CN110109067B - Ground-based FMCW region monitoring radar data processing method - Google Patents
Ground-based FMCW region monitoring radar data processing method Download PDFInfo
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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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
Abstract
The invention discloses a ground-based FMCW region monitoring radar data processing method, which comprises the following steps: step 1: processing the original clutter map by a self-adaptive background clutter map cancellation algorithm to obtain a residual clutter map; step 2: if the signal amplitude of the residual clutter maps exceeds the CFAR threshold, the target is considered to be detected, and then the CFAR detection result is subjected to centering to obtain a centering result; and step 3: and performing trace point association and alpha beta filtering on the focusing result, and reporting and displaying. The method comprises the steps of establishing a radar detection background clutter map, subtracting the radar detection background clutter map from an original clutter map obtained by new detection to obtain a residual clutter map, judging whether a target appears or not by comparing the signal amplitude of the residual clutter with a CFAR threshold, and performing concentration processing on a CFAR detection result, so that the anti-interference capability of the ground-based FMCW area monitoring radar is effectively improved.
Description
Technical Field
The invention belongs to the technical field of electronic information, and relates to a land-based FMCW region monitoring radar data processing method.
Background
A land-based FMCW regional monitoring radar is a radar device for warning and monitoring important regions, mainly used for finding targets at a long distance, reporting information such as the distance, the direction, the speed and the like of the targets in real time, reserving more response time for users, and having the advantages of convenience in erection and removal, capability of working in all weather, large monitoring range, low cost and the like.
However, since the land and ultra-low altitude fields are the most frequent places for human activities, there are not only electromagnetic interference occurring in nature, but also interference caused by human activities, and electromagnetic interference intentionally released by human beings, so that the land-based FMCW area monitoring radar faces a serious challenge. The existing FMCW radar signal and data processing method mainly comprises A/D sampling, digital down-conversion, coherent accumulation, CFAR, focusing, trace point correlation and the like, and although the method can normally detect a target, the anti-interference capability is weak.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a ground-based FMCW region monitoring radar data processing method.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a ground-based FMCW region monitoring radar data processing method comprises the following steps:
step 1: processing an original clutter map acquired by a radar through a self-adaptive background clutter map cancellation algorithm to obtain a residual clutter map;
step 2: comparing the signal amplitudes of all clutter units of the residual clutter maps with the CFAR threshold of the radar, and recording clutter unit information corresponding to the signal amplitudes when the signal amplitudes exceed the CFAR threshold of the radar to obtain a CFAR detection result;
and 3, step 3: performing heart focusing on all CFAR detection results to obtain a heart focusing result;
and 4, step 4: and performing trace point association and alpha beta filtering on the focusing result, and reporting and displaying.
The invention further improves the following steps:
the self-adaptive background clutter map cancellation algorithm comprises the following steps:
step 1-1: establishing a radar detection background clutter map by counting a plurality of original clutter maps;
step 1-2: and subtracting the radar detection background clutter map from the original clutter map obtained by new detection to obtain a residual clutter map.
The adaptive background clutter map cancellation algorithm further comprises:
step 1-3: when the ground-based FMCW area monitoring radar is a fixed directional radar, updating a radar detection background clutter map once every several pulse groups are passed; when the ground-based FMCW area monitoring radar is a scanning radar, updating a radar detection background clutter map once every several scanning periods; the specific method for updating the radar detection background clutter map comprises the following steps:
and performing sliding window averaging on the radar detection background clutter maps in the current azimuth and pitch angle areas of the radar and a plurality of historical radar detection background clutter maps to serve as new radar detection background clutter maps, and finishing updating of the radar detection background clutter maps.
