CN110531327B - Radar anti-interference detection method based on automatic gain control - Google Patents
Radar anti-interference detection method based on automatic gain control Download PDFInfo
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- 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
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- 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
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Abstract
The invention discloses an automatic gain control-based radar anti-interference detection method, which comprises the steps of acquiring the external interference condition of a radar in real time through the AGC voltage of the radar; obtaining normal AGC voltage data by using AGC voltage data of radar echoes of continuous previous n frames; acquiring an interference judgment threshold; when AGC voltage data of radar echo of the current frame is not less than an interference judgment threshold, the current radar is in an interfered state, and the number of interference accumulation times is increased; when the interference accumulated times reach the interference times limit, removing the current working frequency point of the radar, simultaneously recording the time for removing the interference frequency point, setting the interference accumulated times of the radar echo to 0, and restarting to record the interference accumulated times of the radar echo; after the interference frequency point is removed, the working time of the radar when the interference frequency point is removed is calculated, and when the time for removing the interference frequency point reaches the release time, the current frequency point is released. The invention has the advantages of low complexity, small overall calculation amount, low requirement on hardware equipment, easy realization, wide application range, time saving and low complexity.
Description
Technical Field
The invention relates to the field of aerospace, in particular to an anti-interference radar detection method based on automatic gain control, which can be applied to the field of radar anti-interference.
Background
With the widespread application of electronic countermeasure technology, the background of spatial electronic interference is becoming more complex and diversified, and the complex electronic interference environment greatly increases the difficulty and risk of normal operation of the radar, and even completely disables the predetermined operation scheme. In order to complete the on-orbit task while ensuring the detection capability of a radar airspace, an effective radar anti-interference detection technology is urgently needed.
In recent years, with the development of environment sensing technology, related scholars propose a plurality of anti-interference detection methods. Although the traditional radar anti-interference method achieves a good anti-interference effect, the conventional space/time domain anti-interference method can cause the loss of the space/time domain of radar detection, so that the space/time domain detection capability of the radar is reduced.
The patent application sky-wave over-the-horizon radar space-time joint adaptive anti-interference method (patent application number: 201010230667.2, patent publication number: CN 101907703A) suppresses transient interference entering a main lobe by interpolation compensation after time domain excavation. The method removes the data of the frame where the transient interference is positioned, removes part of target information while removing the transient interference, and reduces the accuracy of the target information.
A group of pseudo-random codes is designed according to radar use occasions and implementation cost in patent application of anti-interference methods of short-range frequency modulation continuous wave FMCW radars (patent application number: 200710018296.X, patent publication number: CN 101089653A), different pseudo-random codes are distributed to different radars in a working area, and different pseudo-random codes are adopted to modulate the frequency starting point of a triangular linear frequency modulation transmitting signal in each period of the same radar. The method adopts different pseudo-random code modulation, so the process of the frequency mixing operation of the transmitting signal to the received echo signal is more complex and the real-time performance is limited.
In the patent application of the anti-interference method for the high-frequency ground wave radar based on the antenna subarray (the patent application number is 200510019162.0, and the patent publication number is CN 1728457A), the subarray, the front and back two-antenna interference cancellation technology and the improved power inversion adaptive algorithm are designed, the power inversion algorithm can cause the loss of a radar detection airspace, in addition, the method can only cancel the interference of an ionosphere, and the use range is limited.
In the document "FRFT-based LFM pulse pressure radar frequency shift interference identification" (radar science and technology, No.2, 2013), interference signals are identified through the difference of LFM signals in fractional fourier domain, so that the purpose of interference resistance is achieved. The method needs FRFT operation and has large calculation amount. The active radar/infrared imaging composite guidance anti-interference technology (ship electronic engineering, No.2, 2016) in the literature completes the anti-interference task through the switching of two working modes. The method has special requirements on the system and limited application range.
Therefore, the radar receiving power is influenced by external interference, and the voltage of the radar AGC (Automatic Gain Control) changes along with the change of the radar receiving power, so that the change condition of the voltage of the radar AGC reflects the current external interference condition of the radar in real time; when no external interference exists, the radar normally tracks, and the voltage of the AGC of the radar keeps a relatively stable state; when external interference occurs, the working condition of the radar is affected, and the voltage of the AGC of the radar fluctuates; based on the above, the invention is necessary to develop a radar anti-interference detection method based on automatic gain control.
