CN110412533A - Clutter suppression method based on three-dimensional perspective Doppler effect correction - Google Patents
Clutter suppression method based on three-dimensional perspective Doppler effect correction Download PDFInfo
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Abstract
The invention discloses a kind of clutter suppression methods based on three-dimensional perspective Doppler effect correction, this method uses forward sight battle array FDA-MIMO radar, range ambiguity clutter data is obtained by K pulse of transmitting, three-dimensional perspective Doppler effect correction is carried out again on the basis of by apart from dependent Frequency compensation, compared with traditional clutter data only passed through apart from dependent Frequency compensation, clutter suppression method of the method for the present invention based on three-dimensional perspective Doppler effect correction, so that clutter data more meets independent same distribution condition, to make the method for the present invention there are the range ambiguity clutter recognition effect under serious range ambiguity clutter conditions is more preferable, be conducive to target detection, improve target detection precision.
Description
Technical Field
The invention belongs to the technical field of signal processing, and particularly relates to a clutter suppression method based on three-dimensional angle Doppler compensation.
Background
Multiple-input multiple-output (MIMO) radars have several advantages over conventional phased array radars. The different transmitting array elements of the MIMO radar transmit mutually orthogonal waveforms, and the echoes of each transmitting array element are processed on each receiving array element of the receiving end respectively, so that the MIMO technology can greatly enlarge the angle scanning range of the radar, and the transmitting-receiving domain wave beams at different angles can simultaneously carry out wave beam formation.
With the development of high-speed aircrafts, the influence caused by Doppler ambiguity can be reduced by high pulse repetition frequency, but the distance ambiguity clutter problem caused therewith is a big problem in the field of radar signal processing, the clutter suppression effect of a high-speed platform is rapidly worsened due to the serious distance ambiguity clutter problem, and the problem which is difficult to solve by a common MIMO radar is difficult to solve.
In recent years, Frequency Diversity Arrays (FDA) have gradually come into the line of sight of people. The FDA introduces a slight frequency spacing between each transmit element relative to the carrier frequency. The FDA radar is related to distance in a transmitting directional diagram, so that the degree of freedom in a distance dimension is brought to the whole radar system. The FDA and the MIMO technology are combined, the degree of freedom on a distance dimension can be fully utilized by utilizing the degree of freedom of a transmitting domain, and distance fuzzy clutters are inhibited by a space-time distance three-dimensional self-adaptive method under the conditions that the space spectrum dimension is enlarged and a clutter spectrum is dispersedly distributed according to a distance fuzzy region.
The space-time distance three-dimensional self-adaptive method needs to meet the requirement of independent and equally distributed range gate sampling data as much as possible, and the small frequency offset introduced by FDA brings the distance dimension degree of freedom, but the transmitting frequency and Doppler frequency distance of clutter data are dependent. The known compensation techniques on the transmit domain improve the distance dependence only to a small extent, but the distance dependence of the doppler domain is not improved. The clutter Doppler of the forward-looking array radar is different along with the difference of the distance, so that the Doppler characteristics of each range gate are different, the sampling data do not meet the independent and same distribution conditions, and the target detection performance is greatly reduced.
Disclosure of Invention
In order to solve the above problems, the present invention aims to provide a clutter suppression method based on three-dimensional angle doppler compensation, and the technical principle of the present invention is as follows: in the forward-looking array FDA-MIMO radar, clutter data on a transmitting-receiving-Doppler domain after distance dependent frequency compensation of clutter of each fuzzy distance is utilized, three-dimensional angle Doppler compensation is carried out on the clutter data again through a three-dimensional angle Doppler compensation matrix constructed aiming at a target detection position, and the forward-looking array FDA-MIMO radar has a more excellent clutter suppression effect under the condition of serious distance ambiguity.
In order to achieve the above object, the present invention adopts the following technical solutions.
