CN109633560B - Interframe same-frequency synchronous interference resisting method applied to radar processing - Google Patents
Interframe same-frequency synchronous interference resisting method applied to radar processing Download PDFInfo
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- CN109633560B CN109633560B CN201811428478.9A CN201811428478A CN109633560B CN 109633560 B CN109633560 B CN 109633560B CN 201811428478 A CN201811428478 A CN 201811428478A CN 109633560 B CN109633560 B CN 109633560B
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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
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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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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Abstract
The invention discloses an interframe same frequency synchronous interference resisting method applied to radar processing, along with the development of radar technology, the application of radars is wider and wider, the density of ground radar stations is larger and larger, the number of radars is more and more, the problem of mutual interference among the radars becomes more and more serious, particularly, the same frequency interference generated when the radars are close to or at the same frequency is serious. The co-channel interference is divided into co-channel synchronous interference and co-channel asynchronous interference. The interference generated when the pulse repetition frequencies are different greatly and not in a multiple relation is called same-frequency asynchronous interference. At present, the same frequency synchronous interference cannot be solved in the technology, but on the basis of not changing the repetition frequency of a radar, radar echo data of two adjacent frames are stored, and the characteristic that the same frequency synchronous interference signal appears in different distance units with different periods in the two adjacent frames of data and is similar to the same frequency asynchronous interference is utilized to eliminate the same frequency asynchronous interference by adopting an interframe correlation algorithm.
Description
Technical Field
The invention relates to an anti-interference method, in particular to an inter-frame same frequency synchronous interference resisting method applied to radar processing.
Background
The marine pulse navigation radar is one of devices which are required to be installed in a marine ship navigation system, has small volume, long detection distance, low transmitting power, easy installation and small harm to a human body, and can be widely applied to various small and medium-sized ships; the system has the functions of detecting various targets around the carrier, guiding the carrier to run according to the channel, avoiding dangerous obstacles and the like.
With the development of radar technology, the application of radars is more and more extensive, the density of ground radar stations is more and more, the problem of mutual interference among radars is more and more serious, and particularly, the same frequency interference generated when the radars are close to each other is serious. The co-channel interference is divided into co-channel synchronous interference and co-channel asynchronous interference. For a pulse radar, the interference generated when the pulse repetition frequencies are the same, similar or integral multiples is called co-channel synchronous interference; the interference generated when the pulse repetition frequencies are different greatly and not in a multiple relation is called same-frequency asynchronous interference. At present, the same-frequency synchronous interference cannot be solved technically, but the same-frequency synchronous interference can be changed into same-frequency asynchronous interference by enabling the repetition frequencies of the radars of the same type to be different from each other, and then the characteristic that the different periods of the asynchronous interference appear in different distance units is utilized to eliminate the same-frequency synchronous interference by adopting a multi-pulse correlation method. The effect of the multi-pulse correlation algorithm on inhibiting the same-frequency synchronous interference is not obvious.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a method with good effect of suppressing same frequency synchronous interference, which is based on the need of firstly obtaining radar echo data of two adjacent frames and angle information corresponding to each frame of radar data.
The invention is realized by the following technical scheme:
an interframe anti-co-channel synchronous interference method applied to radar processing comprises the following steps:
s1, storing radar echo signals, opening a storage space RAM in a DSP (digital signal processor) and storing sampling point data and corresponding azimuth angle number information of a current frame and a previous frame of radar echo signals of the current frame, wherein the current frame data and the angle information are respectively represented by currita and angle, the previous frame data and the angle information are respectively represented by frocirdata and froangle, the data of a current clock period and the current angle information are respectively represented by S0 (n) and angle0, the echo signals received from radio frequency are sequentially written into the current frame currenta and the current angle number information of the RAM in a first echo period after the radar is started according to the sampling point S0 (n) and angle0 angle information, and when an angle is clear, the storage of one frame data is finished, the current frame data and the angle number information are changed into the previous frame data and the angle number information, and the next circle of data is stored in the current frame; s2: searching the closest previous frame angle information, starting at the second circle after the radar is started, sampling a clock period signal s0 (n) and angle0, searching the closest angle information angle1 in the previous frame froangle data according to the angle0, and if the number of angles of the same angle position angle0 of the previous frame froangle is not 0, setting the closest angle position as angle0 and setting the angle number anglecnt1 as froangle (angle 0); if the angle number of the angle position angle0 of the same angle position of the previous frame frogle is 0, searching that the number information of the front and back three angles of the current angle0 is not 0, and reading the corresponding angle position angle1 and the number information angle 1; s3: reading a comparison clock period signal s1 (n), finding a corresponding position in a forcirdata matrix according to angle1 and anglecnt1, and taking out a corresponding pulse clock signal s1 (n); s4: taking absolute value of the current pulse period data and the pulse period data corresponding to the previous frame to calculate amplitude; s5: identifying and positioning an interference abnormal signal, analyzing a detection coefficient K through a same frequency interference suppression intensity command sent by display equipment, measuring any measured value of the current signal through a detection criterion, if the measured value is normal, considering the measured value of a time point n as interference-free, and if the detected value is abnormal, considering the measured value of the time point n as interference, and performing the operation of step S6; s6: and if the detection value is abnormal, performing interference suppression operation, wherein the interference suppression is used for processing abnormal signals caused by interference at the interference time point n, replacing data of s0 (n) with previous frame data s1 (n), the output signal y (n) of the same-frequency interference suppression module is the data s0 (n) of the current clock period, after an echo period, the abnormal signals at all the interference time points are basically removed, and the y (n) can be transmitted to the next module for subsequent signal processing.