Disclosure of Invention
The invention aims to provide an automatic gain control-based radar anti-interference detection method, which solves the problem that a radar receiver is interfered by space electrons by utilizing automatic gain control voltage; when the radar is in a normal tracking state, the automatic gain control voltage of the radar changes along with the change of the receiving power of the radar; if no external interference exists, the radar receiving power is basically stable, and the AGC voltage of the receiver keeps a relatively stable state; if external interference exists and the interference frequency point is the same as the radar working frequency point, the radar receiving power is influenced by the interference signal, and the AGC voltage of the receiver changes along with the interference signal; therefore, the invention can judge the external interference condition and determine the interference frequency point which needs to be removed currently through the change condition of the radar automatic gain control voltage. The processing process is simple, Fourier transform and matrix inversion operation are not needed, no loss is caused to a radar detection airspace, and the real-time performance is strong; in addition, the voltage of the AGC of the radar is sensitive to change along with the condition that the radar is interfered by the outside, echo data when transient interference exists does not need to be removed, and the estimation result is accurate.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an anti-interference radar detection method based on automatic gain control comprises the following processes: the fact that the radar is interfered by the outside or not is known in real time through the voltage of the radar AGC; obtaining normal AGC voltage by using AGC voltage data of radar echoes of continuous previous n frames; acquiring an interference judgment threshold; when AGC voltage data of the radar echo of the current frame is larger than or equal to the interference judgment threshold, the radar echo data of the frame is interfered, and the interfered accumulated times interfered by the current working frequency point are increased; when the interfered accumulated times reach the interfered times limit, removing the current working frequency point of the radar, simultaneously recording the time for removing the interference frequency point, setting the interfered accumulated times of the radar echo to be zero, and restarting to record the interfered accumulated times of the radar echo; after the interference frequency point is removed, the radar working time when the interference frequency point is removed is calculated, when the time for removing the interference frequency point reaches the release time, the current frequency point is released, and the next frame of radar AGC voltage data is continuously analyzed, so that the cycle is repeated until the radar anti-interference detection task is completed.
Preferably, the AGC voltage number of the radar echo of the current frameAccording to U0Less than interference decision threshold UthreshWhen the radar is in a normal working state, the echo data of the radar of the frame is not interfered, the interfered accumulated times interfered by the frequency point are maintained unchanged, the anti-interference processing process of the data of the frame is finished, and the AGC voltage data of the next radar frame is analyzed to circularly reciprocate until the anti-interference detection task of the radar is finished.
Preferably, when the interfered accumulated times M do not reach the interfered times limit M, the anti-interference processing process of the frame data is finished, and the voltage data of the next frame of radar AGC is analyzed, so that the cycle is repeated until the radar anti-interference detection task is finished.
Preferably, when the time for removing the interference frequency point does not reach the release time T, the state of removing the interference frequency point is maintained.
Preferably, the number of interfered times is limited to M10 times.
Preferably, when the current radar is in an interfered state, the number m of interfered accumulated times interfered by the frequency point is increased by 1 time on the previous basis.
Preferably, the normal AGC voltage UNComprises the following steps:
in the formula of UkFor AGC voltage data of the radar receiver of the kth frame, k is 1,2 … n.
Preferably, the interference decision threshold UthreshComprises the following steps:
Uthresh＝UN+ε (2)
in the formula of UNIs a normal AGC voltage; ε is the threshold margin.
Preferably, the radar anti-jamming detection method further includes:
taking normal AGC voltage data as a central point, sequentially calculating radial basis function results of AGC voltage data of continuous previous n frames and the normal AGC voltage data, calculating an average value of the radial basis function results, and calculating to obtain a threshold margin epsilon as:
the radial basis function takes the form of a gaussian kernel, which yields:
wherein σ is a width parameter of the kernel function;
according to the formula (3) and the formula (4), the threshold margin epsilon is further obtained as follows:
compared with the prior art, the invention has the beneficial effects that: (1) the invention has low complexity of the processing process and small integral calculation amount, thereby having lower requirement on hardware equipment and being easy to realize; (2) the method judges the external interference condition of the radar receiver through the voltage data of the radar AGC, does not need fractional order Fourier transform, and has strong real-time performance; (3) the method does not need to remove the data of the frame where the transient interference is located, and the integrity of the target information is strong, so that the accuracy of the detection result is high; (4) the invention can analyze various interference conditions through AGC voltage change, and is not limited to a certain specific interference, so the invention has wider application range; (5) the process of the invention has no matrix inversion operation, is more time-saving and has low complexity; (6) the input of the invention is only radar AGC voltage data, and other equipment such as infrared equipment is not needed, thus the invention has stronger applicability.
