CN110907908B - Navigation radar signal sorting method based on envelope analysis - Google Patents
Navigation radar signal sorting method based on envelope analysis Download PDFInfo
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- CN110907908B CN110907908B CN201911007611.8A CN201911007611A CN110907908B CN 110907908 B CN110907908 B CN 110907908B CN 201911007611 A CN201911007611 A CN 201911007611A CN 110907908 B CN110907908 B CN 110907908B
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Abstract
The invention discloses a navigation radar signal sorting method based on envelope analysis, which comprises the following steps: carrying out carrier frequency and pulse width filtering on the original pulse description word set to obtain a navigation pulse description word set; carrier frequency azimuth parameter clustering is carried out on the navigation pulse descriptor set, envelope division is carried out on the obtained pulse cluster set, and envelope descriptors of single scanning envelopes exceeding a pulse number threshold are extracted; establishing a navigation target table; traversing the navigation target table, backtracking the navigation pulse description word set, and simultaneously calculating the scanning period of each batch of targets of the target table; traversing the navigation target table again, calculating a navigation display mark of the target table, setting the navigation display mark with the largest amplitude corresponding to the batch numbers as 1, setting the rest matched batch numbers as reflection signals, setting the navigation display mark as 0, and transmitting the radiation source parameters with the display mark as 1 corresponding to the batch numbers to the navigation display. The invention effectively improves the accuracy of the sorting result.
Description
Technical Field
The invention belongs to the field of radar reconnaissance electronic war signal processing, and particularly relates to a navigation radar signal sorting method based on envelope analysis.
Background
The complex electromagnetic environment at sea is generally composed of two types of radar radiation sources which are more, simpler, less and more complex: one type is a large number of navigation radar radiation sources in the form of simple signals, and the other type is a military complex system radar radiation source. The number of the navigation radar radiation sources is large, and the navigation radar radiation sources are concentrated in a smaller frequency range, so that the phenomena of serious frequency overlapping, numerous reflectors and the like exist in the navigation radar signals.
The research of the traditional radar signal sorting method starts in seventies of the twentieth century, and typical sorting algorithms include a sequential search method, a small box matching method for setting parameter quantization tolerance, a multi-parameter clustering method based on space distance and the like. Thereafter, a signal sorting fusion method based on the PRI feature starts to appear, and a cumulative difference histogram (CDIF) algorithm, a sequence difference histogram (SDIF) algorithm, and the like appear. However, the traditional signal sorting and fusion method does not effectively process the characteristics of the navigation radar signals, so that serious false alarm phenomenon exists.
Disclosure of Invention
The invention aims to improve a navigation radar signal sorting method based on envelope analysis.
The technical scheme for realizing the purpose of the invention is as follows: a navigation radar signal sorting method based on envelope analysis comprises the following steps:
step 3, sequentially carrying out parameter association comparison on the envelope description words, establishing a navigation target table, and fusing the envelope description words with the same carrier frequency, the same azimuth and the same repetition interval into the same radiation source parameter in the target table;
step 4, traversing the navigation target table, backtracking the navigation pulse description word set, and calculating the scanning period of each batch of targets of the target table by utilizing the sorted envelope and the unsorted envelope;
and 5, traversing the navigation target table, calculating a navigation display mark of the target table, if the lot numbers with the same carrier frequency, the same repetition interval and the same scanning period exist, setting the navigation display mark with the largest amplitude corresponding to the lot numbers as 1, setting the rest matched lot numbers as reflection signals, setting the navigation display mark as 0, and transmitting the radiation source parameters with the display mark as 1 corresponding to the lot numbers to the navigation display.
Preferably, the acquisition of the set of navigation pulse descriptors Y satisfies the following condition:
wherein y is m And M is the total number of navigation radar pulse samples, Y epsilon X, and M is less than or equal to N. ,
represents the nth original pulse description word, rf is carrier frequency, pw is pulse width, doa is azimuth, pa is amplitude, toa is arrival time, rf min For navigating radar carrier frequency lower limit, rf max For the upper limit of the carrier frequency of the navigation radar, pw max Is the upper limit of the pulse width of the navigation radar.