The clutter suppression method based on the three-dimensional angle Doppler compensation comprises the following steps:
step 1, setting a forward-looking array FDA-MIMO radar with M transmitting array elements and N receiving array elements, continuously sampling in K pulses, and obtaining a transmitting-receiving-Doppler domain steering vector a (r) with dimensions of M multiplied by N multiplied by Kl，p，ψl，p，q，vl，p，q，βl，p，q)；
Where l denotes the l-th range gate, p denotes the p-th range ambiguity region, q denotes the q-th scatter point, rl，pIndicating the distance, ψ, of the ith range gate over the p-th range ambiguity regionl，p，qRepresenting the space cone angle, v, of the q scattering point on the l range gate on the p range-blurred regionl，p，qRepresents the motion speed of the q scattering point on the ith range gate in the p-th range fuzzy area relative to the radial speed of the platform, betal，p，qRepresenting the included angle between the flying speed of the platform and the q scattering point on the ith range gate on the p-th range ambiguity region and the radar connecting line;
step 2, according to the transmitting-receiving-Doppler domain steering vector a (r)l,p,ψl,p,q,vl,p,q,βl,p,q) Obtaining N of FDA-MIMO radarpClutter data X of each distance fuzzy area;
step 3, setting the target detection position as the pth0L < th > of distance blurred region0A range gate for constructing a range-dependent frequency compensation vector for the radar based on the target detection positionpPerforming distance-dependent frequency compensation on the clutter data X of the distance fuzzy region to obtain clutter data subjected to distance-dependent compensation
Step 4, for p0Constructing a three-dimensional angle Doppler frequency compensation matrix by the first range gate of the range ambiguity region, and compensating range dependence of clutter dataPerforming three-dimensional angle Doppler compensation to obtain three-dimensional angle Doppler compensated forward looking array clutter data
Step 5, adopting a space-time distance three-dimensional self-adaptive method to carry out three-dimensional angle Doppler compensation on the clutter data of the forward looking arrayAnd performing self-adaptive suppression processing to obtain target data after clutter suppression.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, a forward-looking array FDA-MIMO system radar is adopted, distance fuzzy clutter data are obtained by transmitting K pulses, three-dimensional angle Doppler compensation is carried out again on the basis of distance dependent frequency compensation, and compared with the traditional clutter data which are only subjected to distance dependent frequency compensation, the method is based on the three-dimensional angle Doppler compensation clutter suppression method, so that the clutter data can meet independent and same distribution conditions, the distance fuzzy clutter suppression effect under the condition of serious distance fuzzy clutter is better, the target detection is facilitated, and the target detection precision is improved.
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The invention is described in further detail below with reference to the figures and specific embodiments.
Fig. 1 is a schematic flow chart of the clutter suppression method based on three-dimensional angle doppler compensation according to the present invention.
FIG. 2 is a schematic diagram of a model of a front array FDA-MIMO radar used in the present invention.
FIG. 3 is a graph of a comparison of the frequency spectrum of the method of the present invention and a conventional method; wherein, (a) is a two-dimensional power spectrogram of a space domain and a Doppler domain, wherein clutter data only passes through distance-dependent frequency compensation; (b) the method is used for obtaining a two-dimensional power spectrogram of clutter data airspace-Doppler domain.
Detailed Description
The embodiments and effects of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 2, assume that the FDA-MIMO radar has M transmitting elements, N receiving elements, and M transmitting elements are spaced apart by a distance dtThe interval between N receiving array elements is drThe frequency interval between adjacent transmitting array elements is delta f, the carrier frequency f of the mth transmitting array elementm＝f0+ (m-1) delta f, the first transmitting array element is a reference array element, and the carrier wave wavelength corresponding to the first transmitting array element is lambda0Corresponding to a frequency of f0(ii) a The pulse repetition period of the radar is T, and the radar is vpIs flying along the array normal direction (x direction), and the radar emits K pulses when working normally. A q-th clutter scattering unit on the l-th range gate on the p-th range ambiguity region, the range gate having a slope distance rl,pWith the flight velocity vpIs at a spatial angle of betal,p,qThe angle between the line from the scattering unit to the radar and the array direction is psil,p,q。
Referring to fig. 1, the clutter suppression method based on three-dimensional angle doppler compensation of the present invention is implemented as follows:
(1) obtaining a transmitting-receiving-Doppler domain guiding vector a (r) of M multiplied by N multiplied by K dimensionl,p,ψl,p,q,vl,p,q,βl,p,q)；
Substep 1a, acquiring a launching domain steering vector:
wherein j is an imaginary unit, fT(rl,p,ψl,p,q) Representing the distance-dependent frequency of the emission domain, fT(rl,p,ψl,p,q)＝-2△frl,p/c+dtcos(ψl,p,q)/λ0C is the speed of light, Δ f is the interval of FDA-MIMO radar transmission carrier frequencies, dtFor the spacing of the transmitting array elements in equidistant linear arrays, f0Carrier frequency of array element for reference (.)TRepresenting the transpose of the matrix.
