CN110441763A - A kind of high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method - Google Patents

A kind of high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method Download PDF

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CN110441763A
CN110441763A CN201910612746.0A CN201910612746A CN110441763A CN 110441763 A CN110441763 A CN 110441763A CN 201910612746 A CN201910612746 A CN 201910612746A CN 110441763 A CN110441763 A CN 110441763A
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speed
stepped
target
frequency
chirp signal
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CN110441763B (en
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范花玉
李文吉
毛二可
任丽香
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Beijing University of Technology
Beijing Institute of Technology BIT
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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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/418—Theoretical aspects

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The present invention provides a kind of high-speed target based on stepped-frequency chirp signal and mutually pushes away speed-measuring method, detailed process are as follows: step 1, the high-speed target echo model based on stepped-frequency chirp signal is established, influence of the time-modulation to target echo time delay in arteries and veins is considered during establishing the model；Step 2, the matching pulse pressure for carrying out single pulse to echo model are handled, and in pulse pressure processing, are compensated to quadratic phase item present in spectral phase；Step 3 carries out coherent synthesis processing to pulse pressure treated result, obtains one-dimensional High Range Resolution；Step 4 is based on the one-dimensional High Range Resolution, realizes and mutually speculates speed.The present invention establishes the high-speed target echo model for considering Doppler modulation in arteries and veins, has derived the mutually supposition speed model for considering acceleration, is applicable to the high-speed target that radial motion includes acceleration and acceleration, meets engineering application requirement.

Description

A kind of high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method
Technical field
The invention belongs to signal processing technology fields, and in particular to a kind of high-speed target based on stepped-frequency chirp signal mutually pushes away Speed-measuring method.
Background technique
With making rapid progress for Radar Technology development, more stringent requirements are proposed to radar precise measurement by people.Such as fine motion The research hotspot as target detection and identification is extracted, critical issue is that translational compensation is inaccurate, fine motion amplitude is small, each It is unobvious that scattering point such as is difficult to differentiate between at the fine motion characteristic information caused by factors so that fine motion extract it is difficult.Break through the bottleneck Most effective method is to improve radar to the ability of portraying of fine movement, i.e. raising radar accurately tests the speed ability.Traditional envelope Range accuracy is limited, while traditional speed-measuring method mainly obtains high-precision velocity measurement by increasing accumulation the time, This method is to be not applied for the scene more demanding to data transfer rate to sacrifice data transfer rate as cost.Mutually speculate fast conduct One emerging technology analyzes the phase change of consecutive frame echo, height can be realized by extracting the phase information of target echo Precision velocity estimation.
Stepped frequency radar is a kind of instantaneous narrowband, synthesized wideband signal, has good distance and Doppler's distinguishing Can, and it is easy to Project Realization.But since Millimeter Wave Stepped-Frequency High Resolution Radar needs the correlative accumulation for completing signal using multiple subpulses to make It is more sensitive to target movement to obtain it, the radial motion of target can make stepped frequency radar pulse compress resulting high-resolution distance As generating coupling time shift and waveform diverging.For high-speed moving object, it is also necessary to consider that envelope is walked about and Doppler modulation in arteries and veins Deng influence.Currently, Fan Huayu (H.Fan, " A high precision method of phase derived velocity Measurement and its application in motion compensation of ISAR imaging.”IEEE Trans.Geosci.Remote Sens., vol.56, no.1, pp.60-77, Jan.2018.) it gives than more comprehensively mutually pushing away The processing method of measurement, still, this method are not to be suitable for high-speed target based on low speed model realization.Guo Liyong (L.Guo, “A Novel High Accuracy Phase-derived Velocity Measurement Method for Fast Moving Space Target,”IEEE Geosci.Remote Sens.Lett.,to be published.DOI: It 10.1109/LGRS.2018.2879491.) describes the high-speed target based on linear FM signal and mutually speculates fast processing method, But this method is only applicable to use the linear FM signal for going tiltedly to handle, and it is not suitable for stepped frequency radar.