Preferably, carrying out carrier frequency azimuth parameter clustering on the navigation pulse description word set to obtain a pulse cluster set, carrying out envelope division on the pulse cluster set, and extracting the envelope description word of the single scanning envelope exceeding the pulse number threshold comprises the following specific steps:
step 2-1, carrier frequency azimuth parameter clustering is carried out on a navigation pulse description word set Y, each pulse cluster consists of a plurality of scanning envelopes with the same frequency and the same azimuth, and P pulse cluster sets { Z } are obtained 1 ,Z 2 ,…,Z p …,Z P }；
Step 2-2, for each pulse cluster set Z p Envelope division is carried out, and the initial position c of the first envelope is recorded 1 =1, calculating the difference between the arrival times of adjacent pulses, if the arrival time difference between the next pulse and the previous pulse exceeds the set envelope time difference threshold thr toa Sequentially recording the position { c } 2 ,…,c q …,c Q }；
Extracting Q single scan envelope pulse sets { H } p1 ,H p2 ,…,H pq …,H pQ Corresponding to the number of pulses { d } p1 ,d p2 ,…,d pq …,d pQ The q-th envelope pulse set and the corresponding pulse number satisfy the conditions as follows:
wherein H is pq Representing the p-th pulse clusterSet q of single scan envelope pulses, d pq The number of pulses for the corresponding envelope;
step 2-3, making the number of envelope description words L=0, and sequentially for each single scanning envelope pulse set H of each pulse cluster set pq The specific treatment method comprises the following steps: setting thr cnt For envelope processing the threshold number of pulses, if the number of pulses d is to be envelope processed pq ＜thr cnt Then not extracting; otherwise, calculating the statistical information of each parameter of the current single-scanning envelope pulse set, and extracting an envelope description word Bedw L ＝{rfs L ,doas L ,pris L ,pas L ,pws L }, therein rfs L ,doas L ,pws L Respectively represent H pq Carrier frequency mean, pulse width mean, azimuth mean, pas L Represents H pq Amplitude maximum, pri L Represents H pq Is a repetition interval of (a).
Preferably, the carrier frequency identical finger carrier frequency difference value is within the carrier frequency matching tolerance range, the azimuth identical finger azimuth difference value is within the azimuth matching tolerance range, and the pulse cluster set satisfies the following conditions:
wherein Z is p Representing the set of the p-th pulse cluster,
the kth pulse description word of the kth pulse cluster set is K, the total number of pulse samples of the kth pulse cluster set is Z p ∈Y,K≤M，thr rf Thr for carrier frequency matching tolerance doa Tolerance for orientation matching.
Preferably, the specific method for establishing the navigation target table is as follows:
step 3-1, setting the total number of targets in the target table as R, and setting the radiation source parameter of the R-th target as Tedw r ＝{rft r ,doat r ,prit r ,pat r ,pwt r ,scan r ,flag r Rft is a target table carrier frequency value, doat is a target table azimuth value, prit is a target table repetition interval value, pat is a target table amplitude value, pwt is a target table pulse width value, scan is a target table scanning period value, flag is a navigation display flag, and l=1, r=0 is initialized.
Step 3-2, taking the first envelope description word Bedw l The method is sequentially associated and matched with R target parameters of a target table, and specifically comprises the following steps: setting thr pri For repeat interval matching tolerance, repeat interval identical finger repeat interval difference values are within the repeat interval matching tolerance range; if the first envelope description word is the same as the r target carrier frequency, the direction is the same, and the repetition interval is the same, the condition | rft is satisfied r -rfs l |≤thr rf 、|doat r -doas l |≤thr d o a And |prit r -pris l |≤thr pri Step 3-4, regarding that the association matching with the r-th target parameter is successful; if the target is not matched with the R targets, performing the step 3-3;
step 3-3, navigating the target number R=R+1 of the target table, and enabling the radiation source parameters of the target table to be Tedw R ＝{rft R ,doat R ,prit R ,pat R ,pwt R ,scan R ,flag R Of which rft is R ＝rfs l ,doat R ＝doas l ,prit R ＝pris l ,pat R ＝pas l ,pwt R ＝pws l ,scan R ＝0,flag R ＝-1；
Step 3-4, if L < L, l=l+1, proceeding with step 3-2; otherwise, the subsequent steps are carried out.
