CN109471086A - Relatively prime MIMO radar Wave arrival direction estimating method based on more sampling snap sum aggregate array signal discrete Fourier transforms - Google Patents
Relatively prime MIMO radar Wave arrival direction estimating method based on more sampling snap sum aggregate array signal discrete Fourier transforms Download PDFInfo
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- CN109471086A CN109471086A CN201811218389.1A CN201811218389A CN109471086A CN 109471086 A CN109471086 A CN 109471086A CN 201811218389 A CN201811218389 A CN 201811218389A CN 109471086 A CN109471086 A CN 109471086A
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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
- G01S7/42—Diversity systems specially adapted for radar
Abstract
The invention discloses a kind of relatively prime MIMO radar Wave arrival direction estimating methods based on more sampling snap sum aggregate array signal discrete Fourier transforms, mainly solve the problems, such as that existing method computation complexity is higher.Implementation step is: constructing relatively prime MIMO radar structure；Subarray, which is received, by radar receives reflection signal and to radar signal processor modeling；It constructs relatively prime MIMO radar and samples snap sum aggregate array received signal more；Zero padding is carried out to more sampling snap sum aggregate array received signals；Sidelobe Suppression is carried out to more sampling snap sum aggregate array received signals after zero padding；Discrete Fourier transform operation is carried out to more sampling snap sum aggregate array received signals after filtering processing, constructs spatial spectrum；Mutual coupling is carried out according to gained spatial spectrum.The present invention obtains higher array aperture in the case where physics array element quantity is certain, and reduces the computation complexity of Mutual coupling.
Description
Technical field
The invention belongs to signal processing technology fields, more particularly to the system of radar signal, acoustic signal and electromagnetic signal
Count signal processing, specifically a kind of relatively prime MIMO radar based on more sampling snap sum aggregate array signal discrete Fourier transforms
Arrival direction estimating method can be used for active location and target acquisition.
Background technique
One of basic problem as array signal processing field, direction of arrival (Direction-of-Arrival, DOA)
Estimation receives signal using sensor array, and by therefrom extracting included in signal to signal progress statistical disposition is received
Direction of arrival information, in the fields such as radar, sonar, voice, wireless communication extensive application.Wherein, multiple-input, multiple-output are utilized
It is an important branch that (Multiple-input Multiple-output, MIMO) radar, which carries out Mutual coupling,.
MIMO radar utilizes multiple sensor arrays, emits orthogonal signalling respectively and receives reflection signal.Traditional
In MIMO radar structure, receiving array is normally provided as uniform linear array, meets nyquist sampling theorem with this.So
And the set-up mode of uniform linear array limits array aperture, and then limits the performances such as spatial resolution.In this background
Under, as application of the relatively prime array structure in MIMO radar, relatively prime MIMO radar takes full advantage of the systematization of relatively prime array
Structure realizes the promotion of DOA estimation performance by constructing the virtual array with more large aperture.
The existing DOA estimation method based on relatively prime MIMO radar is directed to the constructed corresponding second order of virtual array etc. mostly
Valence virtual signal carries out a series of complex operation, it is main include invert, the matrix operation that Eigenvalues Decomposition etc. is complicated and convex excellent
The design of change problem and the complex processes such as solve, hardware realization in systems in practice is complex, and requirement of real-time compared with
Certain challenge is faced under high application scenarios.
Summary of the invention
It is a kind of based on more sampling snap sum aggregates it is an object of the invention in view of the deficiency of the prior art, propose
The relatively prime MIMO radar Wave arrival direction estimating method of array signal discrete Fourier transform, by sampling the relatively prime MIMO radar more
Discrete Fourier transform is carried out on the basis of snap sum aggregate array received signal, is obtaining correct Mutual coupling result
Meanwhile the aperture bigger than traditional MIMO radar structure can be obtained, and with computation complexity is low, strong real-time, is easy to
The characteristics of realizing is designed in real system.
