CN109407055A - The Beamforming Method utilized based on multipath - Google Patents
The Beamforming Method utilized based on multipath Download PDFInfo
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- CN109407055A CN109407055A CN201811244021.2A CN201811244021A CN109407055A CN 109407055 A CN109407055 A CN 109407055A CN 201811244021 A CN201811244021 A CN 201811244021A CN 109407055 A CN109407055 A CN 109407055A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
Abstract
The invention discloses a kind of Beamforming Method utilized based on multipath, mainly solve the problems, such as that prior art multipath coherent signal in the multi-path environment of low latitude can not be received effectively.Implementation step is: array radar obtains echo signal data, and asks and receive signal covariance matrix Rxx；Docking receives signal covariance matrix and carries out the reconstruct of Toeplitz covariance matrix, obtains new covariance matrix R；Eigenvalues Decomposition is carried out to the covariance matrix after reconstruct and obtains noise subspace EN；Space spectral function S (θ) is formed according to noise subspace；According to space spectral function, angle corresponding to the peak point of spectral peak is found out, the angle of target is as estimated；Using the target angle estimated as beam position, Wave beam forming is obtained.The method of the present invention efficiently uses multipath coherence messages since the target angle obtained using estimation carries out Wave beam forming as beam position, and the letter for improving echo-signal is made an uproar more to be compared, and can be used for effective reception to multipath coherent signal in the multi-path environment of low latitude.
Description
Technical field
The invention belongs to Radar Technology field, in particular to a kind of Beamforming Method can be used for low latitude multi-path environment
Middle multipath coherent signal effectively receives.
Background technique
Radar includes not only direct-path signal in echo-signal, further includes multipath wave signal when carrying out low-altitude detection.?
Under the influence of multipath effect, relevant source signal, multipath coherent interference can offset desired signal, cause each other for direct wave and multipath wave
Signal-to-noise ratio sharply declines, and traditional beamforming algorithm performance even fails rapid decrease, and multipath effect drastically influences low face upward
The detection performance of angle target.To solve this problem, multi-path jamming beamforming algorithm is extensively studied, currently, according to right
The processing mode of multi-path jamming is different, can be divided into MPI suppression beamforming algorithm and multipath signal reception Wave beam forming is calculated
Method.
The MPI suppression beamforming algorithm, is mainly handled by decorrelation LMS or expectation letter is realized in linear restriction
Number effective reception.Wherein, typical decorrelation LMS Processing Algorithm is that sky asks smoothing algorithm, which can effectively realize solution phase
Dry-cure, but the effective aperture of array is sacrificed, and robustness is poor.
The multipath signal reception beamforming algorithm is to combine to receive to multipath signal, it is therefore an objective to more to make full use of
Diameter signal message.By in desired signal and multi-path jamming come to the joint for being applied around worst performance constraints and realizing multipath signal
Receive, and have preferable robustness, but the algorithm need to estimate multi-path jamming to, and exist when input signal-to-noise ratio increase when property
It can decline, output letter is made an uproar than low problem more.
Summary of the invention
The purpose of the present invention is being directed to the deficiency of above-mentioned existing method, propose that a kind of radar is based under the multi-path environment of low latitude
The method for the Wave beam forming that multipath utilizes carries out Wave beam forming to efficiently use multi-path information, and the letter for improving echo-signal is made an uproar more
Than.
