CN110568432B - Geometric parameter estimation method of precession cone target based on micro Doppler frequency - Google Patents

Geometric parameter estimation method of precession cone target based on micro Doppler frequency Download PDF

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CN110568432B
CN110568432B CN201910495137.1A CN201910495137A CN110568432B CN 110568432 B CN110568432 B CN 110568432B CN 201910495137 A CN201910495137 A CN 201910495137A CN 110568432 B CN110568432 B CN 110568432B
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target
precession
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frequency
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CN110568432A (en
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陈如山
杜喜庆
丁大志
樊振宏
何姿
李猛猛
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Nanjing University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
    • 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
    • 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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

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

Abstract

The invention discloses a geometric parameter estimation method of a precession cone target based on micro Doppler frequency. Modeling a conical warhead target, and calculating echo data of the target under a full attitude angle; constructing an echo electric field value of the precession cone target by adopting an interpolation fitting method for the obtained echo data under the full attitude angle; performing short-time Fourier transform on the echo electric field value to obtain a time-frequency distribution result of the precession cone target; respectively extracting a cone top time-frequency ridge line and a cone bottom time-frequency ridge line in a time-frequency distribution result in a precession cone target; deducing parameters to be estimated through micro Doppler frequency expressions of the cone top and the cone bottom of the precession cone target; estimating a precession angle theta, a distance L from a centroid to a cone top, a distance h from the centroid to a cone bottom center and a cone bottom radius r by a numerical relation matching method; and simulating to obtain a series of time-frequency diagrams in the parameter range through the estimated target parameters, and reducing the error of parameter estimation through a time-frequency diagram comparison method.