Preferably, the specific method for calculating the scanning period of each batch of targets in the target table is as follows:
step 4-1, extracting a corresponding pulse cluster set G from the navigation pulse description word set Y according to the carrier frequency and the azimuth value of the r-th target r ；
Step 4-2, for pulse cluster set G r Envelope division is carried out, and the initial position e of the first envelope is recorded 1 =1, calculating the difference between the arrival times of adjacent pulses if the difference between the arrival times of the subsequent pulse and the previous pulse exceeds a thresholdValue thr toa Sequentially recorded subsequent pulse positions e 2 ,…,e i …,e I+1 Sum envelope interval dtoa 1 ,…,dtoa i …,dtoa I }；
Step 4-3, if dtoa 1 ＝…＝dtoa i ＝…＝dtoa I Scan period scan r ＝dtoa 1 ；
R < R, r=r+1, step 4-1 is performed; otherwise, the subsequent steps are carried out.
Preferably, initializing r=1, and the calculation method of the navigation display mark specifically includes:
step 5-1, if the navigation display flag of the r-th target is set r > =0, indicating that the batch of targets has been processed, proceeding to step 5-3; if the navigation display flag of the r-th target is set r = -1 and scan period scan r If the signal is=0, the target suspected reflected signal or irregular false signal which is selected by measurement error is considered to make the flag r =0, the lot number target is not displayed; if the navigation display flag of the r-th target is set r = -1 and scan period scan r If more than 0, performing the step 5-2;
step 5-2, traversing the navigation target table again, and finding out all batch numbers with the same carrier frequency, the same repetition interval and the same scanning period as the r-th batch of targets; if not, the navigation display flag is set r =1, and send the r-th batch of parameters to display; if there is a jth target (j. Noteq. R), the condition | rft is satisfied r -rft j |≤thr rf ,|doat r -doat j |≤thr doa ,|scan r -scan j |≤thr scan Setting the navigation display mark with the largest amplitude corresponding to the batch number as 1, sending the navigation display mark to the navigation display, setting the rest matched batch numbers as reflection signals, and setting the navigation display mark as 0; if pat r ＞pat j Then flag r ＝1,flag j =0, otherwise flag r ＝0,flag j ＝1，thr scan For the scanning period matching tolerance, the same scanning period refers to the scanning period difference value within the scanning period matching tolerance range;
step 5-3, if R is less than R, r=r+1, and step 5-1 is performed, otherwise, ending.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The invention uses the characteristic that the navigation radar works in a circumferential scanning mode and takes the scanning envelope as a research object; meanwhile, the reflection phenomenon of the navigation radar signal is considered, and when the number of single envelope pulses is small, the parameter statistics result is inaccurate, so that the number of envelope pulses for limiting and extracting the envelope description words must reach the number of sortable pulses, and the accuracy of the sorting result is effectively improved;
(2) When the scanning period is calculated, the corresponding pulse cluster set is extracted from the navigation pulse description word set according to the target carrier frequency and the azimuth value, and the sorted single scanning envelope pulse is utilized, meanwhile, the envelope pulse which is not sorted successfully is fully utilized, so that the continuity of the scanning period in the time domain is enhanced, and the accuracy of the scanning period of the navigation signal is improved;
(3) The invention carries out parameter association matching on the envelope description words, establishes a navigation target table, and fuses the envelope description words with the same carrier frequency, the same repetition interval and the same azimuth into a radiation source; meanwhile, the target with failed scanning period calculation is not sent to display, irregular false signals selected by measurement errors are effectively restrained, and the false alarm probability is reduced;
(4) The invention utilizes the characteristic that the time sequence of the reflected signal and the real signal is coherent, and aims at batch numbers with the same carrier frequency and the same repetition interval, if the scanning periods are different, the explanation is not the reflected signal, and the explanation is sent to display, thereby avoiding batch leakage; if the scanning periods are the same, the lot number with the largest amplitude is sent to be displayed, and the rest lot numbers are not sent to be displayed, so that the reflected signals are effectively restrained, and the false alarm probability is reduced.