To achieve the above object, technical solution of the present invention includes the following:
(1) array radar receives signal, obtains echo data X, echo data X includes direct-path signal, multipath signal
And noise；
(2) according to echo data X, covariance matrix R is calculatedxx；
(3) to covariance matrix RxxToeplitz matrix reconstruction is carried out, new covariance matrix R is obtained:
3a) successively take out and covariance matrix RxxThe diagonal entry of main diagonal parallel calculates its average value r (- k):
Wherein, N is element number of array, k=0,1 ..., N-1；
3b) according to average value r (- k), covariance matrix R after obtaining Toeplitz matrix reconstruction:
(4) according to the covariance matrix R after reconstruct, direction of arrival is calculated
Eigenvalues Decomposition 4a) is carried out to reconstruct covariance matrix R, obtains noise subspace EN:
R=ESΣSES H+ENΣNEN H,
Wherein, ()HFor conjugate transposition operation, ESRefer to signal subspace, ΣSRefer to R big eigenvalue cluster at diagonal matrix,
ΣNRefer to R small eigenvalue cluster at diagonal matrix；
4b) use search vector a (θ) to noise subspace ENIt projects, calculates space spectral function S (θ):
Wherein, a (θ) indicates the steering vector reached from the direction θ；
4c) angle corresponding to the peak point of spectral peak, as direction of arrival are found out from space spectral function S (θ)
(5) target angle that will be estimated in step (4)As beam position, Wave beam forming y is obtained:
Wherein, W is weighing vector,Indicate fromThe steering vector that direction reaches.
Compared with prior art, the present invention having the advantage that
1, target search range is more accurate
Target direction of arrival angle of the present invention by being obtained using estimation is greatly reduced target as beam position
Search range so that target search range is more accurate.
2, multipath coherent signal can effectively be received
To weaken influence of the multipath effect to Wave beam forming, conventional method takes the method for inhibiting multipath effect.The present invention
The incoming wave information for making full use of multipath coherent signal, by estimating to echo-signal progress covariance matrix reconstruct and MUSIC angle
Meter, the target angle obtained using estimation carry out Wave beam forming as beam position, thus in the case where the multipath of low latitude, energy
Multipath coherent signal Receiver Problem is effectively solved, the scope of application is wider.
Simulation result shows that the present invention significantly improves the letter of echo-signal and makes an uproar ratio more.
Detailed description of the invention
Fig. 1 is implementation flow chart of the invention；
Fig. 2 is to use the angle after Toeplitz matrix reconstruction decorrelation LMS in the emulation present invention when signal-to-noise ratio is -10dB
Estimated result figure；
Fig. 3 is when signal-to-noise ratio is -10dB, and the directive gain for emulating conventional beamformer method and the method for the present invention compares
Figure；
Fig. 4 is to carry out Mutual coupling to target using the method for Toeplitz matrix reconstruction decorrelation LMS in the present invention,
The result figure that simulation estimate angle number changes with input signal-to-noise ratio；
Fig. 5 is with conventional Beamforming Method, Adaptive beamformer and Beamforming Method of the present invention, simulation data
Letter makes an uproar than the comparison figure changed with input signal-to-noise ratio.
Specific embodiment
It is referring to Fig.1, of the invention that the specific implementation steps are as follows:
Step 1: obtaining radar return data.
Assuming that receiving array is the even linear array of N array element, array element interval d is half-wavelength, and information source is direct wave and multipath wave
Synthesis, then array radar receives signal, and obtained echo data X includes direct-path signal, multipath signal and noise, indicates
It is as follows:
Wherein, Γ be ground or the reflection coefficient on sea, value be in horizontal polarization and flatly, under sea conditions
Γ=- 1, a (θt) be direct wave direction steering vector, a (θr) multipath wave direction steering vector,For direct wave and multipath
The delay phase of wave, S are carrier signal, and P is white Gaussian noise.
Step 2: according to echo data X, calculating covariance matrix Rxx:
Rxx=E [XXH]
Wherein, ()HFor conjugate transposition operation, E [] is to take mean operation.
Step 3: to covariance matrix RxxToeplitz matrix reconstruction is carried out, new covariance matrix R is obtained.