Description

Geometric parameter estimation method of precession cone target based on micro Doppler frequency
Technical Field
The invention belongs to the field of radar target characteristics, and particularly relates to a geometric parameter estimation method of a precession cone target based on micro Doppler frequency.
Background
The model of the precession cone is derived from a missile target warhead in middle-stage flight, the middle-stage flight is very important for a ballistic defending system, in the flight stage, the target can generate a special motion form of precession due to the need of keeping stable flight and the existence of transverse interference, the precession belongs to one of micro motions, the precession is expressed as small-amplitude rotation of the target around a mass center while translational motion, more target characteristics such as size and mass distribution of the target can be reflected, the characteristics are very important for identifying true targets and false targets, and therefore, parameter estimation of the precession target is studied more and more. The inching parameters of the targets can reflect the inching states of the targets, the inching modes of the targets are different, the inching parameters are also considered as effective characteristics of target identification, and therefore estimation of the inching parameters has important significance for spatial cone target identification.
The existing method for estimating the precession cone target is characterized in that the principal method is to extract cone top and cone bottom time-frequency curves from a time-frequency diagram of the target respectively, then process the cone top and cone bottom time-frequency curves based on theoretical formulas of the cone top and the cone bottom of the precession cone target, the common method is to carry out Taylor expansion on the theoretical formulas, then obtain an expression of a coefficient to be solved by combining relation between each subterm coefficient after Taylor expansion and the target size parameter and the precession angle through a method of cancellation of the factors, and finally carry out parameter estimation through the extracted time-frequency curve data. The method is feasible in theory, but the precision of the time-frequency curve of the cone top and the cone bottom of the object is not always high, and particularly, certain errors exist in the extracted curve at the intersection of the time-frequency images of the cone top and the cone bottom, and the method is always not feasible under the condition that the precision does not meet the related requirements.
Disclosure of Invention
The invention aims to provide a geometric parameter estimation method of a precession cone target based on micro Doppler frequency.
The technical solution for realizing the purpose of the invention is as follows: a precession target parameter estimation method based on micro Doppler frequency comprises the following specific steps:
step one: modeling a conical warhead target by adopting commercial software FEKO, and calculating echo data of the target under a full attitude angle;
step two: constructing an echo sequence of the precession cone target by adopting an interpolation fitting method for the echo data under the full attitude angle obtained in the step one;
step three: performing short-time Fourier transform on the simulated echo data to obtain a time-frequency distribution result of the precession cone target;
step four: respectively extracting a cone top time-frequency ridge line and a cone bottom time-frequency ridge line in a time-frequency distribution result in a precession cone target;
step five: deducing the relation of parameters L (the distance from the mass center to the cone top), h (the distance from the mass center to the center of the cone bottom), r (the radius of the cone bottom) and a precession angle theta to be estimated through micro Doppler frequency expressions of the cone top and the cone bottom of the precession cone target;
step six: and estimating the precession angle and other corresponding parameters by a numerical relation matching method.
Compared with the prior art, the invention has the remarkable advantages that: (1) The method reduces the error of the parameter estimation result caused by low curve extraction precision to a certain extent, and can improve the precision of parameter estimation on the target. (2) The method can effectively reduce errors by primarily estimating parameters and then searching the matched time-frequency diagram through the parameters.
Drawings
Figure 1 is a flow chart of acquisition of dynamic echoes of a precession cone target based on a method of estimating parameters of a precession target at micro-doppler frequency in accordance with the present invention.
Figure 2 is a diagram of a simulation model of the method of the present invention for estimating a precession target parameter based on micro-doppler frequency.
Figure 3 is a simplified simulation model diagram of the method of the present invention for estimating a precession target parameter based on micro-doppler frequency.
Fig. 4 is a real part diagram of the electric field of the full attitude angle echo of the conical warhead object based on the method for estimating the precession object parameters of the micro-Doppler frequency.
Fig. 5 is a diagram of the imaginary part of the electric field of the full attitude angle echo of the conical warhead target based on the method for estimating the precession target parameters of the micro-Doppler frequency.
Fig. 6 is a schematic diagram of cone warhead target precession of the method of the present invention based on micro-doppler frequency precession target parameter estimation.
Fig. 7 is a schematic view of the precession cone target attitude angle of the method of the present invention for estimating a precession target parameter based on micro-doppler frequency.
Figure 8 is a graph of precession target attitude angle versus time for the method of estimating a precession target parameter based on micro-doppler frequency of the present invention.
Fig. 9 is a graph of real part of dynamic echo electric field of a precession cone warhead target based on a method of estimating precession target parameters at micro-doppler frequency in accordance with the present invention.
Fig. 10 is a graph of the imaginary part of the dynamic echo electric field of a precession cone warhead target based on the method of estimating the precession target parameters of micro-doppler frequency according to the present invention.
Fig. 11 is a time-frequency analysis image of a precession cone warhead of the method of the present invention based on a precession target parameter estimation of micro-doppler frequency.
Detailed Description