Substep 1b, obtaining a receiving domain steering vector:
wherein f isR(ψl,p,q) Representing the frequency, f, of the receiving domainR(ψl,p,q)＝dr cos(ψl,p,q)/λ0，drThe position interval between the receiving array elements in the equidistant linear array.
Substep 1c, obtaining a doppler domain steering vector:
wherein f isD(βl,p,q,vp) Which is indicative of the frequency in the doppler domain,vpt is the pulse repetition period.
And a substep 1d, obtaining an M multiplied by N multiplied by K dimensional transmitting-receiving-Doppler domain guide vector according to the transmitting domain guide vector, the receiving domain guide vector and the Doppler domain guide vector:
wherein,represents the Kronecker product;
(2) steering vector a (r) according to transmitting-receiving-Doppler domainl,p,ψl,p,q,vl,p,q,βl,p,q) Obtaining N of FDA-MIMO radarpClutter data of each distance fuzzy region;
after the radar carries out down-conversion, sampling, digital mixing and matched filtering on the echo, the echo data is a matrix, each column represents the data of a range gate, and the number of the range gate is l, namely the number of the column.
Column l of X is XlX is a radical of XlThe components are arranged from left to right according to the sequence from l to l;
wherein x islFor the clutter data of the ith range gate, CNR is the clutter noise power ratio set during simulation, NpRepresenting the total number of distance-blurred regions, NcRepresenting the total number of clutter scattering units corresponding to the distance fuzzy area; n islThe noise introduced when the first range gate is sampled is distributed in the form of Gaussian white noise with dimensions of M multiplied by N multiplied by K, and the power is 1; xil,p,qThe scattering coefficient of the q clutter scattering unit on the ith range gate on the p range ambiguity region is expressed as the scattering coefficient xil,p,qA gaussian distribution with a mean of 0 and a variance of 1 is obeyed.
(3) Obtaining a distance-dependent frequency compensated transmit-receive-doppler domain data vector set
Specifically, the target detection position is set to the pth0L th of a distance-blurred region0The range gate is used for constructing a range-dependent frequency compensation vector based on the target detection position and performing range-dependent frequency compensation on the clutter data X in the transmitting-receiving-Doppler domain;
substeps 3a for p0L th of a distance-blurred region0And the range gate is used for constructing a range-dependent frequency compensation column vector according to the range information of the target detection point:
wherein,to correspond to the p-th0L th of a distance-blurred region0The length of each range gate, the complete range-dependent frequency compensation vector g, is expressed as:
wherein 1 isNAll 1 column vectors of Nx 1, 1KIs a full 1 column vector of K × 1.
And a substep 3b, adopting a distance dependent compensation vector g to carry out frequency compensation on the clutter data X in the transmitting-receiving-Doppler domain to obtain clutter data after distance dependent compensation
Column of (1) isByThe components are arranged from left to right according to the sequence from l to l;
wherein diag denotes a diagonalization operation (.)HRepresents a conjugate transpose of the matrix; x is the number oflThe distance of the ith range gate depends on the compensated clutter data.