In the prior art, the same-frequency synchronous interference is changed into same-frequency asynchronous interference by enabling the repetition frequencies of the radars of the same type to be different, in the process, how to change and how to inhibit asynchronous interference information are key points, echo signals are generally required to be collected, and then the characteristics that the different periods of the asynchronous interference appear in different distance units are utilized to eliminate the echo signals by adopting a multi-pulse correlation method. The effect of multi-pulse correlation algorithm for inhibiting same-frequency synchronous interference is not obvious, the modes are often simpler, only adjacent pulse data are used for comparison, so that the verification cannot be fully performed, and the same-frequency synchronous interference signal cannot be inhibited, so that the result is abnormal, and the subsequent signal processing is not facilitated.
Furthermore, the angle information is stored by using 1 × M one-dimensional shaping data, the occurrence number anglecnt of each azimuth direction of one frame of data is recorded, the frame data is represented by a two-dimensional floating point type, a row M represents the azimuth direction corresponding to the angle, N is the length of echo sampling point data of one clock cycle, maxanselect is a specified maximum number of angles, and no storage is performed when the angle exceeds the angle.
Further, the angle0 in step S1 is the azimuth angle after being encoded by the encoder, and is composed of shaping data from 0 to (M-1), if the angle0 is h, the number of times that the current frame appears h is recorded as angle0, column h of the angle information array current is stored as angle0, column h (angle 0-1) column N in the current frame current is stored as the next clock period signal S0 (N), and the echo signal S0 (N) is a string of data including N distance units. The curantrle and cursorata matrices are initialized to 0.
Further, if the closest angular position is less than angle0, then angle1= angle0-i (1 ≦ i ≦ 3); anglecnt1= froangle (angle 1); if the closest angular position is greater than angle0, then angle1= angle0+ i (1 ≦ i ≦ 3); anglecnt1=1.
Further, the detection criteria of step S5 are,
if sa0 (n) is less than K sa1 (n), then H 0 Is established when H 0 When the measurement is established, the measurement value at the time point n is considered to be non-interference; if sa0 (n) is greater than K sa1 (n), then H 1 Is established when H 1 When it is established, the measured value of time point nThe measured values are detected in each clock cycle using a detection criterion, which is considered as interference, and the time point of occurrence of the interference signal is determined.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention relates to an interframe anti-same-frequency synchronous interference method applied to radar processing, which is used for storing radar echo data of two adjacent frames on the basis of not changing the repetition frequency of a radar, and adopting an interframe correlation algorithm to resist interference on interference signals with same frequency synchronization by utilizing the characteristic that the same-frequency synchronous interference signals appear in different distance units in different periods in the data of the two adjacent frames and are similar to the same-frequency asynchronous interference, wherein the method for resisting interference can effectively improve the inhibition effect on the same-frequency synchronous interference signals;
drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a block diagram of an implementation of an inter-frame anti-co-channel synchronization interference method applied to radar processing according to the present invention;
FIG. 2 is a schematic diagram of angle information according to a first embodiment;
fig. 3 is a schematic diagram of a frame data storage method according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and the accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not used as limiting the present invention.