The invention analyzes the relation between instantaneous micro Doppler of the cone top and the cone bottom scattering center by utilizing a precessional flat bottom cone-shaped target, and provides a novel method for estimating the height of the target and the radius of the bottom surface by utilizing the instantaneous micro Doppler frequency value of the cone top and the cone bottom scattering center.
The invention is further described below with reference to the accompanying drawings.
1. Target modeling and echo sequence simulation.
(1) The cone warhead target is modeled by using commercial software FEKO, the cone is analogous to the middle-stage warhead target, and the simulation model and specific parameters are shown in figures 2 and 3.
The structural parameters of the cone target are as follows: the height h=1.6m of the cone, the radius of the cone bottom is r=a/2=0.32m, and the lead angle radius of the cone top is r' =0.015 m.
(2) Calculating full-attitude echo data of the conical warhead target:
and (3) irradiating the target by adopting plane waves, wherein the radar frequency f=10GHz, the pitch angle is 90 degrees, the azimuth angle scanning is 0-180 degrees, and the real part and the imaginary part of the calculated full-attitude static echo electric field of the target are shown in fig. 4 and 5.
2. And constructing a precession cone target echo sequence by adopting an interpolation fitting method.
(1) Solving the attitude angle change under the precession state:
FIG. 6 is a schematic drawing of precession of a cone warhead target, where α (0 < α < pi/2) is the half cone angle of the cone warhead, lateral axis precessionThe axis z rotates at an angular velocity omega, the precession period is T, theta (0-theta-pi/2) is the precession angle, and the spin angular frequency of the target is f z The angular velocity is Ω.
Fig. 7 is a schematic view of the attitude angle of the precession target. It is intended for radar that the warhead target is a remote target. The radar visual angle gamma is an included angle formed by radar waves and an advancing axis, the included angle between the radar waves and the advancing axis is beta (beta is more than or equal to 0 and less than or equal to pi), and the advancing axis is coplanar with the spin axis. Let the radius of the bottom surface of the object be r, the height be L, the half cone angle be alpha, the distance between the center of mass O and the bottom surface be h, and the included angle between the center axis of the object and the precession axis be theta.
o 1 O for any point on the axis of symmetry of the cone object 5 For point o 1 Projection on the precession axis OZ, assuming ||oo 1 I=1, then at time t the cone axis vectorRadar wave incidence vectorThen
Starting timing by the cone axis positioned in the xoz plane, and the change rule of the attitude angle beta along with time is as follows:
β＝cos -1 [cosθcosγ+sinθsinγsin(ωt)] (2)
(2) And (3) performing echo simulation fitting on the precession cone target:
when the target is in a precession state, the parameter radar sight angle gamma=60°, the precession angle theta=15° and the angular velocity omega of the target cone rotation are set by us θ Given the parameters, fig. 10 is a sequence of changes in attitude angle of a precession cone target over one period.
Fitting is to connect the echo electric field values of the full-attitude static state by the curve of fig. 8. The real part of the echo electric field and the imaginary part of the echo electric field of the cone warhead target after fitting in the precession state are shown in fig. 9 and 10.
3. And performing short-time Fourier transform on the simulated echo data to obtain a time-frequency distribution result of the precession cone target.
And (3) performing short-time Fourier transform on the simulated echo constructed in the step (2) to obtain a time-frequency analysis image of the precession cone target.
4. And extracting a cone top time-frequency ridge line and a cone bottom time-frequency ridge line in a time-frequency distribution result in the precession cone target.
5. And deducing the relation of parameters L (the distance from the mass center to the cone top), h (the distance from the mass center to the center of the cone bottom), r (the radius of the cone bottom) and the precession angle theta to be estimated through micro Doppler frequency expressions of the cone top and the cone bottom of the precession cone target.
The formula derivation procedure is as follows:
1) Cone tip scattering source micro doppler shift:
2) Cone bottom scattering source micro doppler shift:
wherein a=cos θcos γb=sin θsin γ
From the cone-top scattering source micro Doppler shift formula:
obtaining the product
From the cone bottom scattering source micro Doppler shift formula:
in the formula, three parameters to be estimated are theta, r and h.
Two-point coordinates (t) are taken on the time-frequency ridge line of the cone bottom 1 ,f m2 (t 1 ))，(t 2 ,f m2 (t 2 ) Respectively, into the above-mentioned system of binary once equations:
wherein:
order the
Solving the equation set to obtain:
the above formula derives the relationship between precession angle θ and centroid-to-cone apex distance L, centroid-to-cone base center h, and cone base radius, respectively.
6. Estimating precession angle and other corresponding parameters by a numerical relation matching method:
since the object is a cone with uniform quality, the height of the centroid of the cone should be 1/4 of the height of the cone, then there is a quantity relation L=3·h, we will make the L-theta relation curve and the h-theta relation curve, then there will be an intersection point of the two curves satisfying the relation L=3·h, θ corresponding to the intersection point is the precession angle in the target precession state, and L, h, r corresponding to the precession angle are parameters to be estimated.
7. In order to further reduce the error, a parameter search range containing the estimated target parameter is determined, a series of time-frequency diagrams are obtained through simulation in the parameter range, and the error of parameter estimation is further reduced through a time-frequency diagram comparison method.
Examples
In order to verify the correctness and effectiveness of the method, parameter estimation is performed on the model established in the text, and the model establishment, echo simulation, time-frequency analysis and parameter estimation results are all shown in the description of the drawings.
The method has the advantages that coordinates of multiple points can be extracted from the cone bottom time-frequency curve, a plurality of groups of parameter estimation results can be obtained at one time, the parameters estimated for the first time in the example are H=1.43 m, r=0.29 m and θ=13.1 ° (the true values are H=1.60 m, r=0.32 m and θ=12°), then the parameter search range is determined to be H=1.2 m-1.8 m, r=0.27 m-0.35 m and θ=11-16 °, the time-frequency map is matched in the parameter range, finally the final parameter estimation result range is determined to be H=1.5 m-1.7 m, r=0.28-0.34 m and θ=10.8-13.1 °, the time-frequency images are closest, and the matching effect is best.