When the ground-based FMCW area monitoring radar is a fixed directional radar, the specific method of the step 1-1 is as follows:
calculating the average value and standard deviation of clutter amplitudes of each corresponding clutter unit in a plurality of original clutter maps; the amplitude of each clutter unit in the original clutter map is subtracted from the average value of the corresponding amplitude of the clutter unit, the amplitude of the clutter unit of which the absolute value of the difference is more than three times of the standard deviation is replaced by the sum of the average value of the amplitude of the clutter unit and the standard deviation, and the amplitude of the clutter unit of which the absolute value of the difference is less than three times of the standard deviation is kept unchanged to obtain a plurality of primary processed original clutter maps; and calculating the root mean square and the standard deviation of the clutter amplitude of each corresponding clutter unit in the plurality of primary processing original clutter maps, and replacing the amplitude of each clutter unit with the sum of the root mean square and the standard deviation of the amplitude of the corresponding clutter unit to obtain the radar detection background clutter map.
When the ground-based FMCW area monitoring radar is a scanning radar, the specific method of the step 1-1 is as follows:
calculating the average value and the standard deviation of the clutter unit amplitudes corresponding to each azimuth angle and pitch angle in the original clutter maps of a plurality of scanning periods; the clutter unit amplitude corresponding to each azimuth angle and pitch angle in the original clutter map of a plurality of scanning periods is subtracted from the average value of the amplitude of the clutter unit; replacing the clutter unit amplitude of which the absolute value of the difference is more than three times of the standard deviation by the sum of the average value and the standard deviation, and keeping the clutter unit amplitude of which the absolute value of the difference is less than three times of the standard deviation unchanged to obtain a plurality of primary processing original clutter maps; and calculating the root mean square and the standard deviation of the amplitudes of the clutter units corresponding to each azimuth angle and pitch angle of the plurality of primary processed original clutter maps, and replacing the amplitudes of the clutter units by the sum of the root mean square and the standard deviation of the corresponding clutter units to obtain the radar detection background clutter map.
The number of original clutter maps in step 1-1 is 32.
The radar detection background clutter map is a matrix of 64 rows and 2048 columns.
The specific method of the step 3 comprises the following steps:
and when the absolute value of the difference of the distance unit is in the association range of the given distance unit and the absolute value of the difference of the Doppler unit is within the association range of the Doppler unit, removing the CFAR detection result corresponding to the clutter unit with small signal amplitude to finish the centering of the first CFAR detection result, and recording the residual CFAR detection results after all CFAR detection results are subjected to centering to obtain the centering result.
Compared with the prior art, the invention has the following beneficial effects:
the method comprises the steps of establishing a radar detection background clutter map, subtracting the radar detection background clutter map from an original clutter map obtained by new detection to obtain a residual clutter map, wherein the influence of static interference targets and environment interference clutter on CFAR detection can be effectively reduced in the process, and the effective signal-to-clutter ratio in the clutter before the CFAR detection is ensured to be improved; whether a target appears is judged by comparing the signal amplitude of the residual clutter with the CFAR threshold, and the CFAR detection result is subjected to centering processing, so that the process can ensure the constant false alarm detection effect, interference signals caused by target fluctuation, environmental noise and the like can be removed as much as possible, and each target in the centering result is ensured to be separated in distance and Doppler dimensions to the greatest extent, so that the phenomenon that the same target is mistakenly reported into a plurality of targets or the reported target always accompanies a false target with a distance or Doppler close to the false target can be prevented, and the anti-interference capability of the land-based FMCW area monitoring radar is effectively improved.
Furthermore, the radar detection background clutter map is continuously updated, and after the clutter background in the real environment is obviously changed, the radar detection background clutter map can be changed accordingly, so that the adaptability of the radar to the change of the clutter environment is improved, the false alarm rate is reduced, and the anti-interference performance is improved.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a diagram illustrating the original clutter data of the present invention;
FIG. 3 is a schematic diagram of calculating clutter from multiple original clutter data according to the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1-3, the invention relates to a land-based FMCW region monitoring radar data processing method, which comprises the following steps:
step 1: and processing the original clutter map by a self-adaptive background clutter map cancellation algorithm to obtain a residual clutter map.
