echo data u obtained by matching treatmentmatch,(m,k,n)As shown in formula (9):
Wherein:For intermediate variable,ρ indicates echo strength, the
A partA constant value can be regarded as；Second partIt can be used for echo Doppler processing, survey
Target speed value is measured, first part is denoted as with second part productIt is unrelated with array element serial number m；Part III e-j2πnbm
Then to fold the additional amount that echoing signal generates with distance, wherein n is echo folding times, and nb is that folding times are n
Echo angle tie up the amount of moving；When n=0, that is, echo distance is without obscuring, additional amount phase value is 0, i.e., on it without influence.
Designed distance folds echo and moves coefficient b what angle dimension moved radar non-viewing space angle range；
Step 2: each array element difference Emission Formula (1) signal of radar folds echoing with not can solve distance
MISO signal, the echo data U that formula (1) signal is obtained after the matching treatment of receiving endk(t) it and not can solve distance to fold
The echo data X that the MISO signal of echoing obtains after the matching treatment of receiving endk(t) subtract each other, obtain distance and fold echo
Data Yk(t)；
Step 3: it calculates distance and folds echo data Yk(t) covariance matrix, and optimal weight vector is acquired by filtering
wm,opt；
Step 4: calculating each array element transmitting of radar using optimal weight vector not can solve distance folding echoing
Each array element is emitted signal and (refers to that the distance that not can solve of transmitting is rolled over by the corresponding distance of MISO signal without ambiguous returns data
The MISO signal of folded echoing) distance in corresponding echo data folds echo component and curbs, distance is obtained without fuzzy
Echo data.
Specific embodiment 2: present embodiment folds a kind of distance based on MISO system described in embodiment one
Echo suppressing method is further limited, and designed distance folds echo to move radar non-in angle dimension in the step 1
Observation space angular range moves coefficient b, detailed process are as follows:
Radar horizon observation angle range is -90 °~90 °, if the angular range of radar actual needs observation is α °~β °,
Then the non-required observation area of radar is -90 °~α ° and β °~90 °；
It will be moved from radar actual needs to non-required observation area-for α °~β ° of observation angle range apart from echo is folded
90 °~α ° or β °~90 °, then the minimum value of the amount of moving nb is sin (β)-sin (α)/2, and maximum value is [2- (sin (β)-sin
(α))]/2；
I.e. for the echo for folding n times, the amount of moving nb meets following formula:
Move coefficient b satisfaction
The corresponding value range for moving coefficient b of different folding times echoes is taken into intersection, obtaining moving coefficient b needs to meet
Following formula:
In practical applications, maximum echo folding times are unknown, be difficult to design meet formula (12) move coefficient b,
I.e. it is difficult to ensure that (sin (β)-sin (α))≤(2- (sin (β)-sin (α)))/n.
Specific embodiment 3: present embodiment folds a kind of distance based on MISO system described in embodiment two
Echo suppressing method is further limited, and each array element of the step 2 radar distinguishes Emission Formula (1) signal and cannot
Solve the MISO signal that distance folds echoing, the echo data that formula (1) signal is obtained after the matching treatment of receiving end
Uk(t) the echo data X obtained after the matching treatment of receiving end with the MISO signal that not can solve distance folding echoingk(t)
Subtract each other, obtains distance and fold echo data Yk(t)；Its detailed process are as follows:
Each array element difference Emission Formula (1) signal of radar folds the MISO signal of echoing with not can solve distance,
It not can solve distance and fold the MISO signal of echoing equally by the mutually orthogonal waveform of each array element transmitting and formula (1) letter
Number difference is phase code between acrotism；
Step 2 one: each array element difference Emission Formula (1) signal of radar folds echoing with not can solve distance
MISO signal；
M-th of array element transmitting of radar not can solve k-th of pulse signal that distance folds the MISO signal of echoing
xt,(m,k)(t) expression formula is as follows:
Wherein: gmIt (t) is orthogonal waveforms, and orthogonal waveforms gm(t) meet following formula:
gj′(t) and si′(t) orthogonal, it realizes formula (1) signal and not can solve the MISO signal of distance folding echoing
Signal separator in receiving end: since each array element while Emission Formula (1) signal of radar fold echo with not can solve distance
The MISO signal of phenomenon, it is orthogonal to distinguish it in receiving end；
si′(t)*gj′(t)=0 i ', j ' ∈ [1, M] (15)
Step 2 two: the echo data U that formula (1) signal is obtained after the matching treatment of receiving endk(t) with not can solve
Distance folds the echo data X that the MISO signal of echoing obtains after the matching treatment of receiving endk(t) subtract each other, obtain clean
Distance fold echo data；
For the echo component from the direction wave digression θ of signal shown in formula (1), k-th of pulse of signal is being received
Echo data U after holding matching treatmentmatch,k(t) it is expressed as follows:
In formula: umatch,(m,k,n)For number of echoes of k-th of pulse signal after matching treatment of m-th of array element transmitting
According to；For Hadamard (Hadamard) product operator, L (n, b)=[e-j2πnb·0,e-j2πnb·1,…,e-j2πnb·(M-1)]TFor formula
(1) vector is moved in the airspace that signal shown in generates, and n is echo folding times；
For the echo component from the direction wave digression θ, radar emission not can solve the MISO that distance folds echoing
Corresponding echo data X after k-th of pulse matching processing of signalmatch,k(t) it is expressed as follows:
Formula (17) is then subtracted formula (16) to obtain:
When echo distance is without fuzzy, i.e. when echo folding times n=0, L (n, b)=[1,1 ..., 1]T, then formula (18) etc.
InAs echo folding times n ≠ 0, i.e., formula (18) is equal toDistance is eliminated without fuzzy data, and distance folds echo data and is retained
Get off；
Signal shown in note formula (1) has NsourceA echo component, the corresponding wave digression degree of each echo componentThe corresponding echo folding times of each echo component areEcho folding times are
Integer more than or equal to 0；
Then for NsourceK-th of pulse signal of the case where a echo component, signal shown in radar emission formula (1) exist
The echo data U that receiving end matching treatment obtainsk(t) it is expressed as follows:
In above formula:For from wave digression θ1Intermediate variable after the corresponding matching treatment of the echo component in direction,
ForTransposition；
Similarly, for NsourceThe case where a echo component, radar emission not can solve the MISO that distance folds echoing
The echo data X that k-th of pulse signal of signal is obtained in receiving end matching treatmentk(t) it is expressed as follows:
Then distance folds echo data Yk(t) formula (19) is subtracted by formula (20) to obtain:
Yk(t)=Xk(t)-Uk(t) (21)
It is to meet distance and eliminated completely without ambiguous returns by formula (21), needs to be designed to moving coefficient b, away from
It is periodic for disintegrating folded echo and moving in angle dimension, it is possible to move back its original position, cause it that can not be suppressed, to avoid
This case needs to rationally design to moving coefficient b,
Original position then is moved back in angle dimension to avoid distance from folding echo, the amount of moving nb need to meet condition
Indicate integer set, that is, the amount of moving nb is not equal to integer, and the coefficient b that moves for meeting this condition is easy to choose.
Specific embodiment 4: present embodiment folds a kind of distance based on MISO system described in embodiment three
Echo suppressing method is further limited, and the step 3 calculates distance and folds echo data Yk(t) covariance matrix,
And optimal weight vector w is acquired by filteringm,opt, detailed process are as follows:
Distance folds echo data Yk(t) covariance matrix RYAre as follows:
RY=E [Yk(t)Yk(t)H] (22)
Wherein: E [] indicates mathematic expectaion operation；Yk(t)HFor Yk(t) conjugate matrices；
The corresponding echo data z of signal that m-th of array element is emittedm(t) from Uk(t) it is separated in, zm(t) it indicates such as
Under:
Then optimal weight vector wm,optIt is obtained by solving following formula:
wm,optFor a column vector, []HFor conjugate transposition operation, | | | |2Indicate two norm operations,Expression is askedMinimum value, by calculate above formula, obtain optimal power
Vector wm,optIt is expressed as follows:
Wherein: []-1For inversion operation, rY,Z=E [Yk(t)zm(t)H], rY,ZFor intermediate variable.