Drawings
FIG. 1 is a schematic flow chart of an anti-interference detection method based on automatic gain control according to the present invention;
FIG. 2 is a schematic diagram of a radar AGC voltage and a radar operating frequency point when no interference exists;
FIG. 3 is a diagram of the voltage of a radar AGC and the frequency of radar operation in the prior art (when there is interference);
FIG. 4 is a schematic diagram of the radar AGC voltage and the radar working frequency point (when there is interference and the release time of the interference frequency point is not reached);
fig. 5 is a schematic diagram of the radar AGC voltage and the radar operating frequency point (when there is interference and the release time of the interference frequency point is reached).
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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.
The invention discloses a radar anti-interference detection method based on Automatic Gain control.A radar Automatic Gain Control (AGC) voltage reflects the change condition of radar receiving power in real time, when a radar working frequency point is the same as an external interference frequency point, the radar receiving power fluctuates along with an external interference signal, so that the condition that a radar receiver is interfered by the external can be obtained in real time through the change of the radar AGC voltage and an interference judgment threshold, and the interference frequency point can be determined; after the interference frequency point is determined, the interference frequency point is removed from radar working frequency points within a limited time, and the radar can work normally by adopting other frequency points; and releasing the rejected interference frequency point to a radar working frequency point after the release time is reached. By using the method, the influence of interference signals on radar echo signal receiving can be effectively avoided, and the radar anti-interference detection is realized while the original space/time domain detection capability is maintained.
As shown in fig. 1, the radar anti-interference detection method based on automatic gain control of the present invention specifically includes the following steps:
s1, initializing the interference accumulation times at first, and then carrying out AGC voltage variation analysis;
in step S1, during ground test, the variation of the AGC voltage of the radar receiver along with external interference is analyzed:
adjusting the radar to a normal tracking state, firstly, not applying interference to the outside of the radar, and testing the AGC voltage fluctuation condition and the radar working frequency point condition in the normal tracking process of the radar; as shown in fig. 2, which is a result of testing AGC voltage and radar operating frequency point conditions in a normal tracking process of a radar, it can be seen from fig. 2 that when no interference exists outside the radar, AGC voltage of a radar receiver is basically kept stable; thus, the present invention performs substantially the same as conventional methods when no interference is present;
then applying an external interference signal to the radar, and testing the AGC voltage and the radar working frequency point condition when external interference exists in the radar tracking process; as shown in fig. 3, which is a result of testing AGC voltage and radar operating frequency point conditions when interfered during a radar tracking process, it can be seen from fig. 3 that, if there is interference outside a radar, when a radar operating frequency is the same as an interference signal frequency, AGC voltage of a radar receiver in the prior art fluctuates, and a radar detection process is interfered; therefore, the voltage change condition of the radar AGC can reflect the condition that the radar is interfered by the outside in real time;
therefore, the invention can obtain the influence of external interference on the voltage change condition of the radar AGC according to the voltage test result of the radar AGC.
S2, calculating normal AGC voltage data;
when the radar normally tracks, the receiving power of the radar is basically stable, so that the voltage of the AGC of the radar is kept in a relatively stable state; when external interference exists, the radar receiving power is influenced by the interference signal, and the AGC voltage of the receiver fluctuates.
Therefore, the average value is obtained by using the voltage data of the radar echo AGC of the consecutive previous n frames, and the normal AGC voltage is obtained as follows:
in the formula of UNSubscript N of (1) is an abbreviation of normal, UNNormal AGC voltage data; u shapekThe AGC voltage data of the radar receiver is the k (k is 1,2 … n) th frame.
S3, calculating an interference decision threshold;
in step S3, the method further includes:
by using the normal AGC voltage and the threshold margin design, the interference decision threshold can be further accurately deduced as follows:
Uthresh＝UN+ε (2)
in the formula of UthreshA decision threshold for interference; u shapeNNormal AGC voltage data; ε is the threshold margin.
Further, with the normal AGC voltage data as a central point, calculating the radial basis function results of the AGC voltage data of the continuous previous n frames and the normal AGC voltage data in sequence, and calculating the average value of the radial basis function results, wherein the threshold margin epsilon can be calculated as follows:
meanwhile, the radial basis function takes the form of a gaussian kernel, and can be obtained as follows:
wherein σ is a width parameter of the kernel function;
from equations (3) and (4), it can be further deduced that the threshold margin ε is:
in an embodiment of the present invention, taking the value of n as 11 as an example, when the radar tracks normally, normal AGC voltage data U is calculated according to AGC voltage data of radar echoes of previous 11 consecutive framesNIs composed of
Wherein, UNFor normal AGC voltage data, UkFor the kth (k ═ 1,2 … 11) frame radar returnAGC voltage data of the wave. Meanwhile, setting a parameter σ of the gaussian kernel function to be 2, where σ is a width parameter of the kernel function, and using AGC voltage data of consecutive previous n (for example, n is 11) frames and normal AGC voltage data obtained by calculation, a threshold margin may be:
in the implementation process, the epsilon is calculated to be 0.99V; the sum of the normal AGC voltage data and the threshold margin is utilized to obtain an interference judgment threshold Uthresh。
S4, analyzing AGC voltage in real time, and judging whether the radar is in an interfered state;
in step S4, AGC voltage data U of the current frame radar receiver is processed0And interference decision threshold UthreshAnd (3) comparing the sizes, and judging the interference condition of the current frame radar receiver: if U is0≥UthreshIf the radar is in the interfered state, the radar echo data of the frame is interfered; if U is0<UthreshIf the radar is in a normal working state, the current radar is not in an interfered state, and the radar echo data of the frame is not interfered.