The purpose of the present invention is achieved through the following technical solutions: one kind is based on more sampling snap sum aggregate array signals
The relatively prime MIMO radar Wave arrival direction estimating method of discrete Fourier transform comprising the steps of:
(1) using the M+N relatively prime MIMO radar structure of practical array element building, construction method is as follows: one group of selection is relatively prime
Integer M, N are respectively used to construction transmitting subarray and receive subarray, wherein transmitting subarray includes the battle array that M spacing is Nd
Member, position 0, Nd ..., (M-1) Nd；Receive subarray include N number of spacing be Md array element, position 0, Md ...,
(N-1)Md；D is that the half-wavelength of transmitting subarray transmitting signal isTransmitting subarray and reception subarray are deployed as single base
The form of ground radar；
(2) emit M orthogonal signalling using the transmitting subarray constructed in step (1).Assuming that there is Q mesh in space far-field
Mark, the direction relative to radar is expressed as θ=[θ1, θ2..., θQ]T, [] T expression transposition operation.The M signal is by space
After middle Q target reflection, the N number of array element for being received subarray is received, after matched filtering, in t moment radar signal processor x
(t) it can model are as follows:
Wherein,Indicate Kronecker product, at(θq) and ar(θq) respectively indicate transmitting subarray and reception subarray it is corresponding
In the steering vector of q-th of target, it is expressed as
Wherein, sqIt (t) is the reflectivity of q-th of target of t moment, n (t) is additive noise unrelated with signal, obeys zero
It is worth multiple Gauss distribution, j is imaginary unit；
(3) under relatively prime MIMO radar structure, the output signal x (t) in step (2) can be equivalently considered as by emitting
Subarray and single sampling snap sum aggregate array (sum coarray) for receiving submatrix column-generationReception signal, wherein
Therefore, the reception signal in step (2) can be expressed as
Wherein,Indicate that sum aggregate array corresponds to
The steering vector of q-th of target；HereinIllustrate the position of each array element in sum aggregate array, wherein
u1=0；
On this basis, sample snap sum aggregate array received signal moreSnap can be singly sampled by continuous T receive signal
The first order statistic of x (t) indicates；
(4) zero padding is carried out to more sampling snap sum aggregate array received signals；In vectorThe middle a certain number of null elements of filling
Element, so that the vector z after filling meets following condition:
Wherein,<>ldIndicate element corresponding with the array element on the position ld, []lIndicate first yuan in vector
Element, l=0,1 ..., L-1, L=2MN-M-N+1；
(5) building filter function w carries out Sidelobe Suppression to more sampling snap sum aggregate array received signals after zero padding,
Filter exports
WhereinIndicate Hadamard product, w=[w (0), w (1) ..., w (L-1)]TIndicate the vector of Keyser window function composition,
Wherein I0For zero Bessel function, β is window function form factor；
(6) discrete Fourier transform operation, structure are carried out to more sampling snap sum aggregate array received signals after filtering processing
Build spatial spectrum；To more sampling snap sum aggregate array received signals after filtering processing obtained by step (5)Carry out discrete fourier change
It changes, obtains the dimension space of L × 1 response y；
A spatial spectrum is constructed, the horizontal axis of the spatial spectrum indicates angle, θ, the relationship with k-th of element of roomage response y
It may be expressed as:
Wherein k=0,1 ..., K-1, arcsin () are arcsin function, and r is a coefficient, be ensure thatIt is full
The domain of sufficient arcsin function, whenWhenThe longitudinal axis of the spatial spectrum
The mould of each element in representation space response vector | [y]k|, | | indicate the mould of plural number；
(7) Mutual coupling is carried out according to gained spatial spectrum: spectrum peak search operation is carried out to spatial spectrum in step (6),
The maximum preceding Q peak value of amplitude corresponds to the Mutual coupling of Q target in space.
Further, in the step (3), continuous T can be used in first order statistic, and singly sampling snap receives signal x (t)
Average value or adduction form.
Further, in the step (5), the roomage response y obtained by discrete Fourier transform be may be expressed as:
Wherein,Indicate discrete Fourier transform operation, FKFor leaf transformation matrix in K point discrete Fourier, K=L herein can
It indicates are as follows:
Further, in the step (5), constructed spatial spectrum reflects the response width in space in all angles
Degree, wherein there is Q peak value for corresponding to Q far field objects.
Compared with the prior art, the present invention has the following advantages:
(1) relatively prime MIMO radar structure is utilized in the mentioned method of the present invention, in the case where array element quantity is certain, obtains ratio
The bigger array aperture of traditional MIMO radar obtains higher resolution on the basis of guaranteeing Mutual coupling correctness
Rate performance.
(2) the mentioned method of the present invention carried out in the snap sum aggregate array received basis of signals of sampling more than relatively prime MIMO radar from
Fourier transform operation is dissipated, building spatial spectrum is responded by gained, and Mutual coupling knot is obtained by spectrum peak search mode
Fruit avoids the complicated calculations mistakes such as common matrix inversion in existing method, Eigenvalues Decomposition, the design solution of convex optimization problem
Journey has the characteristics that computation complexity is low, is easy to realize in systems in practice, and under the higher application scenarios of requirement of real-time
With significant advantage.