Summary of the invention
The purpose of the invention is to overcome the defect of prior art, in order to solve the problems, such as that high-speed target accurately tests the speed, It is proposed that a kind of high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method.
The method of the present invention is achieved through the following technical solutions:
A kind of high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method, detailed process are as follows:
Step 1 establishes the high-speed target echo model based on stepped-frequency chirp signal, during establishing the model Consider influence of the time-modulation to target echo time delay in arteries and veins；
Step 2, the matching pulse pressure for carrying out single pulse to echo model are handled, in pulse pressure processing, in spectral phase Existing quadratic phase item compensates；
Step 3 carries out coherent synthesis processing to pulse pressure treated result, obtains one-dimensional High Range Resolution；
Step 4 is based on the one-dimensional High Range Resolution, realizes and mutually speculates speed.
Further, target echo time delay of the present invention is tr:
Wherein, R is target range, and v is target velocity, and a is aimed acceleration, TrFor the pulse repetition period, N is frequency hopping Number, t' indicate fast time shaft, t' ∈ (0, Tr), c indicates the light velocity.
Further, the quadratic phase item compensated in step 2 of the present invention are as follows:
Wherein, K indicates frequency modulation rate, and f indicates frequency.
Further, the present invention carries out envelope migration compensation, the packet when step 3 obtains one-dimensional High Range Resolution Network is walked about compensation term are as follows:
Wherein, fn=(f0+ n Δ f), f0For carrier frequency, Δ f is frequency hopping interval, and τ indicates pulse width, and v indicates bigness scale Speed.
Further, the present invention further includes carrying out to the quadratic phase item after one-dimensional High Range Resolution pulse pressure in step 3 Compensation, detailed process are as follows:
When the velocity and acceleration of bigness scale target meets following formula, carried out using the velocity and acceleration of current bigness scale secondary The compensation of phase term；
Wherein,
The utility model has the advantages that
First, since high speed (> 100m/s) target speed is big, echo is not easy to accumulate, and there are Doppler's tune in arteries and veins The problems such as processed, the present invention establish the high-speed target echo model for considering Doppler modulation in arteries and veins, have derived and have considered acceleration Mutually speculate fast model, is applicable to the high-speed target that radial motion includes acceleration and acceleration, meets engineering application requirement.
Second, quadratic phase compensation set by the present invention may be implemented single pulse matching pulse pressure and be effectively treated, and improve Nonlinear phase item influences pulse pressure bring.
Third, the carried out envelope migration compensation of the present invention can preferably realize coherent pulse pressure process, effectively accumulate back The problem of wave energy, compensation is defocused due to targeted cache movement bring pulse.
4th, the present invention quadratic phase item before one-dimensional High Range Resolution pulse pressure compensate coherent arteries and veins may be implemented The problems such as pressure processing, the diverging of waveform caused by preventing targeted cache from moving, signal-to-noise ratio reduces.
5th, the present invention can get the rate accuracy of phase magnitude, and data transfer rate is high, and operand is small.
Detailed description of the invention
Fig. 1 is mutually to speculate fast result；
Fig. 2 is mutually to push away range rate error.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described.
The embodiment of the present invention provides a kind of high-speed target based on stepped-frequency chirp signal and mutually pushes away speed-measuring method,
Initially set up the high-speed target echo model based on radar emission stepped-frequency chirp signal；Then single pulse is carried out Pulse pressure processing is matched, the movement of analysis targeted cache influences the intra-pulse modulation that echo generates, and is mainly reflected in packet caused by speed Network is walked about, order phase item etc.；The feasibility that envelope is walked about and order phase item compensates is analyzed later, and real on this basis The coherent synthesizing one-dimensional high-resolution imaging processing of target is showed；Finally by the envelope delay and peak point of analysis consecutive frame echo Phase change mutually speculates that speed is fuzzy using the envelope result solution that tests the speed, and the high-precision that can be obtained high-speed target mutually speculates fast result.