And S5, calculating the number of interfered accumulated times according to the real-time AGC voltage analysis result, and recording the occurrence condition of the interference frequency point by using the number of interfered accumulated times.
In the step S5, if the real-time AGC voltage analysis result in the step S4 indicates that the radar echo data of the current frame are interfered, the accumulated number m of times of interference by the frequency point is sequentially increased, and then the step S6 is continuously executed; if the real-time AGC voltage analysis result in step S4 is that the current frame radar echo data is not interfered, the accumulated number of times of interference by the frequency point m maintains the previous data (i.e. the accumulated number of times of interference in the previous cycle) unchanged, the anti-interference processing procedure of the current frame data is finished, and the next frame radar AGC voltage data is analyzed to repeat the cycle.
In one embodiment of the invention, if the real-time AGC voltage analysis result is that the radar echo data of the current frame is interfered, the number of interfered accumulation times is increased by 1 time on the previous basis; and if the real-time AGC voltage analysis result shows that the radar echo data of the current frame are not interfered, maintaining the previous data unchanged by the interference accumulation times.
In the invention, the interfered accumulated times are initialized at the beginning, and the interfered accumulated times are sequentially increased when the echo data are interfered as the subsequent analysis result; the invention can greatly improve the accuracy of judging whether a certain frequency point is an interference frequency point by using the interference frequency limitation, the accumulated times of interference by the frequency point are sequentially increased, and the frequency point is confirmed to be the interference frequency point and removed until the accumulated times of interference reach the limitation. The number of times of interference accumulation is increased by 1 time on the basis of the previous time, because whether each time is interfered is sequentially judged, if the result is that radar echo data of the current frame is interfered, the current detection time can only be indicated to be interfered, and the number of times of interference accumulation is increased by one time. And if the result of the next detection moment is still interfered, continuing to increase once.
S6, removing interference frequency points;
in step S6, the interference frequency limit M is used to determine whether the interference frequency point needs to be removed: if the accumulated interfered times M do not reach the interference times limit M, the anti-interference processing process of the frame data is finished, and the voltage data of the next frame of radar AGC is analyzed to be circulated; and if the interfered accumulated times M reach the interference times limit M, removing the current working frequency point of the radar, simultaneously recording the time for removing the interference frequency point, setting the interfered accumulated times of the radar echo to be 0, and restarting to record the interfered accumulated times of the radar echo.
After the interference frequency point is removed from the radar working frequency point, the radar can work normally by adopting other frequency points, so that the original space/time domain detection capability of the radar can be maintained, and anti-interference detection is realized.
Fig. 4 is a schematic diagram showing changes of the radar AGC voltage and the radar working frequency point when the release time of the interference frequency point is not reached after the interference frequency point is removed when interference exists outside the radar. If interference exists outside the radar, when the radar working frequency is the same as the interference signal frequency, the interference frequency point is removed from the radar working frequency point within a certain time, and the radar receiver adopts other frequency points to normally work, so that the original space/time domain detection capability of the radar can be maintained.
As an embodiment of the present invention, the interference number limit M is set to 10 times.
S7, recovering interference frequency points;
in step S7, determining whether the removed interference frequency point is recoverable by using the release time T, specifically:
after the interference frequency point is removed, calculating the working time of the radar when the interference frequency point is removed, and if the time for removing the interference frequency point does not reach the release time T, keeping the removal state of the interference frequency point; if the time for removing the interference frequency point reaches the release time T, releasing the current frequency point (the current interference frequency point), namely releasing the current interference frequency point to the radar working frequency point, and continuously analyzing the voltage data of the next frame of radar AGC; if the interference frequency point still exists after subsequent analysis, the frequency point is removed from the radar working frequency point, otherwise, the working frequency point is reserved, and the interference signal can be effectively prevented from influencing radar receiving echo signals in a circulating reciprocating manner, so that the anti-interference detection of the radar is realized.