Claims (5)

1. A geometric parameter estimation method of a precession cone target based on micro Doppler frequency is characterized by comprising the following steps:
step one: modeling a conical warhead target, and calculating echo data of the target under a full attitude angle;
step two: constructing an echo electric field value of the precession cone target by adopting an interpolation fitting method for the echo data under the full attitude angle obtained in the step one;
step three: performing short-time Fourier transform on the echo electric field value in the second step to obtain a time-frequency distribution result of the precession cone target;
step four: respectively extracting a cone top time-frequency ridge line and a cone bottom time-frequency ridge line in a time-frequency distribution result of the precession cone target;
step five: deducing the relation of the distance L from the centroid to the cone top, the distance h from the centroid to the center of the cone bottom, the radius r of the cone bottom and the precession angle theta of parameters to be estimated through micro Doppler frequency expressions of the cone top and the cone bottom of the precession cone target; the formula derivation procedure is as follows:
1) Cone tip scattering source micro doppler shift:
omega is the target cone rotation angular velocity, t is the observation time;
2) Cone bottom scattering source micro doppler shift:
where a=cos θcos γ, b=sin θsin γ,the initial phase angle is lambda is the wavelength of radar waves, and gamma is the sight angle of the radar;
from the cone-top scattering source micro Doppler shift formula:
obtaining the product
From the cone bottom scattering source micro Doppler shift formula:
wherein, the formula comprises three parameters to be estimated, namely theta, r and h;
two-point coordinates (t) are taken on the time-frequency ridge line of the cone bottom 1 ,f m2 (t 1 ))，(t 2 ,f m2 (t 2 ) Respectively substituting the formula (7) to construct a binary once equation system:
wherein:a＝cosθcosγ,b＝sinθsinγ
order the
Solving the equation set to obtain:
the above formulas (3) - (10) derive the relationship between the precession angle θ and the distance L from the centroid to the cone apex, the distance h from the centroid to the cone base center, and the cone base radius, respectively;
step six: estimating a precession angle theta, a distance L from a centroid to a cone top, a distance h from the centroid to a cone bottom center and a cone bottom radius r by a numerical relation matching method; estimating a precession angle and other corresponding parameters by a numerical relation matching method in the step six, wherein the target is assumed to be a cone with uniform quality, the height of the mass center of the cone is 1/4 of the height of the cone, the quantity relation L=3.h exists, an L theta relation curve and an h theta relation curve are made, one intersection point of the two curves meets the relation L=3.h, the theta corresponding to the intersection point is the precession angle in the precession state of the target, and the L, h and r corresponding to the precession angle are parameters to be estimated;
step seven: and simulating to obtain a series of time-frequency diagrams in the parameter range through the estimated target parameters, and reducing the error of parameter estimation through a time-frequency diagram comparison method.
2. The method for estimating geometrical parameters of a precession cone target based on micro-doppler frequency according to claim 1, wherein: step one, a cone object model is built, a plane wave is adopted to irradiate an object, the pitch angle is 90 degrees, the azimuth angle scanning is 0-180 degrees, and the real part and the imaginary part of an object full-posture static echo electric field are obtained through calculation.
3. The method for estimating geometric parameters of a precession cone target based on micro-doppler frequency according to claim 1, wherein in the second step, according to the geometric relationship between the target and the radar sight, the attitude angle calculation formula of the target is obtained:
cosβ＝cosθcosγ+sinθsinγsinωt (1)
beta is a target attitude angle, gamma is a radar sight angle, omega is a target cone rotation angular speed, and t is observation time;
the change rule of the attitude angle beta along with time is obtained by solving:
β＝cos -1 [cosθcosγ+sinθsinγsin(ωt)] (2)
and arranging the echo electric field values of the full-attitude static state according to the attitude angle change sequence, and obtaining the echo electric field values of the target in the precession state.
4. The method for estimating geometrical parameters of a precession cone target based on micro-doppler frequency according to claim 1, wherein: and step four, extracting a cone top time-frequency curve and a cone bottom time-frequency curve in a time-frequency analysis result of the precession cone target by adopting a curve tracking method.
5. The method for estimating geometrical parameters of a precession cone target based on micro-doppler frequency according to claim 1, wherein: and step seven, after the parameters of the target are initially estimated, a series of time-frequency diagrams in the range containing the parameters are obtained through simulation, the time-frequency diagrams are compared with the time-frequency diagrams of the target to be estimated, a series of time-frequency diagrams which are completely matched with the time-frequency diagrams of the target to be estimated are selected from the time-frequency diagrams to serve as matching objects of parameter estimation, and the corresponding parameters serve as final parameter estimation results.
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CN113466814B (en) * 2021-06-29 2022-04-26 上海交通大学 Modeling method based on multi-channel radar under complex motion
CN113625245B (en) * 2021-08-17 2023-11-07 哈尔滨工业大学 Method for estimating middle-stage target precession parameters of ballistic missile
CN114942419B (en) * 2022-07-26 2022-10-28 中国石油大学(华东) Method for extracting three-degree-of-freedom micro-motion characteristics of scattering points of ship under long accumulation time
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CN104007430B (en) * 2014-05-29 2016-09-07 西安电子科技大学 The micro-doppler extracting method of precession target based on instantaneous tune Frequency Estimation
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