CN110244290A - A kind of detection method of range extension target - Google Patents
A kind of detection method of range extension target Download PDFInfo
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- CN110244290A CN110244290A CN201910520506.8A CN201910520506A CN110244290A CN 110244290 A CN110244290 A CN 110244290A CN 201910520506 A CN201910520506 A CN 201910520506A CN 110244290 A CN110244290 A CN 110244290A
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Classifications
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
Abstract
The invention discloses a kind of range extension target detection methods, belong to Radar Targets'Detection technology, can be used for detecting the range extension target in white Gaussian noise background.The present invention reduces resolving power by being split to high resolution radar waveform, and extends mesh calibration method using order statistic theory detecting distance, is omitted and extracts master data step, and avoiding to extract target information because of sliding window and lack causes to subside loss.
Description
Technical field
The invention belongs to Radar Targets'Detection technologies, and in particular to a kind of detection method of range extension target can be used for
Range extension target in white Gaussian noise background is detected.
Background technique
Range extension target refers to the radar target that continuous multiple distance unit are occupied on one-dimensional range profile.With complexity
The real goal (such as aircraft, naval vessel) of geometry may be considered multiple independent scatterings in the electromagnetic scattering echo of high frequency region
The synthesis of center echo.Therefore target can be distinguished by improving radar resolution in the different scatterings on radar line of sight direction
The heart causes target to become range extension target under the conditions of high-resolution.Since range extension target occupies continuous multiple distance lists
" point target " (only occupying the target of 1 distance unit) detection technique of member, conventional radar will be no longer applicable in.
Existing range extension target detection technology, such as paper " Detection of a spatially
Distributed target in white noise " (K.Gerlach etc., IEEE Signal Processing
Letters, the 4th phase in 1997, the 198-200 pages) the disclosed generalized likelihood test device based on scattering center airspace density
(SSD-GLRT) and paper " a kind of range extension target detection device based on order statistic " (wear and give week etc., electronics and letter
Cease journal, the 31st phase in 2009, the 2488-2492 page) disclosed in the range extension target detection device based on order statistic
(OS-RSTD), the two is utilized comprising all scattering center echo informations of range extension target, and the Range Profile isometric with target
(i.e. Utopian master data) designs detector, and backward energy is made full use of to promote detection performance.But in practical applications, by
Priori knowledge in not target position is needed with searching on entire one-dimensional range profile with the isometric sliding window of target and extract use
In the master data of detection.Since the backward energy of each scattering center of range extension target is dispersed on one-dimensional range profile, low
Under signal-to-noise ratio environment, sliding window is difficult accurately to extract all scattering centers of target, and the master data extracted is caused to be doped with extra make an uproar
Sound causes detection performance to occur subsideing loss.This is the potentiality of existing range extension target detection technology in practical applications
Loss of energy source causes the prior art to be unable to reach the performance claimed.
Summary of the invention
The purpose of the present invention is overcoming the deficiencies of existing technologies, propose that a kind of pair of high resolution radar waveform is split to drop
Low resolution, and mesh calibration method is extended using order statistic theory detecting distance, it is omitted and extracts master data step, avoid
Extracting target information missing because of sliding window causes to subside loss.Technical problem proposed by the invention solves in this way:
A kind of detection method of range extension target, comprising the following steps:
The transmitting signal that high resolution radar is arranged in step 1. is zigzag frequency-modulated continuous-wave signals S (t), and passes through transmitting day
Line output；Emitting signal S (t) has chirp rate u, bandwidth B, frequency sweep cycle T；Radar range resolution is Δ=c/2B,
Middle c is the light velocity；
Step 2. receiving antenna receives target echo signal R (t), and by directional couple device and transmitting signal S (t) into
Row beat mixing, obtains the Beat Signal X (t) of a frequency sweep cycle；
Under step 3. non-detection status existing for no target, Beat Signal X (t) obtained in step 2 is sampled,
Discrete series Xs (n) after being sampled；Xs (n) only includes the auxiliary data of background white Gaussian noise information, and length Ls is used
In the power of estimating background noise comprising；
Step 4. samples Beat Signal X (t) obtained in step 2 under detecting state, after being sampled from
Scattered signal sequence X (n)；X (n) length is L, the echo information comprising range extension target；Target length is Z；
Discrete series X (n) obtained in step 4 is uniformly split into K sections of discrete subsequences by step 5. in order, is remembered respectively
For X1(n) ... ..., XK(n), length is M；Preferably, the value of M meets:
M≥L/N
Wherein N=Z/ Δ is the distance unit number that range extension target occupies under the conditions of high-resolution；Since radar is sent out