Specific embodiment five: present embodiment is to a kind of being folded back into based on MISO system described in embodiment four
Wave suppressing method is further limited, and the step 4 calculates each array element transmitting of radar using optimal weight vector and cannot solve
The corresponding distance of MISO signal that certainly distance folds echoing corresponds to each array element transmitting signal without ambiguous returns data
Echo data in distance fold echo component curb, obtain distance without ambiguous returns data, detailed process are as follows:
The corresponding distance of signal of m-th of array element of radar transmitting is without ambiguous returns data dm(t) it is expressed as follows:
Similarly, the corresponding distance of signal of other array elements of radar transmitting is calculated without ambiguous returns data, i.e. radar is each
Distance folds echo component and is suppressed in the corresponding echo data of signal of array element transmitting, obtains distance without ambiguous returns number
According to.
Embodiment
Beneficial effects of the present invention are verified using following embodiment:
Embodiment one:
Move distance folding echo in angle dimension using design formula of the present invention (1) signal, distance is without ambiguous returns
Position is unchanged, and the echo data that formula (1) signal further designed through the invention obtains is folded with not can solve distance
The echo data that the MISO signal of echoing obtains subtracts each other, and is obtained formula (1) signal that the present invention designs by filtering with it
To echo data in distance fold echo curb.
Experimental setup parameters are as follows:
1 experiment parameter of table
As shown in Fig. 2, radar (the various array elements of MISO system array) transmitting, which not can solve distance, folds echoing
In the case where MISO signal, in same beam area, close with radar radial velocity, the identical distance of equivalent distances is without mould
Paste echo, primary distance folds echo, and secondary range, which folds echo, to be submitted in angle Doppler dimension and stacks, can not to its into
Row is differentiated；
As shown in Fig. 3 (a), radar (the various array elements of MISO system array) transmitting formula (1) signal feelings of the invention designed
Under condition, distance is unchanged without ambiguous returns position after matching treatment, and primary distance folds echo and ties up in angle to positive-angle direction
On moved 0.2 unit, secondary range folds echo and has moved 0.4 unit in positive-angle direction in angle dimension, in angle
Separation is realized in dimension；
As shown in Fig. 3 (b), radar (the various array elements of MISO system array) transmitting formula (1) signal that designs of the present invention and
Not can solve the MISO signal that distance folds echoing, respectively after matching treatment by result subtract each other to obtain it is primary and it is secondary away from
Disintegrate folded echo data, be filtered with its echo data obtained to formula (1) signal for designing of the present invention, once with
And secondary range fold echo be suppressed, on angle doppler spectral only remaining distance without ambiguous returns.
Claims (5)
1. a kind of distance based on MISO system folds echo suppressing method, which is characterized in that method includes the following steps:
Step 1: radar emits unlike signal by the array element that M spacing is d, and the linear array of M array element is connect by single array element
Echo-signal is received, and there be M matched filter in receiving end, realizes the separation of M array element transmitting signal；
Design k-th of pulse signal u of m-th of array element of radar transmittingt,(m,k)(t) shown in expression formula such as formula (1):
Wherein: j is imaginary unit, and m is array element serial number, and m=1,2 ..., M, k is pulse signal serial number, and K is accumulation umber of pulse, k
=1,2 ..., K, TrFor the pulse repetition period, T is pulse width, f0To emit signal carrier frequency, b is to move coefficient, rect ()
For rectangular pulse functions, t represents the time；
smIt (t) is orthogonal waveforms, and sm(t) meet
Wherein: * is convolution algorithm symbol, and δ (t) is impulse function, and i ' and j ' respectively represent the i-th ' a and jth ' a battle array in M
Member；
Signal detection target shown in radar emission formula (1), then k-th of pulse signal corresponding time of m-th of array element transmitting
Wave signal ur,(m,k)(t) as shown in formula (4):