As an embodiment of the present invention, the release time is set to 5 minutes.
Fig. 5 is a schematic diagram showing changes of the radar AGC voltage and the radar working frequency point when the release time of the interference frequency point is reached after the interference frequency point is removed when interference exists outside the radar. As can be seen from fig. 5, after the release time is reached, the interfered frequency point is released to the radar working frequency point.
In summary, after the condition that the radar is interfered by the external interference can be reflected in real time by determining the voltage of the radar AGC, normal AGC voltage data is calculated according to AGC voltage data of continuous previous n frames of radar echoes, an interference judgment threshold can be deduced by using the normal AGC voltage and threshold margin design, then the condition that the radar receiver of the current frame is interfered is judged by using the AGC voltage data of the radar echo of the current frame and the interference judgment threshold, and the number of times of accumulation of interference is calculated; if the accumulated number of times of interference reaches the interference number limit, removing the current working frequency point of the radar, recording the time for starting to remove the interference frequency point, if the time for removing the frequency point reaches the release time, releasing the current frequency point, otherwise, keeping the removal state of the interference frequency point. The processing process is simple, Fourier transform and matrix inversion operation are not needed, no loss is caused to a radar detection airspace, and the real-time performance is strong; in addition, the voltage of the AGC of the radar is sensitive to change along with the condition that the radar is interfered by the outside, echo data when transient interference exists does not need to be removed, and the estimation result is accurate.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. An anti-interference radar detection method based on automatic gain control is characterized by comprising the following processes:
the fact that the radar is interfered by the outside or not is known in real time through the voltage of the radar AGC;
obtaining normal AGC voltage by using AGC voltage data of radar echoes of continuous previous n frames;
acquiring an interference judgment threshold;
when AGC voltage data of the radar echo of the current frame is larger than or equal to the interference judgment threshold, the radar echo data of the frame is interfered, and the interfered accumulated times interfered by the current working frequency point are increased;
when the interfered accumulated times reach the interfered times limit, removing the current working frequency point of the radar, simultaneously recording the time for removing the interference frequency point, setting the interfered accumulated times of the radar echo to be zero, and restarting to record the interfered accumulated times of the radar echo;
after the interference frequency point is removed, the radar working time when the interference frequency point is removed is calculated, when the time for removing the interference frequency point reaches the release time, the current frequency point is released, and the next frame of radar AGC voltage data is continuously analyzed, so that the cycle is repeated until the radar anti-interference detection task is completed.
2. The radar immunity detection method of claim 1, further comprising: AGC voltage data U of radar echo of current frame0Less than interference decision threshold UthreshWhen the radar is in a normal working state, the echo data of the radar of the frame is not interfered, the interfered accumulated times interfered by the frequency point are maintained unchanged, the anti-interference processing process of the data of the frame is finished, and the AGC voltage data of the next radar frame is analyzed to circularly reciprocate until the anti-interference detection task of the radar is finished.
3. The radar immunity detection method of claim 1 or claim 2, further comprising: and when the interfered accumulated times M do not reach the interfered times limit M, the anti-interference processing process of the frame of data is finished, and the voltage data of the next frame of radar AGC is analyzed, so that the cycle is repeated until the radar anti-interference detection task is finished.
4. The radar immunity detection method of claim 3, further comprising: and when the time for removing the interference frequency point does not reach the release time T, keeping the removal state of the interference frequency point.
5. The radar immunity detection method of claim 4,
the number of interfered times is limited to 10.
6. The radar immunity detection method of claim 1,
when the current radar is in an interfered state, the interfered accumulated times m interfered by the frequency point are increased by 1 time on the basis of the interfered accumulated times in the last cycle.
7. The radar immunity detection method of claim 1,
normal AGC voltage UNComprises the following steps:
in the formula of UkFor AGC voltage data of the radar receiver of the kth frame, k is 1,2 … n.
8. The radar immunity detection method of claim 7,
interference decision threshold UthreshComprises the following steps:
Uthresh＝UN+ε (2)
in the formula of UNIs a normal AGC voltage; ε is the threshold margin.
9. The radar immunity detection method of claim 8,
further comprising:
taking normal AGC voltage data as a central point, sequentially calculating radial basis function results of AGC voltage data of continuous previous n frames and the normal AGC voltage data, calculating an average value of the radial basis function results, and calculating to obtain a threshold margin epsilon as:
the radial basis functions take the form of gaussian kernels:
wherein σ is a width parameter of the kernel function;
according to the formula (3) and the formula (4), the threshold margin epsilon is further obtained as follows:
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