Detailed description of the invention
Fig. 1 is method overall procedure block diagram of the invention；
Fig. 2 is the structural schematic diagram of relatively prime MIMO radar in the present invention；
Fig. 3 is the spatial spectrum schematic diagram for embodying the proposed method Mutual coupling performance of the present invention；
Specific embodiment
Referring to the drawings, technical solutions and effects of the present invention is described in further detail.
As application of the relatively prime array in MIMO radar, relatively prime MIMO radar structure fully absorbs and embodies relatively prime battle array
The structural advantage of column systematization, in recent years by the extensive concern of academia.The DOA estimation method for being mostly based on this at present calculates
Complexity is high, faces the challenge under the higher scene of requirement of real-time, and when Practical Project is realized, faces certain difficulty.
In view of the above problems, the present invention provides a kind of based on the relatively prime of more sampling snap sum aggregate array signal discrete Fourier transforms
MIMO radar Wave arrival direction estimating method, referring to Fig.1, steps are as follows for realization of the invention:
Step 1: relatively prime MIMO radar structure is constructed using M+N practical array element, construction method is as follows: one group of selection is mutual
Integer M, N of matter are respectively used to construction transmitting subarray and receive subarray.Wherein, it is Nd that transmitting subarray, which includes M spacing,
Array element, position 0, Nd ..., (M-1) Nd；The array element that reception subarray is Md comprising N number of spacing, position 0,
Md ..., (N-1) Md；D is that the half-wavelength of transmitting subarray transmitting signal isEmit subarray and receives subarray portion
Administration is the form of monostatic radar.
Step 2: subarray is received by radar and receives reflection signal and to radar signal processor modeling.Utilize step 1
The transmitting subarray of middle building emits M orthogonal signalling.Assuming that have Q target in space far-field, the direction relative to radar
It is expressed as θ=[θ1, θ2..., θQ]T, [] T expression transposition operation.The M signal is connect by after Q target reflection in space
The N number of array element for receiving subarray receives, and after matched filtering, can model in t moment radar signal processor x (t) are as follows:
Wherein,Indicate Kronecker product, at(θq) and ar(θq) respectively indicate transmitting subarray and reception subarray it is corresponding
In the steering vector of q-th of target, it is expressed as
sqIt (t) is the reflectivity of q-th of target of t moment, n (t) is additive noise unrelated with signal, obeys the multiple height of zero-mean
This distribution.J is imaginary unit.
Step 3: it constructs relatively prime MIMO radar and samples snap sum aggregate array received signal more.In relatively prime MIMO radar structure
Under, the output signal x (t) in step 2 can be equivalently considered as by transmitting subarray and be received single sampling of submatrix column-generation
Snap sum aggregate arrayReception signal, wherein
Therefore, the reception signal in step 2 can be expressed as
Wherein,Indicate that sum aggregate array corresponds to
The steering vector of q-th of target.HereinIllustrate the position of array element in sum aggregate array, wherein u1
=0.
On this basis, mostly sampling snap sum aggregate array received signal can singly sampling snap receives signal x by continuous T
(t) average value expression, i.e.,
Step 4: zero padding is carried out to more sampling snap sum aggregate array received signals.In vectorMiddle filling is a certain number of
Neutral element, so that the vector z after filling meets following condition:
Wherein,<>ldIndicate element corresponding with the array element on the position ld, []lIndicate first yuan in vector
Element, l=0,1 ..., L-1, L=2MN-M-N+1.
Step 5: constructing triumphant plucked instrument window and carry out Sidelobe Suppression to more sampling snap sum aggregate array received signals after zero padding,
Filter exports
WhereinIndicate Hadamard product, w=[w (0), w (1) ..., w (L-1)]TIndicate the vector of Keyser window function composition,
Wherein I0 is zero Bessel function, and β is window function form factor.Compared to other window function forms, triumphant plucked instrument window
Make neatly adjust the shape of window function by changing factor beta, to realize resolution ratio performance and Sidelobe Suppression after filtering
The good tradeoff of performance obtains optimal comprehensive performance,
Step 6: discrete Fourier transform behaviour is carried out to more sampling snap sum aggregate array received signals after filtering processing
Make, constructs spatial spectrum.To filled more sampling snap sum aggregate array received signals obtained by step 5Carry out discrete fourier change
It changes, obtains the dimension space of L × 1 response y, indicate are as follows:
Wherein,Indicate discrete Fourier transform operation, FKFor leaf transformation matrix in K point discrete Fourier, K=L can herein
It indicates are as follows:
A spatial spectrum is constructed, the horizontal axis of the spatial spectrum indicates angle, θ, and the relationship with k-th of element of roomage response can
It indicates are as follows:
Wherein k=0,1 ..., K-1, arcsin () are arcsin function, and r is a coefficient, be ensure thatIt is full
The domain of sufficient arcsin function, whenWhenThe longitudinal axis of the spatial spectrum
The mould of each element in representation space response vector | [y]k|, | | indicate the mould of plural number.