Wherein: τ is echo delay, and echo delay τ is expressed as follows:
Wherein: R indicates that detected target and the practical radial distance of radar, v are detected target radial velocity, and c is the light velocity, R0For
Detected target and radar equivalent radial distance, RmaxFor the maximum unambiguous distance of detected target and radar, n indicates echo
Folding times；
The corresponding flow pattern vector a (θ) of wave digression θ is expressed as follows:
Wherein: λ is transmitting signal wavelength, and λ=c/f0；For multiplication operator, []TFor matrix transposition operator；
The then corresponding echo data U of k-th of pulse signal of radar emission signalr,k(t) it is expressed as follows:
Wherein: ur,(m,k)(t) the corresponding echo-signal of k-th of pulse signal of m-th of array element transmitting, and u are indicatedr,(m,k)(t) it is
One row vector；
When echo folding times are n, echo-signal ur,(m,k)(t) in receiving end and reference signal urefer,(m,k+n)It is matched
Processing, reference signal urefer,(m,k+n)Form such as formula (8) shown in:
The echo data u obtained by matching treatmentmatch,(m,k,n)As shown in formula (9):
Wherein:For intermediate variable,ρ indicates that echo strength, nb are folding
The echo that folded number is n ties up the amount of moving in angle；
Designed distance folds echo and moves coefficient b what angle dimension moved radar non-viewing space angle range；
Step 2: each array element difference Emission Formula (1) signal of radar folds the MISO letter of echoing with not can solve distance
Number, the echo data U that formula (1) signal is obtained after the matching treatment of receiving endk(t) it is existing and not can solve distance folding echo
The echo data X that the MISO signal of elephant obtains after the matching treatment of receiving endk(t) subtract each other, obtain distance and fold echo data Yk
(t)；
Step 3: it calculates distance and folds echo data Yk(t) covariance matrix, and optimal weight vector is acquired by filtering
wm,opt；
Step 4: calculating each array element transmitting of radar using optimal weight vector not can solve the MISO letter that distance folds echoing
Distance in the corresponding echo data of each array element transmitting signal is folded echo without ambiguous returns data by number corresponding distance
Ingredient curbs, and obtains distance without ambiguous returns data.
2. a kind of distance based on MISO system according to claim 1 folds echo suppressing method, which is characterized in that institute
The designed distance for stating step 1 folds echo and moves coefficient b what angle dimension moved radar non-viewing space angle range,
Detailed process are as follows:
Radar horizon observation angle range is -90 °~90 °, if the angular range of radar actual needs observation is α °~β °, thunder
It is -90 °~α ° and β °~90 ° up to non-required observation area；
Will apart from fold echo from radar be actually needed α °~β ° of observation angle range move to -90 ° of non-required observation area~
α ° or β °~90 °, then the minimum value of the amount of moving nb be sin (β)-sin (α)/2, maximum value be [2- (sin (β)-sin (α))]/
2；
I.e. for the echo for folding n times, the amount of moving nb meets following formula:
Move coefficient b satisfaction
The corresponding value range for moving coefficient b of different folding times echoes is taken into intersection, is obtained moving under coefficient b need to meet
Formula:
3. a kind of distance based on MISO system according to claim 2 folds echo suppressing method, which is characterized in that institute
Each array element difference Emission Formula (1) signal of step 2 radar and the MISO signal that not can solve distance folding echoing are stated,
The echo data U that formula (1) signal is obtained after the matching treatment of receiving endk(t) it and not can solve distance and fold echoing
The echo data X that is obtained after the matching treatment of receiving end of MISO signalk(t) subtract each other, obtain distance and fold echo data Yk(t)；
Its detailed process are as follows:
Step 2 one: each array element difference Emission Formula (1) signal of radar folds the MISO of echoing with not can solve distance
Signal；
M-th of array element transmitting of radar not can solve k-th of pulse signal x that distance folds the MISO signal of echoingt,(m,k)
(t) expression formula is as follows:
Wherein: gmIt (t) is orthogonal waveforms, and orthogonal waveforms gm(t) meet following formula:
gj′(t) and si′(t) orthogonal, realize that formula (1) signal is connecing with the MISO signal that not can solve distance folding echoing
