CN109375240A - A kind of Low Altitude Target Detection system and method based on GNSS forward scattering characteristic - Google Patents

A kind of Low Altitude Target Detection system and method based on GNSS forward scattering characteristic Download PDF

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CN109375240A
CN109375240A CN201811305964.1A CN201811305964A CN109375240A CN 109375240 A CN109375240 A CN 109375240A CN 201811305964 A CN201811305964 A CN 201811305964A CN 109375240 A CN109375240 A CN 109375240A
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target
gnss
processing module
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CN109375240B (en
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朱云龙
王博
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Jinhua Air Navigation Beidou Application Technology 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

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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)
  • Signal Processing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a kind of Low Altitude Target Detection system and methods based on GNSS forward scattering characteristic, including GNSS omnidirectional antenna, Digital IF Processing module, data quantization module, time base module, ARM module, the ARM module is made of GNSS satellite signal capture processing module, GNSS satellite signal trace processing module, mean filter module, target peak detection module and target alert module.When target is by effective search coverage, which detects the variation tendency of its signal amplitude, according to the detection threshold value of setting, whether real-time judge target occurs by real-time reception, processing GNSS satellite signal.Since GNSS has many advantages, such as real-time, round-the-clock, it can achieve real-time, continuous, automatic intelligent the target in effective coverage and detect.