3a) successively take out and covariance matrix RxxThe diagonal entry of main diagonal parallel calculates its average value r (- k):
Wherein, N is element number of array, k=0,1 ..., N-1；
3b) according to the conjugation reversibility of average value r (- k): r (- k)=r*(k), 2N-1 average value is calculated:
{r(-N+1),r(-N+2),…,r(0),…r(N-2),r(N-1)}
Wherein, ()*For conjugate operation；
3c) according to 2N-1 obtained average value, the covariance matrix R after obtaining Toeplitz matrix reconstruction:
Step 4: according to the covariance matrix R after reconstruct, calculating direction of arrival
Eigenvalues Decomposition 4a) is carried out to reconstruct covariance matrix R, obtains noise subspace EN:
R=ESΣSES H+ENΣNEN H,
Wherein, ESRefer to signal subspace, ΣSRefer to R big eigenvalue cluster at diagonal matrix, ΣNRefer to R small eigenvalue cluster at
Diagonal matrix；
4b) use search vector a (θ) to noise subspace ENIt projects, calculates space spectral function S (θ):
Wherein, a (θ) indicates the steering vector reached from the direction θ,Wherein d is array element spacing, and λ is signal wavelength, ()TIt indicates to turn
Set operation；
4c) angle corresponding to the peak point of spectral peak, as direction of arrival are found out from space spectral function S (θ)
Complete Low-Altitude Target Elevation coherent DOA estimation.
Step 5: target angle will be estimated in step (4)As beam position, Wave beam forming y is obtained.
5a) according to estimation target angleIt obtainsThe steering vector that direction reaches
Wherein, d is array element spacing, and λ is signal wavelength, ()TIndicate transposition operation；
It 5b) obtains Wave beam forming and exports y:
Wave beam forming is by useful signal or to need the signal in direction with the wave beam of certain shapes, and inhibit not needing
The interference in direction whithin a period of time can be arrived antenna array beam " guiding " by the way that the output of each array element is weighted summation
On one direction, Wave beam forming output y can be obtained:
Y=WHX,
Wherein, W is array weight vectors；
5c) willAs beam position, makeObtain Wave beam forming y:
Wherein, ()HFor conjugate transposition operation.
Effect of the invention can further be verified by following emulation experiment.
1. experiment scene:
It is emulated so that one group of element number of array is 32 even linear array as an example, array element spacing is half-wavelength, carrier frequency f0=
4GHz, antenna height 29m, object height 142m, target range 10Km, bandwidth 50MHz, multipath wave signal and through
The range difference of wave signal is 0.8236m, and reflection coefficient amplitude 0.9,160 ° of phase, direct-path signal incoming wave angle is 0.6475 °,
Multipath wave signal incoming wave angle is -0.9797 °, and the incoming wave angle difference of direct-path signal and multipath wave signal is 1.6272 °.
2. experiment content and analysis of experimental results:
Experiment 1 is reconstructed under conditions of number of snapshots are 256, signal-to-noise ratio is -10dB by Toeplitz covariance matrix
And MUSIC Power estimation method carries out Mutual coupling to target, result is as shown in Figure 2；Then the mesh obtained with estimation
Mark angle makees beam position and carries out Wave beam forming, the direction increasing of emulation conventional beamformer method and Beamforming Method of the present invention
Beneficial comparison diagram, result are as shown in Figure 3.
From Fig. 2 and 3: the angle estimation estimated is 0.044 °, has compared 0.6475 ° of direct wave angle and multipath
- 0.9797 ° of wave angle degree, angle after decorrelation LMS is closer to direct wave angle；Compared with conventional beamformer method, the present invention
Since the target angle obtained using estimation carries out Wave beam forming as beam position, so that in target direction side with higher
To gain, direct-path signal can be preferably received.
Experiment 2, in the condition that number of snapshots are 1024, the range of input signal-to-noise ratio is -25dB to 10dB and step-length is 2dB
Under, it is reconstructed by Toeplitz covariance matrix and MUSIC Power estimation method carries out Mutual coupling to target, carried out
100 Monte-Carlo emulation experiments, for simulation estimate angle number with the variation of input signal-to-noise ratio, result is as shown in Figure 4.
As seen from Figure 4: when the range of input signal-to-noise ratio is that -25dB arrives -14dB, passing through Toeplitz matrix reconstruction solution phase
Estimation angle after dry is between direct-path signal incoming wave angle and multipath wave signal incoming wave angle, and number is 1.And it is inputting
When the range of signal-to-noise ratio is that -14dB arrives 10dB, believed by the estimation angle after Toeplitz matrix reconstruction decorrelation LMS in direct wave
Number between incoming wave angle and multipath wave signal incoming wave angle, and number is 2.