Wherein: the adaptive background clutter map cancellation algorithm comprises the following steps:
step 1-1: establishing a radar detection background clutter map by counting a plurality of original clutter maps;
wherein: when the ground-based FMCW region monitoring radar is a fixed directional radar, the specific method comprises the following steps: calculating the average value and standard deviation of clutter amplitudes of each corresponding clutter unit in a plurality of original clutter maps; the amplitude of each clutter unit in the original clutter map is subtracted from the average value of the corresponding amplitude of the clutter unit, the amplitude of the clutter unit of which the absolute value of the difference is more than three times of the standard deviation is replaced by the sum of the average value of the amplitude of the clutter unit and the standard deviation, and the amplitude of the clutter unit of which the absolute value of the difference is less than three times of the standard deviation is kept unchanged to obtain a plurality of primary processed original clutter maps; and calculating the root mean square and the standard deviation of the clutter amplitude of each corresponding clutter unit in the plurality of primary processing original clutter maps, and replacing the amplitude of each clutter unit with the sum of the root mean square and the standard deviation of the amplitude of the corresponding clutter unit to obtain the radar detection background clutter map.
When the ground-based FMCW area monitoring radar is a scanning radar, the specific method comprises the following steps: calculating the average value and the standard deviation of the clutter unit amplitudes corresponding to each azimuth angle and pitch angle in the original clutter maps of a plurality of scanning periods; the clutter unit amplitude corresponding to each azimuth angle and pitch angle in the original clutter map of a plurality of scanning periods is subtracted from the average value of the amplitude of the clutter unit; replacing the clutter unit amplitude of which the absolute value of the difference is more than three times of the standard deviation by the sum of the average value and the standard deviation, and keeping the clutter unit amplitude of which the absolute value of the difference is less than three times of the standard deviation unchanged to obtain a plurality of primary processing original clutter maps; and calculating the root mean square and the standard deviation of the amplitudes of the clutter units corresponding to each azimuth angle and pitch angle of the plurality of primary processed original clutter maps, and replacing the amplitudes of the clutter units by the sum of the root mean square and the standard deviation of the corresponding clutter units to obtain the radar detection background clutter map.
The number of the original clutter maps may be selected to be 32, but is not limited thereto.
Step 1-2: and subtracting the radar detection background clutter map from the original clutter map obtained by new detection to obtain a residual clutter map.
Step 1-3: for a fixed-orientation radar, its radar detection background clutter map is updated every several pulse groups, and for a scanning-type radar, it is updated every several scanning cycles. The radar detection background clutter map updating method mainly aims to change the radar detection background clutter map after the clutter background in a real environment changes remarkably, so that the adaptability of the radar to clutter environment changes is improved, the false alarm rate is reduced, and the anti-interference performance is improved. The specific updating process is as follows: and performing sliding window averaging on the radar detection background clutter matrixes in the current azimuth and pitch angle areas and a plurality of historical radar detection background clutter matrixes to obtain a new radar detection background clutter map, and finishing updating the radar detection background clutter map.
Step 2: if the signal amplitude of the residual clutter map exceeds the CFAR threshold, the target is considered to be detected, and then the adjacent distance units and Doppler units of the residual clutter map are subjected to centering to obtain a centering result;
and step 3: and performing trace point association and alpha beta filtering on the focusing result, and reporting and displaying.
The principle of the invention is described in detail below:
and a signal processing process: the A/D sampling data is subjected to digital down-conversion, low-pass filtering, MTI filtering and coherent accumulation, and finally a matrix of 64 rows and 2048 columns is obtained, each row is called as 1 distance dimension, each point in the distance dimension is called as a distance unit, each column is called as 1 Doppler dimension, each point in the Doppler dimension is called as a Doppler unit, the matrix essentially represents the distribution condition of the amplitudes of the environmental clutter and the target clutter relative to the distance and the Doppler, and is called as an original clutter map, and each element in the original clutter map is called as a clutter unit.