Zigzag linear frequency modulation continuous wave is penetrated, can be considered that continuous K bandwidth is B/K in transmitting time domain, frequency sweep cycle is the subband of T/K；
After splitting, the resolving power of each subsequence is reduced to the 1/K of X (n)；It can be adjusted flexibly respectively by the value of Rational choice M
The resolving power of cross-talk sequence；As M=L/N, there is K=N at this time.Each cross-talk sequence is non-overlapping between each other, referred to as non-overlapping to tear open
Point, subsequence resolving power is matched with target size at this time；As M > L/N, each cross-talk sequence has overlapping between each other, referred to as heavy
It is folded to split；
Step 6. is by discrete subsequence X obtained in step 51(n) ... ..., XK(n) discrete Fourier transform is carried out respectively
With quadratic detection processing, corresponding K low resolution distances are obtained as sequence: Y1(n) ... ..., YK(n)；Sequence Y1
(n) ... ..., YK(n) length is M, and M low resolution distance units of corresponding Radar range profile's, target only occurs in
In one of distance unit；By Y1(n) ... ..., YK(n) according to being regularly arranged into matrix Y as follows:
Wherein yijRepresent discrete series Yi(n) j-th element (i=1 ... ..., K in；J=1 ... ..., M)；
Step 7. utilizes the 1st column element of only auxiliary data Xs (n) and matrix Y comprising background white Gaussian noise information
y11, y21... ..., yK1It adjudicates in the 1st low resolution distance unit with the presence or absence of target；
Specific step is as follows for step 7:
Step 7-1. estimates background white Gaussian noise power a, expression formula using discrete series Xs (n) are as follows:
The first column element y of step 7-2. extraction matrix Y11, y21... ..., yK1, ascending sort is carried out to above-mentioned element, it will
Element after sequence is denoted as again: y(1), y(2)... ..., y(K), meet following formula:
y(1)≤y(2)≤L≤y(K)
Step 7-3. introduces order statistic theory, extracts element y(K-i+1), y(K-i+2)... ..., y(K), form inspection statistics
Measure β:
Preferably, i is the optimal value taken according to the target property of range extension target；
Test statistics β is compared by step 7-4. with detection threshold a γ, if β > a γ, determines that target exists；If β
< a γ then determines exist without target；Preferably, γ is the preset parameter being arranged according to radar system false-alarm probability；
Step 8. utilizes the 2nd column element of only discrete series Xs (n) and matrix Y comprising background white Gaussian noise information
y12, y22... ..., yK2, repeat the process in step 7 and adjudicate in the 2nd low resolution distance unit with the presence or absence of target；With such
It pushes away in all M low resolution distance units of detection with the presence or absence of target, makes final target and there is judgement.
The present invention reduces the resolving power of subsequence by splitting high resolution radar waveform, allows range extension target each low
It differentiates and no longer occupies multiple distance unit on subsequence；It only need to successively be detected, be omitted existing along low resolution distance picture
Have the step of range extension target detection device extracts master data using sliding window, avoid because target information extract it is incomplete caused by inspection
It surveys performance and subsides loss.
It introduces order statistic theory and improves detection performance of the invention.It is adjusted the distance due to each subsequence and extends target
Response it is different, each element is ranked up, i element for extracting amplitude maximum is accumulated, it is ensured that sufficiently benefit
With the backward energy of target, avoid causes detection performance to decline because accumulating excessive noise.
The beneficial effects of the present invention are:
(1) present invention does not need the step of sliding window extracts master data.The present invention reduces each sub- sequence by waveform fractionation
The resolving power of column, when sub-sequence resolving power is matched with target size, the range extension target under the conditions of high-resolution only occupies son
1 distance unit of sequence detects one by one along one-dimensional range profile, and the step of sliding window extracts master data is omitted；
(2) present invention does not need the hardware configuration of change radar.Range extension target detection method proposed by the present invention is
The processing carried out from the Digital Signal Processing rear end of radar does not change the structures such as the radio-frequency front-end of radar, therefore this patent
Target can be extended for detecting distance under the premise of not changing existing high resolution radar hardware configuration.
(3) present invention can flexibly change subsequence resolving power according to actual needs.The invention proposes it is non-overlapping fractionation and
Overlapping splits two kinds of processing strategies, can choose suitable sub-sequence length adjustment subsequence in practical application as needed and differentiate
Power makes radar have optimal detection performance.
Detailed description of the invention
Fig. 1 is the schematic diagram of radar emission linear frequency modulation continuous wave signal；
Fig. 2 is radar emission linear frequency modulation continuous wave signal and the schematic diagram for receiving target echo；
Fig. 3 is to adjudicate the flow diagram that target whether there is using subsequence；
Fig. 4 is the detection effect comparison diagram of the present invention with the prior art.