The invention is described in further detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a navigation radar sorting flow chart;
FIG. 2 is a schematic illustration of interleaved navigation radar PDW data flow;
FIG. 3 is a schematic diagram of a data flow of a navigation radar PDW with the same carrier frequency and the same azimuth;
FIG. 4 is a plot of lot 2 pulse traceback toa-pa and toa-rf;
FIG. 5 is a lot 2 pulse trace back to toa-dtoa plot;
FIG. 6 is a plot of the trace back to toa-pa, toa-doa and toa-pri for lot 1 carrier frequency/repetition interval/scanning period all the same;
FIG. 7 is a plot of lot 1 pulse trace back toa-pa, toa-doa, and toa-pri.
Detailed Description
The navigation radar signal has the following characteristics:
(1) Navigation radar is concentrated in a smaller carrier frequency range;
(2) The pulse width of the navigation radar is narrower;
(3) Working in a circumferential scanning mode, the signal is simple in form and long in duration;
(4) There are a large number of reflected pulses.
Aiming at the characteristics of navigation radar signals, the invention provides a navigation radar signal sorting method based on envelope analysis, which comprises the following specific steps:
original pulse description word set X= { X containing navigation frequency band signal 1 ,x 2 ,...,x n ,...,x N Where N is the total number of original pulse samples,
representing the nth original pulse descriptor, rf is the carrier frequency, pw is the pulse width, doa is the azimuth, pa is the amplitude, and toa is the arrival time. Setting rf min For navigating radar carrier frequency lower limit, rf max For the upper limit of the carrier frequency of the navigation radar, pw max For the upper limit of the pulse width of the navigation radar, the carrier frequency and pulse width filtering is carried out on the input original pulse description word set according to the characteristics of the navigation radar signal, a navigation pulse description word set Y is obtained, and the following conditions are met:
wherein y is m And M is the total number of navigation radar pulse samples, Y epsilon X, and M is less than or equal to N.
And step 2, carrier frequency azimuth parameter clustering is carried out on the navigation pulse description word set Y, envelope division is carried out on the obtained pulse cluster set, and envelope description words Bedw of single-scanning envelopes exceeding a pulse number threshold are extracted.
Step 2-1, carrier frequency azimuth parameter clustering is carried out on a navigation pulse description word set Y, each pulse cluster consists of a plurality of scanning envelopes with the same frequency and the same azimuth, and P pulse cluster sets { Z } are obtained 1 ,Z 2 ,…,Z p …,Z P Each pulse cluster consists of a plurality of scan envelopes.
Setting thr rf Thr for carrier frequency matching tolerance doa For azimuth matching tolerance, the carrier frequency identical finger carrier frequency difference value is in the carrier frequency matching tolerance range, the azimuth identical finger azimuth difference value is in the azimuth matching tolerance range, and the p-th pulse cluster set and the satisfaction condition are as follows:
wherein Z is p Representing the set of the p-th pulse cluster,
the kth pulse description word of the kth pulse cluster set is K, the total number of pulse samples of the kth pulse cluster set is Z p ∈Y,K≤M。
Step 2-2, for each pulse cluster set Z p Envelope division is carried out, thr is set toa =20ms is the envelope time difference threshold, record the first envelope start position c 1 =1, calculating the difference between the arrival times of adjacent pulses, if the difference between the arrival times of the next pulse and the previous pulse exceeds thr toa Sequentially recording the position { c } 2 ,…,c q …,c Q }. I.e. the arrival time of adjacent pulsesThe following pulse positions are recorded in sequence when the difference value meets the following conditions:
extracting the Q single-scan envelope pulse sets { H } of recorded pulse positions p1 ,H p2 ,…,H pq …,H pQ Corresponding to the number of pulses { d } p1 ,d p2 ,…,d pq …,d pQ The q-th envelope pulse set and the corresponding pulse number satisfy the conditions as follows:
wherein H is pq A qth single scan envelope pulse set representing a p-th pulse cluster set, d pq Is the number of pulses corresponding to the envelope.