Example one
As shown in fig. 1 to 3, the inter-frame anti-co-channel synchronous interference method applied to radar processing of the present invention first stores a radar echo signal. A storage space RAM is opened in the DSP and is used for storing sampling point data and corresponding azimuth angle number information of radar echo signals of a current frame and a previous frame of the current frame, the current frame data and the angle information are respectively represented by curridata and currant, the previous frame data and the angle information are respectively represented by frocirdata and froangle, the data forms of curvatant and froangle are shown in figure 2, the data forms of curcirdata and frocirdata are shown in figure 3, the data of the current clock period and the current angle information are respectively represented by s0 (n) and angle0, and one frame of data is the sampling point data of the radar echo signals scanned in one circle. The angle information is stored as 1 × M one-dimensional shaping data, and the number of occurrences anglecnt for each azimuth direction of scanning one frame data is recorded. Frame data is represented in a two-dimensional floating-point type, a line M represents an azimuth corresponding to an angle, N is the length of echo sample point data for one clock cycle, maxanglent is a prescribed maximum number of angles, and no storage is performed beyond the angle. After the machine is started, a first echo period sequentially writes echo signals received from radio frequency into current frame curidrata and current angle number information curangle of an RAM according to sampling points s0 (n) and angle0 angle information, and when the angle is clear, one frame of data is stored, the current frame of data and the angle number information are changed into the previous frame of data and the angle number information, and the next circle of data is stored in the current frame of data;
wherein angle0= h; (h is more than or equal to 0 and less than or equal to M-1); current (h) = anglecnt0; (1 ≦ anglecnt0 ≦ maxanglent) curvata (h, (anglecnt 0-1) × N) = s0 (N); (N =1, 2, 3 \8230; N).
The angle0 is an azimuth angle coded by the coder and consists of shaping data from 0 to M-1, if the angle0 is h, the frequency of h occurrence of the current frame is recorded as angle0, h columns of the angle information array current are stored as angle0, h rows (angle 0-1) N columns in the current frame current store the next clock period signal s0 (N), and the echo signal s0 (N) is a string of data comprising N distance units. The curantrle and cursorata matrices are initialized to 0.
And 2, searching the nearest previous frame angle information. Starting from the second circle after starting up, sampling a clock period signal s0 (n) and angle0, searching the closest angle information angle1 in the previous frame froangle data according to the angle0, wherein in the first case, if the number of angles of the angle0 at the same angle position of the previous frame froangle is not 0, the closest angle position is angle0, and the angle number anglecnt1 is froangle (angle 0), wherein the angle1= angle0; anglecnt1= froangle (angle 0).
In the second case, if the number of angles at the same angle position angle0 of the previous frame froangle is 0, the information of the number of three angles before and after the current angle0 is found to be not 0, and the corresponding angle position angle1 and the number information angle1 are read. If the closest angle position is less than angle0, then angle1 and angle cnt1 are defined by angle1= angle0-i; (1. Ltoreq. I.ltoreq.3) and anglecnt1= froangle (angle 1); if the closest angle position is greater than angle0, angle1 and angle cnt1 are defined by angle1= angle0+ i; (1. Ltoreq. I.ltoreq.3) and anglecnt1=1.
And 3, reading the comparison clock period signal s1 (n). According to angle1 and anglecnt1, finding a corresponding position in the forscridata matrix, and extracting a corresponding pulse clock signal s1 (n).
s1(n)＝forcirdata(angle1,(anglecnt1-1)*N)；(n＝1、2、3……N)。
Step 4, taking an absolute value of the current pulse period data and the pulse period data corresponding to the previous frame to calculate the amplitude, wherein sa0 (n) = | s0 (n) |; (N =1, 2, 3 \8230; N). And sa1 (n) = | s1 (n) |; (N =1, 2, 3 \8230; N).