4) obtaining three-dimensional angle Doppler compensated forward looking array clutter data
Setting the detection target at the p-th position0L th of a distance-blurred region0A range gate having an azimuth angle theta0And aiming at the ith range gate, constructing a range-dependent frequency compensation vector, wherein the specific compensation process comprises the following steps:
substep 4a, obtaining a Doppler compensated emission domain transformation matrix TTl：
Wherein,representing the emission domain frequency of the target to be detected after distance-dependent compensation;
representing the frequency of the emission domain at the ith distance from the center of the gated spectrum,denotes the p th0L < th > of distance blurred region0The pitch angle corresponding to the distance door,denotes the p th0Pitch angle, R, corresponding to the ith range gate from the ambiguity regionuC/2 Δ f represents the maximum unambiguous distance of the radar, (.)TRepresenting the transpose of the matrix.
Substep 4b, obtaining Doppler compensated receiving domain transformation matrix TRl：
TRl＝diag(1,exp(j2π(fRl-fR0)),...,exp(j2π(N-1)(fRl-fR0)))，
Wherein,representing the receiving domain frequency of the target to be detected after distance-dependent compensation;representing the l-th receive domain frequency from the center of the gate spectrum.
Substep 4c, obtaining Doppler domain transformation matrix T of Doppler compensationDl：
TDl＝diag(1,exp(j2π(fDl-fD0)),...,exp(j2π(K-1)(fDl-fD0)))，
Wherein,indicating the doppler domain frequency at the object to be detected after distance-dependent compensation,indicating the doppler domain frequency at the ith distance from the center of the gate spectrum.
Substep 4d, transforming the matrix T according to the Doppler compensated emission domainTlDoppler compensated receive domain transform matrix TRlDoppler domain transformation matrix T with Doppler compensationDlObtaining a compensation matrix T based on the first range gate clutter dataADC：
Wherein,representing the Kronecker product.
Substep 4e of using a compensation matrix T based on the l-th range gate clutter dataADCCompensating for range dependent clutter dataPerforming three-dimensional angle Doppler compensation to obtain three-dimensional angle Doppler compensated forward looking array clutter data
Wherein,represents clutter data of the l-th range gate after three-dimensional doppler compensation.
(5) Performing adaptive suppression on clutter data by adopting a space-time distance three-dimensional adaptive method to obtain target data subjected to clutter suppression; the method is implemented according to the following substeps:
substep 5a, obtaining a target three-dimensional guide vector t (p) according to the transmitting domain guide vector, the receiving domain guide vector and the Doppler domain guide vector of the detection target0,l0,θ0,v0)：
Wherein,which represents the product of the Kronecker reaction,a transmit domain steering vector representing the target,is the transmit angular frequency; a isR(fR(ψ0) A receive domain steering vector representing a target,is the receive angular frequency; a isD(fD(β0,v0) A Doppler domain steering vector representing the target, fD(β0,v0)＝2(vpcos(β0)+v0)T/λ0， θ0Indicating the azimuth angle, beta, of the target0Representing the spatial angle, v, of the target with respect to the direction of the flight speed0Indicating the radial velocity, ψ, of the target0Representing the angle between the radar connection line and the array wiring, T is the pulse repetition period, lambda0The carrier wave length corresponding to the first transmitting array element;
substep 5b, obtaining clutter noise covariance matrix
In the above formula, the clutter noise covariance matrix is estimated by using the data from which the currently detected range gate is removed and using L range gates near the currently detected range gate.
And a substep 5c, adopting a linear constraint minimum variance criterion to obtain a weight vector w of space-time distance three-dimensional self-adaptive processing:
w＝[w1,1,1,...,wM,N,K]T，
wherein w is obtained from a linear constraint minimum variance criterion expressed as:
and substep 5d, performing clutter adaptive suppression on the clutter data subjected to the three-dimensional Doppler compensation by adopting a weight vector w subjected to space-time distance three-dimensional adaptive processing to obtain target data Z subjected to clutter suppression:
Z＝[z1,z2,...,zl,...,zL]，
wherein z islThe vector of clutter data representing the weight vector w to the ith range gate isOutput after adaptive suppression of clutter, i.e.