This method specifically comprises the following steps:
Step 1: the high-speed target echo based on radar emission stepped-frequency chirp signal models.
This step establishes the radar return model based on stepped-frequency chirp signal by the echo time delay of analysis high-speed target. Subsequent relevant treatment is carried out on the basis of this model.
It should be noted that for the bigger bandwidth signal obtained by multiple pulse combinations, these signals can be thought It is the signal of Step Frequency somatotypes.Such as simple stepped frequency signal, stepped frequency radar between phase code arteries and veins in arteries and veins, frequency modulation step Inlet signal etc..After the matching pulse pressure processing of single pulse, the signal of these Step Frequency systems can be equivalent to identical letter Number model.So the method that the present invention is mentioned is suitable for this kind of signals.Herein, it only by taking stepped-frequency chirp signal as an example, introduces Relevant phase pushes away processing method.
The stepped-frequency chirp signal of radar emission can indicate are as follows:
Wherein, TrFor the pulse repetition period, τ is pulse width, f0For carrier frequency, Δ f is frequency hopping interval, and N is frequency hopping Number, K are frequency modulation rate.
Assuming that target range is R, speed v, and defines target and be positive far from radar, acceleration a.Mutually speculate that speed only exists It is carried out between consecutive frame, in general, the frame data time is very short, it can be assumed that target approximation in a frame time does even acceleration Movement.Under the premise of this, this method is equally applicable to do the target of variable accelerated motion.
Target echo time delay at this time are as follows:
It will be expressed as slow time and fast time the time, i.e.,
T=t'+nTrN=0:N-1t' ∈ (0, Tr)
(4)
Aimed acceleration is generally no greater than 100m/s2, therefore acceleration can be ignored to the influence in arteries and veins, only consider to accelerate Degree is between the influence arteries and veins.Echo time delay can indicate at this time are as follows:
It further arranges, enables:
Echo-signal are as follows:
Baseband signal after being mixed with local oscillator are as follows:
Wherein:
fn=(f0+nΔf)
(10)
After carrying out AD sampling to above-mentioned baseband signal (formula (8)), so that it may carry out subsequent single pulse matching pulse pressure processing.
Step 2: the matching pulse pressure processing of single pulse
This step, which is realized, handles the matching pulse pressure of echo-signal single pulse.This step is subsequent IFFT coherent processing Basis.For high-speed target, modulation caused by being moved in echo there are targeted cache and the flexible change to echo envelope It changes, it is therefore desirable to consider these influences in processes.
By the scale property of Fourier transformation:
It can be in the hope of the frequency spectrum of echo-signal are as follows:
Matched filtering processing is realized in frequency domain:
Sout=Sn(f)·Sref *(f) (13)
Result after matched filtering can be indicated in frequency domain are as follows:
There are quadratic phase items in spectral phase it can be seen from formula (14), will lead to the diverging of time domain waveform, need pair It is compensated, the quadratic phase item of compensation are as follows:
After overcompensation, the time domain after matching pulse pressure exports result are as follows:
Wherein, sinc is sinc function, and
It can be seen from formula (16) compared with traditional pulse compression result, since targeted cache is moved to radar return Intra-pulse modulation effect, there are the scale flex effects of envelope for pulse compression result；In addition, there is also fast for pulse compression result The influence of the Doppler modulation of time dimension.
Step 3: coherent synthesizing one-dimensional high-resolution imaging
This step proposed adoption IFFT coherent processing synthesizing one-dimensional High Range Resolution.The synthesis of IFFT coherent is frequency stepping body The processing method of signal common processed.On the basis of step 2 completes the processing of pulse pulse pressure, IFFT is carried out to different pulses Coherent synthesis processing, can obtain one-dimensional High Range Resolution.On this basis, step 4 is carried out to target and mutually speculates fast place Reason, obtains high-precision velocity information.