Step 7: Mutual coupling is carried out according to gained spatial spectrum.Spectrum peak search behaviour is carried out to spatial spectrum in step 6
Make, by its peak value according to arranging from high to low, then the direction of arrival that maximum preceding Q peak value corresponds to Q target in space is estimated
Meter.
The mentioned Wave arrival direction estimating method of the present invention is based on relatively prime MIMO radar structure, and the mentioned method of the present invention is relatively prime
MIMO radar samples more and carries out discrete Fourier transform operation in snap sum aggregate array received basis of signals, responds structure by gained
Spatial spectrum is built, and Mutual coupling result is obtained by spectrum peak search mode.Compared to traditional MIMO radar structure, this hair
Bright mentioned method takes full advantage of relatively prime MIMO radar architectural characteristic, realizes the promotion of resolution ratio performance；Compared to existing wave
Arrival direction estimating method, the mentioned method computation complexity of the present invention are onlyHave under the higher application scenarios of real-time
There is significant advantage, and is easy to the realization on real system.
Effect of the invention is further described below with reference to simulation example.
Simulation example 1: utilizing relatively prime MIMO radar structure, and parameter is chosen for M=9, N=10, i.e., in transmitting subarray
Comprising 9 array elements, receiving subarray includes 10 array elements.Fixed sample number of snapshots T=500.To come assuming that there are 1 in space
From -30 ° of target, signal-to-noise ratio is fixed as 10dB.Using the mentioned method of the present invention under the above conditions obtained by spatial spectrum such as Fig. 3 institute
Show.As can be seen that the mentioned method of the present invention can accurately obtain the Mutual coupling information of target under above-mentioned condition.
In conclusion the mentioned method of the present invention is based on relatively prime MIMO radar structure, the mentioned method of the present invention is in relatively prime MIMO
Radar samples more and carries out discrete Fourier transform operation in snap sum aggregate array received basis of signals, and it is empty to respond building by gained
Between compose, and Mutual coupling result is obtained by spectrum peak search mode.Relatively prime MIMO radar architectural characteristic is taken full advantage of, it is real
The promotion of resolution ratio performance is showed；And computation complexity is onlyHave under the higher application scenarios of real-time significant
Advantage, the realization being easy on real system.
Claims (4)
1. a kind of relatively prime MIMO radar Mutual coupling based on more sampling snap sum aggregate array signal discrete Fourier transforms
Method, which is characterized in that comprise the steps of:
(1) relatively prime MIMO radar structure is constructed using M+N practical array element, construction method is as follows: chooses one group of relatively prime integer
M, N is respectively used to construction transmitting subarray and receives subarray, wherein and transmitting subarray includes the array element that M spacing is Nd,
Its position is 0, Nd ..., (M-1) Nd；Receiving subarray includes the array element that N number of spacing is Md, position 0, Md ..., (N-
1)Md；D is that the half-wavelength of transmitting subarray transmitting signal isTransmitting subarray and reception subarray are deployed as single base
The form of radar；
(2) emit M orthogonal signalling using the transmitting subarray constructed in step (1)；Assuming that have Q target in space far-field,
It is expressed as θ=[θ relative to the direction of radar1, θ2..., θQ]T, [] T expression transposition operation；The M signal is by Q in space
After a target reflection, the N number of array element for being received subarray is received, after matched filtering, in t moment radar signal processor x (t)
It can model are as follows:
Wherein,Indicate Kronecker product, at(θq) and ar(θq) respectively indicate transmitting subarray and receive subarray corresponding to q
The steering vector of a target, is expressed as
Wherein, sqIt (t) is the reflectivity of q-th of target of t moment, n (t) is additive noise unrelated with signal, obeys the multiple height of zero-mean
This distribution, j is imaginary unit；
(3) under relatively prime MIMO radar structure, the output signal x (t) in step (2) can be equivalently considered as by transmitting submatrix
Column and the single sampling snap sum aggregate array for receiving submatrix column-generationReception signal, wherein
Therefore, the reception signal in step (2) can be expressed as
Wherein,Indicate sum aggregate arrayCorresponding to q