Step 2-3, let the number of envelope description words l=0. For each single scan envelope pulse set H of each pulse cluster set in turn pq Processing and setting thr cnt For envelope processing the threshold number of pulses, if the number of pulses d is to be envelope processed pq ＜thr cnt Then not extracting; otherwise, calculating the statistical information of each parameter of the current single-scanning envelope pulse set, and extracting an envelope description word Bedw L ＝{rfs L ,doas L ,pris L ,pas L ,pws L }, therein rfs L ,doas L ,pws L Respectively represent H pq Carrier frequency mean, pulse width mean, azimuth mean, pas L Represents H pq Amplitude maximum, pri L Represents H pq Is a repetition interval of (a).
And step 3, sequentially carrying out parameter association comparison processing on the envelope description words Bedw, establishing a navigation target table, and fusing the envelope description words with the same carrier frequency, the same azimuth and the same repetition interval into a radiation source.
Step 3-1, setting the total number of targets in the target table as R, and setting the radiation source parameter of the R-th target as Tedw r ＝{rft r ,doat r ,prit r ,pat r ,pwt r ,scan r ,flag r Rft is a target table carrier frequency value, doat is a target table azimuth value, prit is a target table repetition interval value, pat is a target table amplitude value, pwt is a target table pulse width value, scan is a target table scanning period value, and flag is a navigation display flag. Initializing l=1, r=0.
Step 3-2, taking the first envelope description word Bedw l Sequentially associated and matched with R target parameters of a target table, and thr is set pri For repeat interval matching tolerance, the repeat interval same finger repeat interval difference value is within the repeat interval matching tolerance. If the carrier frequency is the same as the r target carrier frequency, the azimuth is the same, and the repetition interval is the same, the condition | rft is satisfied r -rfs l |≤thr rf 、|doat r -doas l |≤thr doa And |prit r -pris l |≤thr pri Step 3-4, regarding that the association matching with the r-th target parameter is successful; if none of the R targets match, step 3-3 is performed.
Step 3-3, navigating the target number R=R+1 of the target table, and enabling the radiation source parameters of the target table to be Tedw R ＝{rft R ,doat R ,prit R ,pat R ,pwt R ,scan R ,flag R Of which rft is R ＝rfs l ,doat R ＝doas l ,prit R ＝pris l ,pat R ＝pas l ,pwt R ＝pws l ,scan R ＝0,flag R ＝-1。
Step 3-4, if L < L, l=l+1, proceeding to step 3.2; otherwise, step 4 is performed.
And 4, traversing the navigation target table, and backtracking the navigation pulse description word set to calculate the scanning period of each batch of targets in the target table. Initializing r=1.
Step 4-1, carrier frequency and method according to the r-th targetBit value, extracting corresponding pulse cluster set G from navigation pulse description word set Y r 。
Step 4-2, for pulse cluster set G r Envelope division is carried out, and the initial position e of the first envelope is recorded 1 =1, calculating the difference between the arrival times of adjacent pulses, if the difference between the arrival times of the next pulse and the previous pulse exceeds thr toa Sequentially recording the position { e } 2 ,…,e i …,e I+1 Sum envelope interval dtoa 1 ,…,dtoa i …,dtoa I The latter pulse position and envelope interval satisfy the conditions as follows:
step 4-3, if dtoa 1 ＝…＝dtoa i ＝…＝dtoa I The scan period scan is made r ＝dtoa 1 。
If R < R, r=r+1, step 4.1 is performed; otherwise, step 5 is performed.
And 5, traversing the navigation target table, calculating a navigation display mark of the target table, and transmitting the radiation source parameters of the corresponding batch number with the display mark of 1 to navigation display. The navigation display mark of the lot number corresponding to the largest amplitude is set to be 1, and is sent to navigation display, the rest matched lot numbers are reflection signals, and the navigation display mark is set to be 0. Initializing r=1.
Step 5-1, if the navigation display flag of the r-th target is set r > =0, indicating that the batch of targets has been processed, proceeding to step 5.3; if the navigation display flag of the r-th target is set r = -1 and scan period scan r If the signal is=0, the target suspected reflected signal or irregular false signal which is selected by measurement error is considered to make the flag r =0, the batchThe number target is not sent to display; if the navigation display flag of the r-th target is set r = -1 and scan period scan r > 0, then step 5.2 is performed.