Due to the high-speed motion of target, the peak point position of the different pulses of same frame signal is different.I.e. different arteries and veins The peak point of punching may differ several Range resolution units.This will affect subsequent IFFT coherent synthesis processing, lead to one Dimension High Range Resolution defocuses.Therefore, intend compensating envelope phenomenon of walking about from frequency domain.
Envelope migration compensation item is answered are as follows:
Result after envelope cancellation should ensure that, the peak value of all pulse echos is walked about no more than half Range resolution unit. It is 30MHz to bandwidth, a frame time is for the radar of 20ms, when acceleration is 100m/s2When (aimed acceleration is generally less than 100m/s2), the velocity accuracy that envelope migration compensation requires is approximately 124m/s.Since velocity compensation required precision is relatively low, because This can be using the object reference speed that radar system provides or the bigness scale speed knot obtained using traditional envelope speed-measuring method Fruit.
Compensated one-dimensional high-resolution imaging result are as follows:
Ignore the influence of envelope, the phase term at analysis mode (19) peak point, according to the constant term phase about n, once Phase term, quadratic phase item, phase term is arranged respectively three times:
About the quadratic phase item of n and three times, phase term will affect coherent processing in above formula, and waveform is caused to dissipate.It is general next It says, when the maximum value of phase change is less than pi/2, the influence to pulse pressure result can be ignored, that is, it needs to meet:
For N=20, Δ f=30MHz, Tr=1000 μ s .f0For the S-band radar of=3GHz., to three rank phases , it can be calculated according to formula (22): | a | < 312.5m/s2, because acceleration is generally less than 100m/s2, then three rank phase terms meet Formula (22), without being compensated to it.To second order phase item, needs to acceleration and speed while compensating.If not considering to add Speed can be calculated only to velocity compensation according to formula (21): | v | < 3.12m/s；If not considering speed, only acceleration is mended It repays, can be calculated according to formula (21): | a | < 62.5m/s2；When velocity compensation precision is 1m/s, acceleration compensation precision is 42.5m/s2；When acceleration compensation precision is 10m/s2When, acceleration compensation precision is 2.62m/s.The velocity amplitude of compensation can be adopted The reference velocity provided with radar system or the bigness scale speed result obtained using traditional envelope speed-measuring method.Obtaining multiframe After the bigness scale speed result of data, acceleration estimation can be realized based on the smothing filtering result of multiframe speed.
After the compensation of second order phase item, the High Range Resolution through IFFT coherent processing are as follows:
Wherein,
Time delay value and phase value at extraction formula (23) peak point, time delay value are as follows:
Phase value are as follows:
The phase term related with k of the last one in above formula is compensated.Compensated phase term are as follows:
Step 4: high precision speed-measuring processing
On the basis of step 3 obtains one-dimensional High Range Resolution, by the envelope delay increment for analyzing consecutive frame echo The change rate of relative time obtains the envelope bigness scale speed result of target；By carrying out smothing filtering to multiframe bigness scale speed result, and The rough estimate of aimed acceleration and distance is realized on this basis；In conjunction with the variation of consecutive frame echo-peak point phase, mesh is utilized The rough estimate result bilevel Linear programming of speed, acceleration and distance is marked, realization mutually pushes away speed measurement treatment.
Enable R1And R2Indicate the distance of consecutive frame target, v1And v2Indicate corresponding speed.Then:
v2=v1+aNTr (29)
Carry out envelope bigness scale speed when, be not to its required precision it is very high, it can be assumed that target accelerates in consecutive frame Degree is 0, it may be assumed that R2=R1+v1NTr, v2=v1.To the echo for having special aobvious point, can directly handle as follows.To not having The echo of the aobvious point of spy, can mutually push away speed measurement treatment using based on Range Profile cross-correlation with bibliography [1].Point is shown to having spy Echo the time delay value at the one-dimensional High Range Resolution peak point of consecutive frame is extracted by Waveform Analysis Method.It can by formula (25) :
Consecutive frame echo is subtracted each other, can be obtained:
According to above formula, it is known that the envelope of target tests the speed result are as follows:
After acquisition multiframe envelope tests the speed result, the disposal of gentle filter can be carried out to it, and obtain on this basis The rough estimate result of aimed acceleration；According to formula (30), the rough estimate result of target range can be further obtained.