Experiment 3, in the condition that number of snapshots are 1024, the range of input signal-to-noise ratio is -25dB to 10dB and step-length is 2dB
Under, the method for utilizing Wave beam forming with conventional beamformer, Adaptive beamformer and multipath of the present invention respectively, simulation data letter
It makes an uproar than the variation with input signal-to-noise ratio more, carries out 100 Monte-Carlo emulation experiments, result is as shown in Figure 5.
As seen from Figure 5: make an uproar of output letter of Beamforming Method of the present invention is improved than performance with the raising of signal-to-noise ratio more.
Compared with conventional beamformer and Adaptive beamformer method, before the output letter of Beamforming Method of the present invention is made an uproar than being higher than more
Two methods.
Claims (3)
1. a kind of Beamforming Method utilized based on multipath, includes the following:
(1) array radar receives signal, obtains echo data X, echo data X includes direct-path signal, multipath signal and makes an uproar
Sound；
(2) according to echo data X, covariance matrix R is calculatedxx；
(3) to covariance matrix RxxToeplitz matrix reconstruction is carried out, new covariance matrix R is obtained:
3a) successively take out and covariance matrix RxxThe diagonal entry of main diagonal parallel calculates its average value r (- k):
Wherein, N is element number of array, k=0,1 ..., N-1；
3b) according to average value r (- k), covariance matrix R after obtaining Toeplitz matrix reconstruction:
(4) according to the covariance matrix R after reconstruct, direction of arrival is calculated
Eigenvalues Decomposition 4a) is carried out to reconstruct covariance matrix R, obtains noise subspace EN:
R=ESΣSES H+ENΣNEN H,
Wherein, ()HFor conjugate transposition operation, ESRefer to signal subspace, ΣSRefer to the big eigenvalue matrix of R, ΣNRefer to the small feature of R
Value matrix；
4b) use search vector a (θ) to noise subspace ENIt projects, calculates space spectral function S (θ):
Wherein, a (θ) indicates the steering vector reached from the direction θ；
4c) angle corresponding to the peak point of spectral peak, as direction of arrival are found out from space spectral function S (θ)
(5) target angle that will be estimated in step (4)As beam position, Wave beam forming y is obtained:
Wherein, W is weighing vector,Indicate fromThe steering vector that direction reaches.
2. according to the method described in claim 1, the echo data X that wherein receiving array obtains in (1), is expressed as follows:
Wherein, Γ be ground or the reflection coefficient on sea, value in horizontal polarization and flatly, under sea conditions be Γ
=-1, a (θt)、a(θr) be respectively direct wave direction and multipath wave direction steering vector,For prolonging for direct wave and multipath wave
Slow phase, S are carrier signal, and P is white Gaussian noise.
3. according to the method described in claim 1, wherein covariance matrix R obtained in step (2)xx, it is expressed as follows:
Rxx=E [XXH]
Wherein, E [] is to take mean operation.