Specific embodiment
The technical solution in the present invention is clearly described with reference to the accompanying drawings and examples.The present embodiment provides one kind
Detecting distance extends mesh calibration method, comprising the following steps:
The transmitting signal that high resolution radar is arranged in step 1. is zigzag frequency-modulated continuous-wave signals S (t), and passes through transmitting day
Line output；Emitting signal S (t) has chirp rate u, bandwidth B, frequency sweep cycle T；In the present embodiment, frequency modulation initial slope u=
9.6GHz, modulating bandwidth B=500MHz, frequency sweep cycle T=1ms, therefore radar waveform resolving power are Δ=c/2B=0.3m,
Middle c is the light velocity；It is as shown in Figure 1 to emit signal S (t)；If target range radar receiver to be detected is 2000m, length Z=
60m, therefore the target occupies Δ=200 N=Z/ distance unit under the conditions of high-resolution；
Under step 2. non-detection status existing for no target, what receiving antenna received 1 frequency sweep cycle only includes background
The signal R (t) of white Gaussian noise, and beat is carried out with transmitting signal S (t) by directional couple device and is mixed, only included
The auxiliary data Xs (n) of background white Gaussian noise；Sample rate is set as 5MHz, and being apparent from Xs (n) length is 5000, for estimating back
The power of scape noise；
Step 3. is in the case where that may have detecting state existing for target, and receiving antenna receives echo-signal R (t), and by fixed
Beat is carried out with transmitting signal S (t) to coupling device to be mixed, and obtains the Beat Signal X (t) of 1 frequency sweep cycle；Target echo letter
Number R (t) is τ relative to the delay of transmitting signal S (t)0=4/3 × 10-4s；Emit signal S (t) and receives signal R (t) such as Fig. 2
It is shown；Beat Signal X (t) is sampled to obtain discrete signal sequence X (n), sample rate is set as 5MHz, therefore the length of X (n)
Spend L=5000；
Discrete series X (n) obtained in step 3 is carried out non-overlapping fractionation by step 4., uniformly splits into K=N in order
=200 sections of discrete subsequences, are denoted as X respectively1(n) ... ..., X200(n), length is M=L/K=25；Each cross-talk sequence point
Distinguish that power is matched with target size；
Step 5. is by discrete subsequence X obtained in step 41(n) ... ..., X200(n) discrete fourier change is carried out respectively
It changes and is handled with quadratic detection, obtain corresponding 200 low resolution distances as sequence: Y1(n) ... ..., Y200(n)；Sequence Y1
(n) ... ..., Y200(n) length is 25, and 25 low resolution distance units of corresponding Radar range profile's, target only occurs
Wherein in 1 distance unit；By Y1(n) ... ..., Y200(n) according to being regularly arranged into matrix Y as follows:
Step 6. utilizes the 1st column element of only auxiliary data Xs (n) and matrix Y comprising background white Gaussian noise information
y1,1, y2,1... ..., y200,1It adjudicates in the 1st low resolution distance unit with the presence or absence of target；
Specific step is as follows for step 6:
Step 6-1. estimates background white Gaussian noise power a, expression formula using discrete series Xs (n) are as follows:
The first column element y of step 6-2. extraction matrix Y1,1, y2,1... ..., y200,1, ascending order row is carried out to above-mentioned element
Element after sequence is denoted as: y by sequence again(1), y(2)... ..., y(200), meet following formula:
y(1)≤y(2)≤L≤y(200)
Step 6-3. introduces order statistic theory, extracts y(1), y(2)... ..., y(200)In maximum i=30 element,
Form test statistics β:
Preferably, i=30 is the optimal value taken according to the target property of target to be detected；
Test statistics β is compared by step 6-4. with detection threshold a γ, if β > a γ, is determined with target presence；
If β < a γ, determine exist without target；Preferably, γ is the preset parameter being arranged according to radar system false-alarm probability；This implementation
False-alarm probability P is set in examplefa=10-4, parameter γ acquired by the experiment of 10000 Monte-Carlo Simulations；
The process of step 5 and step 6 is as shown in Figure 3；
Step 7. utilizes the 2nd column element of only discrete series Xs (n) and matrix Y comprising background white Gaussian noise information
y1,2, y2,2... ..., y200,2, repeat the process in step 6 and adjudicate in the 2nd low resolution distance unit with the presence or absence of target；With this
Analogize in all 25 low resolution distance units of detection with the presence or absence of target, makes final target and there is judgement.