And (3) data processing flow: establishing a radar detection background clutter map: and counting 32 original clutters each time to obtain a clutters map. The method comprises the following specific steps: calculating the amplitudes of the Doppler signals and the clutter signals of the distance units corresponding to the 32 matrixes of 64 rows and 2048 columns to obtain an average value and a standard deviation, respectively marking the average value and the standard deviation as A and S1, replacing the signals of which the amplitudes of the clutter signals corresponding to the Doppler signals and the distance units in the original clutter signals are larger than 3S 1 by A + 3S 1, then calculating the root mean square and the standard deviation of the amplitudes of the processed signals, respectively marking the processed signals as U and S2, and finally, representing a radar detection background clutter map by U + S2, wherein the radar detection background clutter map is a matrix of 64 rows and 2048 columns.
Application of radar detection to background clutter maps: and if the signal amplitude of the residual clutter exceeds the CFAR threshold, the target is considered to appear, the targets of the adjacent distance unit and the Doppler unit are subjected to centering, the centering result is sent to the point-trace association unit, point-trace association and alpha beta filtering are performed, and then reporting and displaying are performed.
For a fixed-orientation radar, its radar detection background clutter map is updated every several pulse groups, and for a scanning-type radar, it is updated every several scanning cycles. The radar detection background clutter map updating method mainly aims to change the radar detection background clutter map after the clutter background in a real environment changes remarkably, so that the adaptability of the radar to the clutter environment change is improved, the false alarm rate is reduced, and the anti-interference performance is improved. The specific updating process is to perform sliding window averaging on the radar detection background clutter matrixes in the current azimuth and pitch angle area and a plurality of historical radar detection background clutter matrixes to obtain a new radar detection background clutter map, and the process is called updating of the radar detection background clutter map.
Examples
The radar technical indexes in the embodiment of the invention are as follows:
the radar detection distance is 1km, the transmitting frequency is 24GHz, the frequency modulation bandwidth is 250MHz, the modulation period is 2ms, the modulation mode is sawtooth wave, the center frequency of the intermediate frequency signal processed and output by the receiver is 60MHz, and the data enters a data processing flow after the intermediate frequency signal is subjected to A/D sampling, digital down-conversion, low-pass filtering, MTI filtering, coherent accumulation and the like. According to the FMCW radar ranging principle, when the maximum detection distance is 1km, the corresponding maximum frequency shift is 833.333kHz, therefore, according to the band-pass sampling theorem, the A/D sampling rate is 8MSPS, the number of coherent accumulation points is 2048, and the number of accumulation cycles is 64. Meanwhile, the existing method is adopted for monitoring. Through the analysis of the actual monitoring result, the false alarm rate of the method is greatly reduced compared with the prior method under the condition of the same interference.
The ground-based FMCW area monitoring radar data processing method comprises the steps of establishing a radar detection background clutter map, subtracting the radar detection background clutter map from an original clutter map obtained by new detection to obtain a residual clutter map, wherein the influence of a static interference target and an environmental interference clutter on CFAR detection can be effectively reduced in the process, and the effective signal-to-clutter ratio in the clutter before the CFAR detection is ensured to be improved; whether a target appears is judged by comparing the signal amplitude of the residual clutter with a CFAR threshold, and the CFAR detection result is subjected to centering processing, so that the process can ensure the constant false alarm detection effect, can remove interference signals caused by target fluctuation, environmental noise and the like as much as possible, and furthest ensures that each target in the centering result is independent in distance and Doppler dimension, thereby preventing the phenomenon that the same target is mistakenly reported into a plurality of targets or the reported target is always accompanied with a false target with a distance or a Doppler close to the false target, and effectively improving the anti-interference capability of the ground-based FMCW area monitoring radar.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (6)
1. A ground-based FMCW region monitoring radar data processing method is characterized by comprising the following steps:
step 1: processing an original clutter map acquired by a radar through a self-adaptive background clutter map cancellation algorithm to obtain a residual clutter map;
step 2: comparing the signal amplitudes of all clutter units of the residual clutter maps with the CFAR threshold of the radar, and recording clutter unit information corresponding to the signal amplitudes when the signal amplitudes exceed the CFAR threshold of the radar to obtain a CFAR detection result;