The method of the invention is adopted to carry out space domain-Doppler domain spectrum analysis on FDA-MIMO radar data, and compared with the traditional method (clutter data only carries out distance dependent frequency compensation), the simulation experiment parameters are set as follows:
FDA-MIMO radar with vpFlying at 500M/s, the number of transmitting array elements M6, the number of receiving array elements N6, the carrier frequency f of the first array element01GHz, wavelength λ0When the frequency difference between array elements is 0.3m, the frequency difference delta f between array elements is 3KHz, and the distance r of the target to be measured is from the gate positiont10000m, cosine cos psi of target space cone angle to be measured is 0, radar flying height H is 6000m, number L of distance gates used for simulation is 600, radar pulse waveform bandwidth B is 6MHz in normal working period, radar pulse repetition time T is 0.1ms, and distance fuzzy area number N is consideredpNumber of clutter scattering units N per range gate, 3c181, the number of radar transmission pulses K is 8.
The parameter settings are as in table 1:
TABLE 1 System simulation parameters
2. Simulation content:
under the simulation parameters, under the environment of a front-view array FDA-MIMO high-speed platform, the clutter data frequency spectrum obtained by the method of the invention and the traditional method (only by distance-dependent frequency compensation) is simulated, and the result is shown in FIG. 3.
As can be seen from fig. 3, the left diagram (a) in fig. 3 is a diagram of the simulation result of the two-dimensional power spectrum of the space domain-doppler domain only subjected to the distance-dependent frequency compensation; the right graph (b) is a simulation result graph of the two-dimensional power spectrum of the data airspace-Doppler domain obtained by the method; the simulation aims at the first distance fuzzy area, and as can be seen from the graph, the left graph is relatively dispersed near the Doppler center point of the first fuzzy area, and the clutter spectrums of the right graph near the Doppler center point of the first fuzzy area are converged towards the center point, so that the clutter data obtained by the method of the invention better meet the independent and same-distribution characteristics, and therefore, the clutter suppression effect is better.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. The clutter suppression method based on the three-dimensional angle Doppler compensation is characterized by comprising the following steps of:
step 1, setting a forward-looking array FDA-MIMO radar with M transmitting array elements and N receiving array elements, continuously sampling in K pulses, and obtaining a transmitting-receiving-Doppler domain steering vector a (r) with dimensions of M multiplied by N multiplied by Kl，p，ψl，p，q，vl，p，q，βl，p，q)；
Where l denotes the l-th range gate, p denotes the p-th range ambiguity region, q denotes the q-th scatter point, rl，pIndicating the distance, ψ, of the ith range gate over the p-th range ambiguity regionl，p，qRepresenting the space cone angle, v, of the q scattering point on the l range gate on the p range-blurred regionl，p，qRepresents the motion speed of the q scattering point on the ith range gate in the p-th range fuzzy area relative to the radial speed of the platform, betal，p，qRepresenting the included angle between the flying speed of the platform and the q scattering point on the ith range gate on the p-th range ambiguity region and the radar connecting line;
step 2, according to the transmitting-receiving-Doppler domain steering vector a (r)l，p，ψl，p，q，vl，p，q，βl，p，q) Obtaining N of FDA-MIMO radarpClutter data X of each distance fuzzy area;
step 3, setting the target detection position as the pth0L < th > of distance blurred region0A range gate for constructing a range-dependent frequency compensation vector for the radar based on the target detection positionpPerforming distance-dependent frequency compensation on the clutter data X of the distance fuzzy region to obtain clutter data subjected to distance-dependent compensation
Step 4, for p0Constructing a three-dimensional angle Doppler frequency compensation matrix by the first range gate of the range ambiguity region, and compensating range dependence of clutter dataPerforming three-dimensional angle Doppler compensation to obtain three-dimensional angle Doppler compensated forward looking array clutter data
Step 5, adopting a space-time distance three-dimensional self-adaptive method to carry out three-dimensional angle Doppler compensation on the clutter data of the forward looking arrayAnd performing self-adaptive suppression processing to obtain target data after clutter suppression.