The steering vector of a target；HereinIndicate the position of each array element in sum aggregate array, wherein u1=
0；
On this basis, sample snap sum aggregate array received signal moreContinuous T singly sampling snap reception signal x (t) can be passed through
First order statistic indicate；
(4) zero padding is carried out to more sampling snap sum aggregate array received signals；In vectorThe middle a certain number of neutral elements of filling,
So that the vector z after filling meets following condition:
Wherein,<>ldIndicate element corresponding with the array element on the position ld, []lIndicate first of element in vector, l=
0,1 ..., L-1, L=2MN-M-N+1；
(5) building filter function w carries out Sidelobe Suppression, filtering to more sampling snap sum aggregate array received signals after zero padding
Device exports
WhereinIndicate Hadamard product, w=[w (0), w (1) ..., w (L-1)]TIndicate the vector of Keyser window function composition,
Wherein I0For zero Bessel function, β is window function form factor；
(6) discrete Fourier transform operation is carried out to more sampling snap sum aggregate array received signals after filtering processing, building is empty
Between compose: to more sampling snap sum aggregate array received signals after filtering processing obtained by step (5)Discrete Fourier transform is carried out,
Obtain the dimension space of L × 1 response y；
A spatial spectrum is constructed, the horizontal axis of the spatial spectrum indicates angle, θ, and the relationship with k-th of element of roomage response y can table
It is shown as:
Wherein k=0,1 ..., K-1, arcsin () are arcsin function, and r is a coefficient, be ensure thatMeet anti-
The domain of SIN function, whenR=0；WhenR=1；The longitudinal axis representation space of the spatial spectrum
The mould of each element in response vector | [y]k|, | | indicate the mould of plural number；
(7) Mutual coupling is carried out according to gained spatial spectrum: spectrum peak search operation, amplitude is carried out to spatial spectrum in step (6)
Maximum preceding Q peak value corresponds to the Mutual coupling of Q target in space.
2. the relatively prime MIMO thunder according to claim 1 based on more sampling snap sum aggregate array signal discrete Fourier transforms
Up to Wave arrival direction estimating method, it is characterised in that: in the step (3), continuous T singly sampling snap is can be used in first order statistic
Receive the average value or adduction form of signal x (t).
3. the relatively prime MIMO thunder according to claim 1 based on more sampling snap sum aggregate array signal discrete Fourier transforms
Up to Wave arrival direction estimating method, it is characterised in that: in the step (6), the roomage response that is obtained by discrete Fourier transform
Y may be expressed as:
Wherein,Indicate discrete Fourier transform operation, FKFor leaf transformation matrix in K point discrete Fourier, K=L, can be indicated herein
Are as follows:
4. the relatively prime MIMO thunder according to claim 1 based on more sampling snap sum aggregate array signal discrete Fourier transforms
Up to Wave arrival direction estimating method, it is characterised in that: in the step (6), constructed spatial spectrum reflects each angle in space
Response amplitude on degree, wherein there is Q peak value for corresponding to Q far field objects.
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| JP7044290B2 (en) | 2020-05-03 | 2022-03-30 | 浙江大学 | A method for estimating the two-dimensional arrival direction of disjoint area arrays based on the processing of tensor signals in a structured virtual domain. |
| JP7044291B2 (en) | 2020-05-03 | 2022-03-30 | 浙江大学 | Coprime plane array block sampling tensor Degree-of-freedom-enhanced spatial spectrum estimation method based on signal structure |
| WO2021068495A1 (en) * | 2020-05-03 | 2021-04-15 | 浙江大学 | Degree of freedom-enhanced spatial spectrum estimation method based on block sampled tensor signal construction using planar co-prime array |
| US11422177B2 (en) | 2020-05-03 | 2022-08-23 | Zhejiang University | Spatial spectrum estimation method with enhanced degree-of-freedom based on block sampling tensor construction for coprime planar array |
| US11408960B2 (en) | 2020-05-03 | 2022-08-09 | Zhejiang University | Two-dimensional direction-of-arrival estimation method for coprime planar array based on structured coarray tensor processing |
| CN112488048A (en) * | 2020-12-16 | 2021-03-12 | 浙江工业大学 | Acoustic signal difference feature fusion method based on deep learning and random array |
| CN112488048B (en) * | 2020-12-16 | 2024-03-22 | 浙江工业大学 | Acoustic signal differential feature fusion method based on deep learning and random array |
| CN115685113A (en) * | 2022-09-15 | 2023-02-03 | 河北省交通规划设计研究院有限公司 | Traffic radar super-resolution angle estimation method based on multi-pulse synthesis snapshot |
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