And 5, identifying and positioning the interference abnormal signal. The detection coefficient K is analyzed through a same frequency interference suppression intensity command sent by display equipment, and for any measured value of the current signal, one of two assumptions must be true in the following two assumptions that H is H 0 The measured value is normal and non-interference; h 1 The measurement is interference. The detection criteria are:
Step 6, carrying out interference suppression operation. The interference suppression is mainly to process abnormal signals caused by interference at the interference time point n. When H is present 1 When the frame is established, the data of s0 (n) is replaced by the previous frame data s1 (n); when H is present 0 When the result is true, the data in s0 (n) is kept unchanged. The output signal y (n) of the co-channel interference suppression module is the data s0 (n) of the current clock period. Therefore, after an echo period, all abnormal signals of the interference time point are basically removed, and y (n) can be transmitted to the next module for subsequent signal processing.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. An interframe anti-co-channel synchronous interference method applied to radar processing is characterized by comprising the following steps:
s1: storing radar echo signals on the basis of not changing the repetition frequency of a radar, opening a storage space RAM in a DSP, and storing sampling point data and corresponding azimuth angle number information of a current frame and a previous frame of radar echo signals of the current frame, wherein the current frame data and the angle information are respectively represented by curritata and curangle, the previous frame data and the angle information are respectively represented by frocirdata and froangle, the data and the current angle information of a current clock period are respectively represented by s0 (n) and angle0, the echo signals received from radio frequency are sequentially written into the current frame curitard and the current angle number information curangle of the RAM according to the sampling point s0 (n) and the angle0 angle information in a first echo period after the radar is started, until the angle is clear, finishing the storage of the current frame data, and the current frame data and the angle number information are changed into the previous frame data and the angle number information, and storing the next circle of data;
s2: searching the closest previous frame angle information, starting at the second circle after the radar is started, sampling a clock period signal s0 (n) and angle0, searching the closest angle information angle1 in the previous frame froangle data according to the angle0, and if the number of angles of the same angle position angle0 of the previous frame froangle is not 0, setting the closest angle position as angle0 and setting the angle number anglecnt1 as froangle (angle 0); if the angle number of the angle position angle0 of the same angle position of the previous frame frogle is 0, searching that the number information of the front and back three angles of the current angle0 is not 0, and reading the corresponding angle position angle1 and the number information angle 1;
s3: reading the comparison clock period signal s1 (n), finding a corresponding position in the fortirdata matrix according to angle1 and anglecnt1, and taking out a corresponding pulse clock signal s1 (n);
s4: taking an absolute value of the current pulse period data and the pulse period data corresponding to the previous frame to calculate the amplitude;
s5: identifying and positioning an interference abnormal signal, analyzing a detection coefficient K through a same frequency interference suppression intensity command sent by display equipment, measuring any measured value of the current signal through a detection criterion, if the measured value is normal, considering the measured value of a time point n as interference-free, and if the detected value is abnormal, considering the measured value of the time point n as interference, and performing the operation of step S6;
s6: if the detected value is abnormal, an interframe correlation algorithm is adopted to carry out interference suppression operation, the interference suppression aims at processing abnormal signals caused by interference on an interference time point n, the data of s0 (n) is replaced by the data of the previous frame s1 (n), the output signal y (n) of the same-frequency interference suppression module is the data s0 (n) of the current clock period, all abnormal signals of the interference time point are basically removed after an echo period, and y (n) can be transmitted to the next module to carry out subsequent signal processing.
2. The method according to claim 1, wherein the angle information is stored by using 1 × M one-dimensional shaping data, the occurrence number anglecnt of each azimuth direction of scanning a frame of data is recorded, the frame data is represented by a two-dimensional floating point type, the row M represents the azimuth direction corresponding to the angle, N is the length of echo sample point data in one clock cycle, and maxanglelect is the maximum number of angles, and no storage is performed when the angle exceeds the maximum number of angles.
3. The method according to claim 1, wherein the angle0 in step S1 is an azimuth angle after being encoded by an encoder, and is composed of 0 to (M-1) shaping data, if the angle0 is h, the number of times that the current frame appears h is recorded as angle0, the angle0 is stored in the h column of the angle information array current, the clock period signal S0 (N) is stored in the h row (angle 0-1) × N column in the current frame current, the echo signal S0 (N) is a string of data including N distance units, and the current and current matrices are initialized to 0.
4. The method of claim 1, wherein if the closest angle position is less than angle0, then angle1= angle0-i (1 ≦ i ≦ 3); anglecnt1= froangle (angle 1); if the closest angle position is greater than angle0, then angle1= angle0+ i (1 ≦ i ≦ 3); anglecnt1=1.
5. The method according to claim 1, wherein the step S4 takes absolute value to calculate the amplitude formula as sa0 (n) = | S0 (n) |; (N =1, 2, 3 \8230; N) and sa1 (N) = | s1 (N) |; (N =1, 2, 3 \8230; N); where N is the length of the echo sample point data for one clock cycle.
6. The method of claim 1, wherein the step S5 adopts the detection criteria of,
if sa0 (n) is less than K sa1 (n), then H 0 Is established when H 0 When it is establishedThe measured value at the time point n is considered to be free of interference; if sa0 (n) is greater than K sa1 (n), then H 1 Is established when H 1 When the time point n is established, the measured value is regarded as interference, the measured value is detected by using a detection criterion in each clock period, and the time point of occurrence of the interference signal is determined.
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