Description

A kind of Low Altitude Target Detection system and method based on GNSS forward scattering characteristic
Technical field
The present invention relates to Low Altitude Target Detection technical field, especially a kind of low latitude based on GNSS forward scattering characteristic Target detection system and method.
Background technique
Target acquisition skill based on GNSS (Global Navigation Satellite System) forward scattering characteristic Art has the advantage that 1. systems itself not electromagnetic signals, but using noncooperative GNSS satellite as radiation Source is not easy to be perceived by enemy, has very strong survival ability and concealment；It, can be round-the-clock, round the clock 2. working performance is excellent Continuous work.3. target is near by GNSS satellite and base station line, the RCS of its own is increased rapidly, and base station is received GNSS signal also occurs significantly to change, and has good anti-stealth capability than conventional radar；4. since the technology uses GNSS signal, ground base station can reduce the whole portion of system directly using mature GNSS receiver or data collector Affix one's name to difficulty and cost.
Currently, the research mode in the field is confined to adopt data using GNSS receiver or intermediate frequency collector Collection, and secondary development is carried out to acquisition data in computer terminal, do not have the ability of target real-time detection, affects it in thunder Up to the practical application in field.
Summary of the invention
The invention aims to provide a kind of Low Altitude Target Detection system based on GNSS forward scattering characteristic and side Method, when target is by effective search coverage, which detects its signal by real-time reception, processing GNSS satellite signal The variation tendency of amplitude, according to the detection threshold value of setting, whether real-time judge target occurs.
In order to achieve the above objectives, the present invention is implemented according to following technical scheme:
A kind of Low Altitude Target Detection system based on GNSS forward scattering characteristic, including GNSS omnidirectional antenna, digital intermediate frequency Processing module, data quantization module, time base module, ARM module, the ARM module handle mould by GNSS satellite signal capture Block, GNSS satellite signal trace processing module, mean filter module, target peak detection module and target alert module group At, in which:
The GNSS omnidirectional antenna, connect with the signal input part of Digital IF Processing module, and GNSS omnidirectional antenna is GNSS multimode, omnidirectional, high-gain aerial, for the GNSS satellite signal in real-time reception search coverage；
The Digital IF Processing module, the signal output end of Digital IF Processing module and the letter of data quantization module The connection of number input terminal, the GNSS satellite signal for receiving GNSS omnidirectional antenna are acquired in real time and by GNSS satellites Signal is converted to intermediate-freuqncy signal；
The data quantization module, the signal output end and GNSS satellite signal capture processing module of data quantization module Signal input part connection, the intermediate-freuqncy signal for converting Digital IF Processing module is converted into 2bit digital medium-frequency signal, And send 2bit digital medium-frequency signal to GNSS satellite signal capture processing module；
The time base module, the signal output end of time base module are defended with the signal input part and GNSS of data quantization module The signal input part of star signal capture processing module connects, for handling to data quantization module and GNSS satellite signal acquisition Module transfer clock sync signal；
The GNSS satellite signal capture processing module, the signal output end of GNSS satellite signal capture processing module with The signal input part of GNSS satellite signal trace processing module connects, the 2bit for the transmission of synchronous receiving data quantization modules Digital medium-frequency signal；
The GNSS satellite signal trace processing module, the signal output end of GNSS satellite signal trace processing module with The signal input part of mean filter module connects, the 2bit received for receiving GNSS satellite signal capture processing module Digital medium-frequency signal extracts the same phase and orthogonal signalling of the track loop of 2bit digital medium-frequency signal, calculates satellite-signal width Value；
The mean filter module, the signal output end of mean filter module and the letter of target peak detection module Number input terminal connection, for carrying out mean filter to the calculated satellite-signal amplitude of GNSS satellite signal trace processing module Processing；
The target peak detection module, the signal output end of target peak detection module and the letter of target alert module The connection of number input terminal, is detected, and whether target occur according to the target detection threshold decision of setting for target amplitude；
The target alert module, carries out early warning when for target occur.
A kind of Low Altitude Target Detection method based on GNSS forward scattering characteristic, before being based on GNSS using above-mentioned one kind Target acquisition is carried out to the Low Altitude Target Detection system of scattering properties, the specific steps are as follows:
1) according to Fig. 1-2, when target passes through search coverage, GNSS omnidirectional antenna real-time reception satellite-signal leads to It crosses Digital IF Processing module and satellite-signal is converted into intermediate-freuqncy signal, converted intermediate-freuqncy signal to by data quantization module 2bit digital medium-frequency signal, and the 2bit digital medium-frequency signal after quantization is real-time transmitted to the letter of the GNSS satellite in ARM module Number capture processing module and GNSS satellite signal trace processing module, GNSS satellite signal trace processing module is in track loop In, the same phase and orthogonal signalling on instant road are extracted, the calculating of satellite-signal amplitude is carried out:
Wherein, Mag is satellite-signal amplitude, IPFor the in-phase signal for tracking ring, QPFor the orthogonal signalling for tracking ring, IPWith QPObtained in real time from track loop；When target occurs, it is as shown in Figure 3 that satellite-signal amplitude changes schematic diagram；
2) the mean value Mag in mean filter module is determinedavr: as shown in figure 3, when target does not occur, satellite-signal Amplitude is relatively stable, it is assumed that this time shares N number of sampled point, and the satellite-signal amplitude of ith sample point is denoted as Magi, Then mean value MagavrIt indicates are as follows:
3) mean value Mag according to Fig.2, is determinedavrAfterwards, using mean filter module to the satellite-signal in step 1) Amplitude Mag carries out mean filter processing, mean filter treated satellite-signal amplitude MagprocIt indicates are as follows:
Magproc=Magavr-Mag；
4) after according to Fig.2, completing step 3), the satellite letter of neighbouring 5 sampled points of target peak detection module selection Number amplitude is handled, it is assumed that when target passes through search coverage, shares M sampled point, then after target peak detection module is handled Echo signal amplitude Mag indicate are as follows:
Target peak detection module treated echo signal amplitude shares M-5；
5) it according to the processing result of step 4), determines target detection threshold value, is denoted as DTres, then judgement when target occurs Standard are as follows:
Judgment criteria when target does not occur are as follows:
6) according to the judgment criteria of step 5), and target detection threshold value D is setTresIt is 20, by target peak detection module Treated, and echo signal amplitude is compared with target detection threshold value, when judgement has target to occur, is detected by target peak Module issues control instruction to target alert module, and target alert module carries out early warning.
Compared with prior art, the invention has the following advantages:
1. the present invention, can be right when target appears in search coverage by using high performance ARM processing framework GNSS satellite signal carries out fast Acquisition, tracking, calculates GNSS signal amplitude, completes to have the real-time monitoring of low target Good practicability；
2. being located in real time when target appears in search coverage using GNSS satellite data of the present invention to acquisition Reason does not need to store acquisition data, avoids the invention and lead to the problem of mass data in the long-term use, There is better practical value；
3. since the instrument only receives GNSS satellite signal, system is not necessarily to high-power transmitter, the simple, ruler with structure The features such as very little small, and can round the clock, round-the-clock, fully automatic working.
Detailed description of the invention
Fig. 1 is hardware structural diagram of the invention.
Fig. 2 is flow chart of data processing figure of the invention.
GNSS satellite signal intensity schematic diagram when Fig. 3 occurs for target.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, right below in conjunction with drawings and examples The present invention is described in further detail.Described herein the specific embodiments are only for explaining the present invention, is not used to limit Fixed invention.
The present invention includes Hardware Design and low target detection algorithm process flow, mainly utilizes GNSS satellite Signal, acquisition satellite-signal, completion go out the low target detection Jing Guo search coverage in target in real time through the invention It is current to carry out real-time early warning.The design of the invention is using GNSS forward scattering characteristic, using target by GNSS satellite and ground When near base receiver line, the principle that the Radar Cross Section of its own increases rapidly visits low target in real time It surveys, compensates for conventional radar in the deficiency of Low Altitude Target Detection ability.Below with specific embodiment to it is of the invention based on The Low Altitude Target Detection system and method for GNSS forward scattering characteristic are described in detail.
As shown in Figure 1, the present embodiment provides a kind of Low Altitude Target Detection system based on GNSS forward scattering characteristic, packet Include GNSS omnidirectional antenna, Digital IF Processing module, data quantization module, time base module, ARM module, the ARM module by GNSS satellite signal capture processing module, GNSS satellite signal trace processing module, mean filter module, target peak inspection Module and target alert module composition are surveyed, certain ARM module further includes the power supply for powering to it, in which:
The GNSS omnidirectional antenna, connect with the signal input part of Digital IF Processing module, detects for real-time reception GNSS satellite signal in region；Since GNSS has many advantages, such as real-time, round-the-clock, can achieve it is real-time, continuous, Automatic intelligent detects the target in effective coverage；
The Digital IF Processing module, the signal output end of Digital IF Processing module and the letter of data quantization module The connection of number input terminal, the GNSS satellite signal for receiving GNSS omnidirectional antenna are acquired in real time and by GNSS satellites Signal is converted to intermediate-freuqncy signal；