2. The clutter suppression method based on three-dimensional angle doppler compensation according to claim 1, wherein in step 1, the expression of the M × N × K dimensional transmit-receive-doppler domain steering vector is:
wherein,represents the Kronecker product, aT(fT(rl，p，ψl，p，q) Is a transmit domain steering vector, fT(rl，p，ψl，p，q) Representing the distance-dependent frequency of the emission domain, fT(rl，p，ψl，p，q)＝-2Δfrl，p/c+dtcos(ψl，p，q)/λ0C is the speed of light, deltaf is the frequency interval between adjacent transmitting array elements of the FDA-MIMO radar, lambda 0 is the carrier wave wavelength corresponding to the first transmitting array element, dtFor the spacing of the transmitting array elements in equidistant linear arrays, f0Carrier frequency of array element for reference (.)TRepresents a transpose of a matrix; a isR(fR(ψl，p，q) Is a receive domain steering vector, fR(ψl，p，q) Representing the frequency, f, of the receiving domainR(ψl，p，q)＝drcos(ψl，p，q)/λ0，drThe position interval between receiving array elements in the equidistant linear array is defined; a isD(fD(βl，p，q，vp) Is a Doppler domain steering vector, fD(βl，p，q，vp) Which is indicative of the frequency in the doppler domain,vpt is the pulse repetition period.
3. The clutter suppression method based on three-dimensional angle doppler compensation according to claim 1, wherein in step 1, N of the FDA-MIMO radarpClutter data X of each distance fuzzy region consists of clutter data of L distance gates, wherein the clutter data X of the first distance gatelThe expression of (a) is:
where CNR is clutter noise power ratio, NpRepresenting the total number of distance-blurred regions, NcRepresenting the total number of clutter scattering units corresponding to the distance fuzzy area; n islThe noise introduced when the first range gate is sampled is distributed in the form of Gaussian white noise with dimensions of M multiplied by N multiplied by K, and the power is 1; xil，p，qThe scattering coefficient of the q clutter scattering unit on the ith range gate on the p range ambiguity region is expressed as the scattering coefficient xil，p，qA gaussian distribution with a mean of 0 and a variance of 1 is obeyed.
4. The clutter suppression method based on three-dimensional angle doppler compensation according to claim 1, wherein in step 3, the distance-dependent frequency compensation vector is specifically: for p (th)0L < th > of distance blurred region0A range gate for controlling the distance between the target detection points,constructing a distance-dependent frequency compensation column vector g, wherein the expression is as follows:
wherein j is an imaginary unit, c is the speed of light, Δ f is the frequency interval between adjacent transmitting array elements,to correspond to the p-th0L < th > of distance blurred region0Length of individual distance gate, 1NAll 1 column vectors of Nx 1, 1KIs a full 1 column vector of K × 1.
5. The clutter suppression method based on three-dimensional angle doppler compensation according to claim 1, wherein in step 2, N of said pair of radarspPerforming distance-dependent frequency compensation on the clutter data X of the distance fuzzy region to obtain clutter data subjected to distance-dependent compensationThe method comprises the following steps:
column of (1) isByThe components are arranged from left to right according to the sequence from l to l;
wherein diag denotes a diagonalization operation (.)HRepresents a conjugate transpose of the matrix; x is the number oflThe distance of the ith range gate depends on the compensated clutter data.