and step 3: performing heart focusing on all CFAR detection results to obtain a heart focusing result;
and 4, step 4: performing trace point association and alpha beta filtering on the focusing result, and then reporting and displaying;
the self-adaptive background clutter map cancellation algorithm comprises the following steps:
step 1-1: establishing a radar detection background clutter map by counting a plurality of original clutter maps;
step 1-2: subtracting the radar detection background clutter map from the original clutter map obtained by new detection to obtain a residual clutter map;
when the ground-based FMCW area monitoring radar is a fixed-pointing radar, the specific method of step 1-1 is as follows:
calculating the average value and standard deviation of clutter amplitudes of each corresponding clutter unit in a plurality of original clutter maps; the amplitude of each clutter unit in the original clutter map is subtracted from the average value of the corresponding amplitude of the clutter unit, the amplitude of the clutter unit of which the absolute value of the difference is greater than three times of the standard deviation is replaced by the sum of the average value of the amplitude of the clutter unit and the standard deviation, and the amplitude of the clutter unit of which the absolute value of the difference is less than three times of the standard deviation is kept unchanged to obtain a plurality of primary processed original clutter maps; and calculating the root mean square and the standard deviation of the clutter amplitude of each corresponding clutter unit in the plurality of primary processing original clutter maps, and replacing the amplitude of each clutter unit with the sum of the root mean square and the standard deviation of the amplitude of the corresponding clutter unit to obtain the radar detection background clutter map.
2. The ground-based FMCW region surveillance radar data processing method of claim 1, wherein the adaptive background clutter map cancellation algorithm further comprises:
step 1-3: when the ground-based FMCW area monitoring radar is a fixed directional radar, updating a radar detection background clutter map once every several pulse groups are passed; when the ground-based FMCW area monitoring radar is a scanning radar, updating a radar detection background clutter map once every several scanning periods; the specific method for updating the radar detection background clutter map comprises the following steps:
and performing sliding window averaging on the radar detection background clutter maps in the current azimuth and pitch angle areas of the radar and a plurality of historical radar detection background clutter maps to serve as new radar detection background clutter maps, and finishing updating of the radar detection background clutter maps.
3. The ground-based FMCW area surveillance radar data processing method as claimed in claim 1, wherein when the ground-based FMCW area surveillance radar is a scanning type radar, the specific method of step 1-1 is:
calculating the average value and the standard deviation of the clutter unit amplitudes corresponding to each azimuth angle and pitch angle in the original clutter maps of a plurality of scanning periods; the clutter unit amplitude corresponding to each azimuth angle and pitch angle in the original clutter map of a plurality of scanning periods is subtracted from the average value of the amplitude of the clutter unit; replacing the clutter unit amplitude of which the absolute value of the difference is more than three times of the standard deviation by the sum of the average value and the standard deviation, and keeping the clutter unit amplitude of which the absolute value of the difference is less than three times of the standard deviation unchanged to obtain a plurality of primary processing original clutter maps; and calculating the root mean square and the standard deviation of the amplitudes of the clutter units corresponding to each azimuth angle and pitch angle of the plurality of primary processed original clutter maps, and replacing the amplitudes of the clutter units by the sum of the root mean square and the standard deviation of the corresponding clutter units to obtain the radar detection background clutter map.
4. The ground-based FMCW region surveillance radar data processing method as set forth in claim 1, wherein the number of original clutter maps in step 1-1 is 32.
5. The ground-based FMCW region surveillance radar data processing method of claim 1, wherein the radar detection background clutter map is a 64 row 2048 column matrix.
6. The ground-based FMCW area surveillance radar data processing method as set forth in claim 1, wherein said step 3 is embodied by:
and when the absolute value of the difference of the distance unit is in the association range of the given distance unit and the absolute value of the difference of the Doppler unit is within the association range of the Doppler unit, removing the CFAR detection result corresponding to the clutter unit with small signal amplitude to finish the centering of the first CFAR detection result, and recording the residual CFAR detection results after all CFAR detection results are subjected to centering to obtain the centering result.
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