The data quantization module, the signal output end and GNSS satellite signal capture processing module of data quantization module Signal input part connection, the intermediate-freuqncy signal for converting Digital IF Processing module is converted into 2bit digital medium-frequency signal, And send 2bit digital medium-frequency signal to GNSS satellite signal capture processing module；
The time base module, the signal output end of time base module are defended with the signal input part and GNSS of data quantization module The signal input part of star signal capture processing module connects, for handling to data quantization module and GNSS satellite signal acquisition Module transfer clock sync signal；
The GNSS satellite signal capture processing module, the signal output end of GNSS satellite signal capture processing module with The signal input part of GNSS satellite signal trace processing module connects, the 2bit for the transmission of synchronous receiving data quantization modules Digital medium-frequency signal；
The GNSS satellite signal trace processing module, the signal output end of GNSS satellite signal trace processing module with The signal input part of mean filter module connects, the 2bit received for receiving GNSS satellite signal capture processing module Digital medium-frequency signal extracts the same phase and orthogonal signalling of the track loop of 2bit digital medium-frequency signal, calculates satellite-signal width Value；
The mean filter module, the signal output end of mean filter module and the letter of target peak detection module Number input terminal connection, for carrying out mean filter to the calculated satellite-signal amplitude of GNSS satellite signal trace processing module Processing；
The target peak detection module, the signal output end of target peak detection module and the letter of target alert module The connection of number input terminal, is detected, and whether target occur according to the target detection threshold decision of setting for target amplitude；
The target alert module, carries out early warning when for target occur.
In addition, the present embodiment also provides a kind of Low Altitude Target Detection method based on GNSS forward scattering characteristic, in use State a kind of Low Altitude Target Detection system progress target acquisition based on GNSS forward scattering characteristic, the specific steps are as follows:
1) when target passes through search coverage, GNSS omnidirectional antenna real-time reception satellite-signal passes through Digital IF Processing Satellite-signal is converted into intermediate-freuqncy signal by module, converts 2bit digital intermediate frequency letter for intermediate-freuqncy signal by data quantization module Number, and the 2bit digital medium-frequency signal after quantization is real-time transmitted to the GNSS satellite signal capture processing module in ARM module With GNSS satellite signal trace processing module, GNSS satellite signal trace processing module extracts instant road in track loop With phase and orthogonal signalling, the calculating of satellite-signal amplitude is carried out:
Wherein, Mag is satellite-signal amplitude, IPFor the in-phase signal for tracking ring, QPFor the orthogonal signalling for tracking ring, IPWith QPObtained in real time from track loop；
2) the mean value Mag in mean filter module is determinedavr: when target does not occur, satellite-signal amplitude is more steady It is fixed, it is assumed that this time shares N number of sampled point, and the satellite-signal amplitude of ith sample point is denoted as Magi, then mean value Magavr It indicates are as follows:
3) mean value Mag is determinedavrAfterwards, the satellite-signal amplitude Mag in step 1) is carried out using mean filter module Mean filter processing, mean filter treated satellite-signal amplitude MagprocIt indicates are as follows:
Magproc=Magavr-Mag；
4) after completing step 3), target peak detection module is selected at the satellite-signal amplitude of neighbouring 5 sampled points Reason, it is assumed that when target passes through search coverage, share M sampled point, then target peak detection module treated echo signal width Value Mag is indicated are as follows:
Target peak detection module treated echo signal amplitude shares M-5；
5) it according to the processing result of step 4), determines target detection threshold value, is denoted as DTres, then judgement when target occurs Standard are as follows:
Judgment criteria when target does not occur are as follows:
6) according to the judgment criteria of step 5), and target detection threshold value D is setTresIt is 20, by target peak detection module Treated, and echo signal amplitude is compared with target detection threshold value, when judgement has target to occur, i.e., Control instruction is issued from target peak detection module to target alert module, target alert module carries out early warning.
In terms of technical advantage angle, present system itself not electromagnetic signals, but utilize noncooperative GNSS Satellite is not easy to be perceived by enemy as radiation source, has very strong survival ability and concealment；Working performance is excellent, Ke Yiquan Weather, round the clock continuous work；When target is near by GNSS satellite and base station line, the RCS of its own is increased rapidly, base Received GNSS signal of standing also occurs significantly to change, and has good anti-stealth capability than conventional radar.
The limitation that technical solution of the present invention is not limited to the above specific embodiments, it is all according to the technique and scheme of the present invention The technology deformation made, falls within the scope of protection of the present invention.