Analyze the phase value at the one-dimensional High Range Resolution peak point of consecutive frame:
Proposed adoption envelope tests the speed result bilevel Linear programming, while can refer to the proposed method of document [1] and realizing low signal-to-noise ratio item Used for Unwrapping Phase Ambiguity processing under part.
Finally, joint type (28), formula (29), formula (34), formula (35) can acquire the mutually supposition speed result of target.
Since then, it just completes the high-speed target based on stepped-frequency chirp signal and mutually pushes away speed measurement treatment, obtain high-precision phase Speculate fast result.
For the correctness for verifying the method provided by the present invention, simulating, verifying has been carried out.Simulation parameter is as shown in table 1, wherein thunder Up to work in S-band.Assuming that target radially does uniformly accelerated motion along radar.Target initial distance is 80km, and initial velocity is 4000m/s, acceleration 10m/s2.Handle 200 frame echo datas.Wherein the signal-to-noise ratio after the synthesis of IFFT coherent is 25dB.
The mutually supposition speed result and its speed true value of target are as shown in Figure 1, the lower right corner Fig. 1 is partial enlarged view.Mutually speculate Fast error mutually speculates that fast root-mean-square error is 0.0226m/s as shown in Fig. 2, statistics can obtain, and mutually speculates that the theoretical precision of speed is 0.0204m/s, it is known that mutually speculate that the simulation result of speed is consistent with theoretical precision, demonstrate the high precision speed-measuring of mentioned method Energy.
1 radar parameter table of table
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims (5)

1. a kind of high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method, which is characterized in that detailed process are as follows:
Step 1 is established the high-speed target echo model based on stepped-frequency chirp signal, is considered during establishing the model Influence of the time-modulation to target echo time delay in arteries and veins；
Step 2, the matching pulse pressure for carrying out single pulse to echo model are handled, in pulse pressure processing, to existing in spectral phase Quadratic phase item compensate；
Step 3 carries out coherent synthesis processing to pulse pressure treated result, obtains one-dimensional High Range Resolution；
Step 4 is based on the one-dimensional High Range Resolution, realizes and mutually speculates speed.
2. the high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method according to claim 1, which is characterized in that described Target echo time delay is tr:
Wherein, R is target range, and v is target velocity, and a is aimed acceleration, TrFor the pulse repetition period, N is frequency hopping number, t' table Show fast time shaft, t' ∈ (0, Tr),cIndicate the light velocity.
3. the high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method according to claim 1, which is characterized in that step The quadratic phase item compensated in two are as follows:
Wherein, K indicates frequency modulation rate, and f indicates frequency.
4. the high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method according to claim 1, which is characterized in that in step Rapid three when obtaining one-dimensional High Range Resolution, carries out envelope migration compensation, the envelope migration compensation item are as follows:
Wherein, fn=(f0+ n Δ f), f0For carrier frequency, Δ f is frequency hopping interval, and τ indicates pulse width, and v indicates bigness scale speed.
5. the high-speed target based on stepped-frequency chirp signal mutually pushes away speed-measuring method according to claim 1, which is characterized in that in step Rapid three further include compensating to the quadratic phase item after one-dimensional High Range Resolution pulse pressure, detailed process are as follows:
When the velocity and acceleration of bigness scale target meets following formula, quadratic phase is carried out using the velocity and acceleration of current bigness scale The compensation of item；
Wherein,
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