Analysis of simulation result: Fig. 4 is the detection curve drawn under the conditions of embodiment, imitative by 10000 Monte Carlos
The detection probability under different background noise power is really acquired, and is compared with two kinds of prior arts；False-alarm probability is set as Pfa
=10-4；The simulation result as shown in Fig. 4 is it is found that detection technique proposed by the present invention not only compensates for the prior art not
Foot, and detection performance has been more than existing two kinds of detectors.
Claims (4)
1. a kind of detection method of range extension target, which comprises the following steps:
Step 1. high resolution radar emits zigzag frequency-modulated continuous-wave signals S (t), and is exported by transmitting antenna；Frequency modulation is continuous
Wave signal S (t) has chirp rate u, bandwidth B, frequency sweep cycle T；Radar range resolution is Δ=c/2B, and wherein c is the light velocity；
Step 2. receiving antenna receives target echo signal R (t), and poor by directional couple device and transmitting signal S (t) progress
Mixing is clapped, the Beat Signal X (t) of a frequency sweep cycle is obtained；
Under step 3. non-detection status existing for no target, Beat Signal X (t) obtained in step 2 is sampled, is obtained
Discrete series Xs (n) after sampling；Xs (n) is the auxiliary data for only including background white Gaussian noise information, and length Ls is used for
The power of estimating background noise comprising；
Step 4. samples Beat Signal X (t) obtained in step 2 under detecting state, the discrete letter after being sampled
Number sequence X (n)；X (n) length is L, the echo information comprising range extension target；Target length to be detected is Z；
Discrete series X (n) obtained in step 4 is uniformly split into K sections of discrete subsequences by step 5. in order, is denoted as X respectively1
(n) ... ..., XK(n), length is M；The value of M is depending on actual demand；Each cross-talk sequence can be overlapped, can also not
Overlapping, the resolving power of subsequence is controlled with this；
Step 6. is by discrete subsequence X obtained in step 51(n) ... ..., XK(n) discrete Fourier transform peace is carried out respectively
Side's rule detection processing, obtains corresponding K low resolution distances as sequence: Y1(n) ... ..., YK(n)；Sequence Y1(n) ... ..., YK
(n) length is M, M low resolution distance units of corresponding Radar range profile's, and target to be detected only occurs in wherein one
In a distance unit；By Y1(n) ... ..., YK(n) according to being regularly arranged into matrix Y as follows:
Wherein yijRepresent discrete series Yi(n) j-th element (i=1 ... ..., K in；J=1 ... ..., M)；
Step 7. utilizes the 1st column element y of only auxiliary data Xs (n) and matrix Y comprising background white Gaussian noise information11,
y21... ..., yK1It adjudicates in the 1st low resolution distance unit with the presence or absence of target；
Step 8. utilizes the 2nd column element y of only discrete series Xs (n) and matrix Y comprising background white Gaussian noise information12,
y22... ..., yK2, repeat the process in step 7 and adjudicate in the 2nd low resolution distance unit with the presence or absence of target；And so on inspection
It surveys in all M low resolution distance units with the presence or absence of target, makes final target and there is judgement.
2. a kind of detection method of range extension target as described in claim 1, which is characterized in that the specific steps of step 7
It is as follows:
Step 7-1. estimates background white Gaussian noise power a, expression formula using discrete series Xs (n) are as follows:
The first column element y of step 7-2. extraction matrix Y11, y21... ..., yK1, ascending sort is carried out to above-mentioned element, will be sorted
Element afterwards is denoted as again: y(1), y(2)... ..., y(K), meet following formula:
y(1)≤y(2)≤L≤y(K)
Step 7-3. introduces order statistic theory, extracts element y(K-i+1), y(K-i+2)... ..., y(K), form test statistics β:
Wherein i is the optimal value taken according to the target property of range extension target；
Test statistics β is compared by step 7-4. with detection threshold a γ, if β > a γ, determines that target exists；If β < a
γ then determines exist without target；γ is the preset parameter being arranged according to radar system false-alarm probability.
3. a kind of detection method of range extension target as claimed in claim 1 or 2, which is characterized in that M's takes in step 5
Value meets:
M=L/N
Wherein N=Z/ Δ is the distance unit number that range extension target occupies under the conditions of high-resolution, there is K=N at this time, each section
Subsequence is non-overlapping between each other, and the resolving power of each cross-talk sequence is matched with the size of range extension target.
4. a kind of range extension target detection method as claimed in claim 1 or 2, which is characterized in that the value of M in step 5
Meet:
M > L/N
Wherein N=Z/ Δ is the distance unit number that range extension target occupies under the conditions of high-resolution, at this time K cross-talk sequence phase
There is overlapping between mutually, the value of M optimizes according to actual needs.
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| WO2022000332A1 (en) * | 2020-06-30 | 2022-01-06 | 华为技术有限公司 | Radar detection method and related device |
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