The Signal separator of receiving end:
si′(t)*gj′(t)=0 i ', j ' ∈ [1, M] (15)
Step 2 two: the echo data U that formula (1) signal is obtained after the matching treatment of receiving endk(t) and it not can solve distance
Fold the echo data X that the MISO signal of echoing obtains after the matching treatment of receiving endk(t) subtract each other；
For the echo component from the direction wave digression θ of signal shown in formula (1), k-th of pulse of signal is in receiving end
With treated echo data Umatch,k(t) it is expressed as follows:
In formula:For Hadamard product operator, L (n, b)=[e-j2πnb·0,e-j2πnb·1,…,e-j2πnb·(M-1)]TFor formula (1) institute
Show that vector is moved in the airspace that signal generates, n is echo folding times；
For the echo component from the direction wave digression θ, radar emission not can solve the MISO signal that distance folds echoing
K-th of pulse matching processing after corresponding echo data Xmatch,k(t) it is expressed as follows:
Formula (17) is then subtracted formula (16) to obtain:
When echo distance is without fuzzy, i.e. when echo folding times n=0, L (n, b)=[1,1 ..., 1]T, then formula (18) is equal toAs echo folding times n ≠ 0, i.e., formula (18) is equal toDistance is eliminated without fuzzy data, and distance folds echo data and is retained
Get off；
Signal shown in note formula (1) has NsourceA echo component, the corresponding wave digression degree of each echo componentThe corresponding echo folding times of each echo component areEcho folding times are
Integer more than or equal to 0；
Then for NsourceK-th of pulse signal of the case where a echo component, signal shown in radar emission formula (1) are receiving
The echo data U that end matching treatment obtainsk(t) it is expressed as follows:
In above formula:For from wave digression θ1Intermediate variable after the corresponding matching treatment of the echo component in direction,ForTransposition；
Similarly, for NsourceThe case where a echo component, radar emission not can solve the MISO signal that distance folds echoing
The echo data X that is obtained in receiving end matching treatment of k-th of pulse signalk(t) it is expressed as follows:
Then distance folds echo data Yk(t) formula (19) is subtracted by formula (20) to obtain:
Yk(t)=Xk(t)-Uk(t) (21)
Original position then is moved back in angle dimension to avoid distance from folding echo, the amount of moving nb need to meet condition Indicate whole
Manifold is closed, that is, the amount of moving nb is not equal to integer.
4. a kind of distance based on MISO system according to claim 3 folds echo suppressing method, which is characterized in that institute
It states step 3 and calculates distance folding echo data Yk(t) covariance matrix, and optimal weight vector w is acquired by filteringm,opt,
Detailed process are as follows:
Distance folds echo data Yk(t) covariance matrix RYAre as follows:
RY=E [Yk(t)Yk(t)H] (22)
Wherein: E [] indicates mathematic expectaion operation；Yk(t)HFor Yk(t) conjugate matrices；
The corresponding echo data z of signal that m-th of array element is emittedm(t) from Uk(t) it is separated in, zm(t) it is expressed as follows:
Then optimal weight vector wm,optIt is obtained by solving following formula:
[·]HFor conjugate transposition operation, | | | |2It indicates two norm operations, by calculating above formula, obtains optimal weight vector wm,opt
It is expressed as follows:
Wherein: []-1For inversion operation, rY,Z=E [Yk(t)zm(t)H], rY,ZFor intermediate variable.
5. a kind of distance based on MISO system according to claim 4 folds echo suppressing method, which is characterized in that institute
It states step 4 and calculates radar each array element transmitting using optimal weight vector and not can solve the MISO signal that distance folds echoing
Corresponding distance without ambiguous returns data, i.e., by the distance in the corresponding echo data of each array element transmitting signal fold echo at
Divide and curb, obtains distance without ambiguous returns data, detailed process are as follows:
The corresponding distance of signal of m-th of array element of radar transmitting is without ambiguous returns data dm(t) it is expressed as follows:
Similarly, the corresponding distance of signal of other array elements of radar transmitting is calculated without ambiguous returns data, the i.e. each array element of radar
Distance folds echo component and is suppressed in the corresponding echo data of the signal of transmitting, obtains distance without ambiguous returns data.
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