Claims (2)

1. a kind of Low Altitude Target Detection system based on GNSS forward scattering characteristic, which is characterized in that including GNSS omnidirectional antenna, Digital IF Processing module, data quantization module, time base module, ARM module, the ARM module is by GNSS satellite signal capture Processing module, GNSS satellite signal trace processing module, mean filter module, target peak detection module and target alert mould Block composition, in which:
The GNSS omnidirectional antenna, connect with the signal input part of Digital IF Processing module, is used for real-time reception search coverage Interior GNSS satellite signal；
The Digital IF Processing module, the signal output end of Digital IF Processing module and the signal of data quantization module input End connection, the GNSS satellite signal for receiving GNSS omnidirectional antenna are acquired in real time and are converted GNSS satellite signal For intermediate-freuqncy signal；
The data quantization module, the signal output end of data quantization module and the signal of GNSS satellite signal capture processing module Input terminal connection, the intermediate-freuqncy signal for converting Digital IF Processing module are converted into 2bit digital medium-frequency signal, and will 2bit digital medium-frequency signal sends GNSS satellite signal capture processing module to；
The time base module, the signal output end of time base module and the signal input part of data quantization module and GNSS satellite signal The signal input part connection for capturing processing module, for being transmitted to data quantization module and GNSS satellite signal capture processing module Clock sync signal；
The signal output end of the GNSS satellite signal capture processing module, GNSS satellite signal capture processing module is defended with GNSS The signal input part of star signal trace processing module connects, the 2bit digital intermediate frequency for the transmission of synchronous receiving data quantization modules Signal；
The GNSS satellite signal trace processing module, the signal output end and mean value of GNSS satellite signal trace processing module are filtered The signal input part of wave device module connects, the 2bit digital intermediate frequency received for receiving GNSS satellite signal capture processing module Signal extracts the same phase and orthogonal signalling of the track loop of 2bit digital medium-frequency signal, calculates satellite-signal amplitude；
The mean filter module, the signal output end of mean filter module and the signal of target peak detection module input End connection, for carrying out mean filter processing to the calculated satellite-signal amplitude of GNSS satellite signal trace processing module；
The target peak detection module, the signal output end of target peak detection module and the signal of target alert module input End connection, is detected, and whether target occur according to the target detection threshold decision of setting for target amplitude；
The target alert module, carries out early warning when for target occur.
2. a kind of Low Altitude Target Detection method based on GNSS forward scattering characteristic, which is characterized in that using such as claim 1 institute A kind of Low Altitude Target Detection system based on GNSS forward scattering characteristic stated carries out target acquisition, the specific steps are as follows:
1) when target passes through search coverage, GNSS omnidirectional antenna real-time reception satellite-signal passes through Digital IF Processing module Satellite-signal is converted into intermediate-freuqncy signal, 2bit digital medium-frequency signal is converted for intermediate-freuqncy signal by data quantization module, and GNSS satellite signal capture processing module and the GNSS 2bit digital medium-frequency signal after quantization being real-time transmitted in ARM module Satellite-signal track processing module, GNSS satellite signal trace processing module in track loop, extract instant road same phase and Orthogonal signalling carry out the calculating of satellite-signal amplitude:
Wherein, Mag is satellite-signal amplitude, IPFor the in-phase signal for tracking ring, QPFor the orthogonal signalling for tracking ring, IPAnd QPFrom It is obtained in real time in track loop；
2) the mean value Mag in mean filter module is determinedavr: when target does not occur, satellite-signal amplitude is relatively stable, false If this time shares N number of sampled point, the satellite-signal amplitude of ith sample point is denoted as Magi, then mean value MagavrIt indicates Are as follows:
3) mean value Mag is determinedavrAfterwards, mean value filter is carried out to the satellite-signal amplitude Mag in step 1) using mean filter module Wave processing, mean filter treated satellite-signal amplitude MagprocIt indicates are as follows:
Magproc=Magavr-Mag；
4) after completing step 3), target peak detection module selects the satellite-signal amplitude of neighbouring 5 sampled points to be handled, false If target passes through search coverage, M sampled point is shared, then target peak detection module treated echo signal amplitude Mag It indicates are as follows:
Target peak detection module treated echo signal amplitude shares M-5；
5) it according to the processing result of step 4), determines target detection threshold value, is denoted as DTres, then judgment criteria when target occurs are as follows:
Judgment criteria when target does not occur are as follows:
6) according to the judgment criteria of step 5), and target detection threshold value D is setTresIt is 20, after the processing of target peak detection module Echo signal amplitude be compared with target detection threshold value, when judgement has target to occur, from target peak detection module to Target alert module issues control instruction, and target alert module carries out early warning.
CN201811305964.1A 2018-11-05 2018-11-05 Low-altitude target detection system and method based on GNSS forward scattering characteristics Active CN109375240B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113009521A (en) * 2021-03-02 2021-06-22 北京航空航天大学 Aerial target detection device based on GNSS forward scattering characteristic

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Publication number Priority date Publication date Assignee Title
US8370064B1 (en) * 2010-04-14 2013-02-05 The Boeing Company Integrated global navigation satellite system and inertial navigation system for navigation and tracking
CN104765043A (en) * 2015-03-17 2015-07-08 广东工业大学 High-integration satellite navigation continuously-operating reference station
CN107121685A (en) * 2017-06-08 2017-09-01 南京理工大学 A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8370064B1 (en) * 2010-04-14 2013-02-05 The Boeing Company Integrated global navigation satellite system and inertial navigation system for navigation and tracking
CN104765043A (en) * 2015-03-17 2015-07-08 广东工业大学 High-integration satellite navigation continuously-operating reference station
CN107121685A (en) * 2017-06-08 2017-09-01 南京理工大学 A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113009521A (en) * 2021-03-02 2021-06-22 北京航空航天大学 Aerial target detection device based on GNSS forward scattering characteristic
CN113009521B (en) * 2021-03-02 2022-11-18 北京航空航天大学 Aerial target detection device based on GNSS forward scattering characteristic

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