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| CN110389319A (en) * | 2019-07-22 | 2019-10-29 | 北京工业大学 | A kind of MIMO radar DOA estimation method under multipath conditions based on low latitude |
| CN110687497A (en) * | 2019-10-31 | 2020-01-14 | 安徽工业大学 | Novel DOA estimation method for instantaneous multi-beam paraboloid |
| CN110749870A (en) * | 2019-10-18 | 2020-02-04 | 武汉工程大学 | Direction-of-arrival estimation method for extremely low signal-to-noise ratio signal in multipath propagation environment |
| CN111090080A (en) * | 2019-12-03 | 2020-05-01 | 西安电子科技大学 | Ultra-wideband radar single-channel digital beam forming method based on space-time coding array |
| CN111538042A (en) * | 2020-05-07 | 2020-08-14 | 中国人民解放军海军航空大学 | Array anti-satellite navigation signal multipath method based on matrix reconstruction algorithm |
| CN111585631A (en) * | 2020-04-09 | 2020-08-25 | 哈尔滨工程大学 | Beam forming method for improving transmission gain of distributed polarization sensitive array |
| CN113030843A (en) * | 2021-04-26 | 2021-06-25 | 中国人民解放军国防科技大学 | Low-altitude target direction finding method based on improved IAA beam forming |
| CN113820654A (en) * | 2021-08-09 | 2021-12-21 | 西安电子科技大学 | S-band radar target low elevation DOA estimation method based on beam domain dimension reduction |
| CN115267659A (en) * | 2022-07-29 | 2022-11-01 | 青岛理工大学 | Orientation estimation method based on Toeplitz reconstruction MUSIC algorithm |
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| CN109901131A (en) * | 2019-03-24 | 2019-06-18 | 西安电子科技大学 | Multipath based on oblique projection utilizes coherent beam formation method |
| CN109901132B (en) * | 2019-03-24 | 2022-12-02 | 西安电子科技大学 | Self-adaptive coherent beam forming method for multi-path utilization |
| CN109901132A (en) * | 2019-03-24 | 2019-06-18 | 西安电子科技大学 | A kind of adaptive coherent Beamforming Method that multipath utilizes |
| CN109901131B (en) * | 2019-03-24 | 2022-12-02 | 西安电子科技大学 | Multipath utilization coherent beam forming method based on oblique projection |
| CN110389319B (en) * | 2019-07-22 | 2021-04-27 | 北京工业大学 | MIMO radar DOA estimation method based on low-altitude multipath condition |
| CN110389319A (en) * | 2019-07-22 | 2019-10-29 | 北京工业大学 | A kind of MIMO radar DOA estimation method under multipath conditions based on low latitude |
| CN110749870A (en) * | 2019-10-18 | 2020-02-04 | 武汉工程大学 | Direction-of-arrival estimation method for extremely low signal-to-noise ratio signal in multipath propagation environment |
| CN110687497A (en) * | 2019-10-31 | 2020-01-14 | 安徽工业大学 | Novel DOA estimation method for instantaneous multi-beam paraboloid |
| CN111090080A (en) * | 2019-12-03 | 2020-05-01 | 西安电子科技大学 | Ultra-wideband radar single-channel digital beam forming method based on space-time coding array |
| CN111585631A (en) * | 2020-04-09 | 2020-08-25 | 哈尔滨工程大学 | Beam forming method for improving transmission gain of distributed polarization sensitive array |
| CN111538042A (en) * | 2020-05-07 | 2020-08-14 | 中国人民解放军海军航空大学 | Array anti-satellite navigation signal multipath method based on matrix reconstruction algorithm |
| CN111538042B (en) * | 2020-05-07 | 2022-08-09 | 中国人民解放军海军航空大学 | Array anti-satellite navigation signal multipath method based on matrix reconstruction algorithm |
| CN113030843A (en) * | 2021-04-26 | 2021-06-25 | 中国人民解放军国防科技大学 | Low-altitude target direction finding method based on improved IAA beam forming |
| CN113030843B (en) * | 2021-04-26 | 2022-02-25 | 中国人民解放军国防科技大学 | Low-altitude target direction finding method based on improved IAA beam forming |
| CN113820654A (en) * | 2021-08-09 | 2021-12-21 | 西安电子科技大学 | S-band radar target low elevation DOA estimation method based on beam domain dimension reduction |
| CN113820654B (en) * | 2021-08-09 | 2023-12-26 | 西安电子科技大学 | S-band radar target low elevation DOA estimation method based on beam domain dimension reduction |
| CN115267659A (en) * | 2022-07-29 | 2022-11-01 | 青岛理工大学 | Orientation estimation method based on Toeplitz reconstruction MUSIC algorithm |
| CN115267659B (en) * | 2022-07-29 | 2024-04-16 | 青岛理工大学 | Direction estimation method based on Toeplitz reconstruction MUSIC algorithm |
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