6. The clutter suppression method according to claim 1, wherein in step 3, said three-dimensional angular doppler frequency compensation vector is constructed to compensate the range dependence of clutter dataThe method comprises the following steps of performing three-dimensional angle Doppler compensation:
substep 4a, obtaining a Doppler compensated emission domain transformation matrix TTl：
Wherein diag denotes a diagonalization operation,representing the emission domain frequency of the target to be detected after distance-dependent compensation; theta0Indicating the azimuth angle, beta, of the target0Representing the spatial angle, v, of the target with respect to the direction of the flight speed0Denotes the radial velocity of the target, T is the pulse repetition period, λ0The carrier wave length corresponding to the first transmitting array element;representing the frequency of the emission domain at the center of the ith distance gate spectrum;denotes the p th0L < th > of distance blurred region0The pitch angle corresponding to the distance door,denotes the p th0Pitch angle, R, corresponding to the ith range gate from the ambiguity regionuC/2 Δ f represents the maximum unambiguous distance of the radar, (.)TRepresenting the transpose of the matrix, c the speed of light, Δ f the frequency spacing between adjacent transmit array elements, dtIs the interval between the transmitting array elements;
substep 4b, obtaining Doppler compensated receiving domain transformation matrix TRl：
TRl＝diag(1，exp(j2π(fRl-fR0))，...，exp(j2π(N-1)(fRl-fR0)))
Wherein,representing the receiving domain frequency of the target to be detected after distance-dependent compensation;represents the receive domain frequency at the ith distance gate spectral center; drJ is the interval between receiving array elements and is an imaginary unit;
substep 4c, obtaining Doppler domain transformation matrix T of Doppler compensationDl：
TDl＝diag(1，exp(j2π(fDl-fD0))，...，exp(j2π(K-1)(fDl-fD0)))，
Wherein,indicating the doppler domain frequency at the object to be detected after distance-dependent compensation,represents the doppler domain frequency of the ith range gate spectral center; v. ofpThe movement speed of the radar is shown, and T is a pulse repetition period;
substep 4d, transforming the matrix T according to the Doppler compensated emission domainTlDoppler, DopplerCompensated receive domain transform matrix TRlDoppler domain transformation matrix T with Doppler compensationDlObtaining a compensation matrix T based on the first range gate clutter dataADC：
Wherein,represents the Kronecker product;
substep 4e of using a compensation matrix T based on the l-th range gate clutter dataADCFor the clutter data after distance-dependent compensationPerforming three-dimensional angle Doppler compensation to obtain three-dimensional angle Doppler compensated forward looking array clutter data
Wherein,three-dimensional Doppler compensated clutter data representing the ith range gate, (. about.)HRepresents the conjugate transpose of the matrix and,the distance of the ith range gate depends on the compensated clutter data.
7. The clutter suppression method based on three-dimensional angle doppler compensation according to claim 1, wherein in step 4, said three-dimensional adaptive space-time distance method is adopted to three pairsForward looking array clutter data after dimensional angle Doppler compensationThe self-adaptive inhibition treatment is carried out, and the specific steps are as follows:
firstly, acquiring a weight vector w of space-time distance three-dimensional adaptive processing;
then, performing clutter adaptive suppression on the clutter data after three-dimensional Doppler compensation by adopting a weight vector w of space-time distance three-dimensional adaptive processing to obtain target data Z after clutter suppression:
Z＝[z1，z2，...，zl，...，zL]，
wherein z islThe vector of clutter data representing the weight vector w to the ith range gate isOutput after adaptive suppression of clutter, i.e.Represents the conjugate transpose of the matrix and,the clutter data after three-dimensional Doppler compensation of the ith range gate.
8. The clutter suppression method based on three-dimensional angle doppler compensation according to claim 7, wherein said obtaining the weight vector w of space-time distance three-dimensional adaptive processing comprises the following specific steps:
firstly, a target three-dimensional guide vector t (p) is obtained according to a transmitting domain guide vector, a receiving domain guide vector and a Doppler domain guide vector of a detection target0，l0，θ0，v0)：
Wherein,which represents the product of the Kronecker reaction,a transmit domain steering vector representing the target,is the transmit angular frequency; a isR(fR(ψ0) A receive domain steering vector representing a target,is the receive angular frequency; a isD(fD(β0，v0) A Doppler domain steering vector representing the target, fD(β0，v0)＝2(vpcos(β0)+v0)T/λ0， θ0Indicating the azimuth angle, beta, of the target0Representing the spatial angle, v, of the target with respect to the direction of the flight speed0Indicating the radial velocity, ψ, of the target0Representing the angle between the radar connection line and the array wiring, T is the pulse repetition period, lambda0The carrier wave length corresponding to the first transmitting array element;
secondly, a clutter noise covariance matrix is obtained
Wherein,three-dimensional Doppler compensated clutter data representing the ith range gate;
and finally, acquiring a weight vector w of space-time distance three-dimensional adaptive processing by adopting a linear constraint minimum variance criterion:
solving the above formula to obtain the weight vector w ═ w [ w ] of space-time distance three-dimensional adaptive processing1，1，1，...，wM，N，K]T。
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