And 5-2, traversing the navigation target table again, and finding out all batch numbers with the same carrier frequency, the same repetition interval and the same scanning period as the r-th batch of targets. Setting thr scan For scan period matching tolerance, the same scan period means that the scan period difference is within the scan period matching tolerance. If not, make flag r =1, and send the r-th batch of parameters to display; if there is a jth target (j. Noteq. R), the condition | rft is satisfied r -rft j |≤thr rf ,|doat r -doat j |≤thr doa ,|scan r -scan j |≤thr scan And setting the navigation display mark with the largest amplitude corresponding to the lot number as 1, sending the navigation display mark to the navigation display, and setting the navigation display mark as 0 when the rest matched lot numbers are reflection signals. If pat r ＞pat j Then flag r ＝1,flag j =0, otherwise flag r ＝0,flag j ＝1。
Step 5-3, if R is less than R, r=r+1, and step 5.1 is performed, otherwise, the process is finished.
Examples
A navigation radar signal sorting method based on envelope analysis comprises the following specific steps:
wherein y is m For the mth navigation pulse description word, M is the total number of navigation radar pulse samples, Y is E X, M is less than or equal to N, and rf is made min ＝9340MHz,rf max ＝9460MHz,pw max =2us. FIG. 2 is a schematic diagram of interleaved navigation pulse descriptors.
And step 2, carrier frequency azimuth parameter clustering is carried out on the navigation pulse description word set Y, then envelope division is carried out on the obtained pulse cluster set, and envelope description words Bedw of single-scanning envelopes exceeding a pulse number threshold are extracted.
Step 2-1, carrier frequency azimuth parameter clustering is carried out on a navigation pulse description word set Y, each pulse cluster consists of a plurality of scanning envelopes with the same frequency and the same azimuth, and P pulse cluster sets { Z } are obtained 1 ,Z 2 ,…,Z p …,Z P Each pulse cluster consists of a plurality of scan envelopes. Setting thr rf =3mhz is carrier frequency matching tolerance thr doa =3° is an azimuth matching tolerance, the carrier frequency identical finger carrier frequency difference value is within the carrier frequency matching tolerance range, the azimuth identical finger azimuth difference value is within the azimuth matching tolerance range, and the following conditions are satisfied:
wherein Z is p Representing the set of the p-th pulse cluster,
the kth pulse description word of the kth pulse cluster set is K, the total number of pulse samples of the kth pulse cluster set is Z p E, Y, K is less than or equal to M, and FIG. 3 is a schematic diagram of single pulse cluster with the same carrier frequency and the same azimuth after parameter clustering.
Step 2-2, for each pulse cluster set Z p Envelope division is carried out, thr is set toa =20ms is the envelope time difference threshold, record the first envelope start position c 1 =1, calculating the difference between the arrival times of adjacent pulses, if the difference between the arrival times of the next pulse and the previous pulse exceeds thr toa Sequentially recording the position { c } 2 ,…,c q …,c Q The conditions are satisfied as follows:
extracting Q single scan envelope pulse sets { H } p1 ,H p2 ,…,H pq …,H pQ Corresponding to the number of pulses { d } p1 ,d p2 ,…,d pq …,d pQ The q-th envelope pulse set and the corresponding pulse number satisfy the conditions as follows:
wherein H is pq A qth single scan envelope pulse set representing a p-th pulse cluster set, d pq Is the number of pulses corresponding to the envelope.
Step 2-3, let the number of envelope description words l=0. For each single scan envelope pulse set H of each pulse cluster set in turn pq Processing and setting thr cnt 8 is the envelope process pulse number threshold, if the envelope pulse number d pq ＜thr cnt Then not extract, e.g. H in FIG. 3 12 ,H 15 The number of the package pulses is less than thr cnt No extraction; otherwise, calculating the statistical information of each parameter of the current single-scanning envelope pulse set, and extracting an envelope description word Bedw L ＝{rfs L ,doas L ,pris L ,pas L ,pws L }, therein rfs L ,doas L ,pws L Respectively representH pq Carrier frequency mean, pulse width mean, azimuth mean, pas L Represents H pq Amplitude maximum, pri L Represents H pq Is a repetition interval of (a). Table 1 is a list of envelope descriptors extracted after the step 2 processing.
Table 1 envelope descriptor list
And step 3, sequentially carrying out parameter association comparison processing on the envelope description words Bedw, establishing a navigation target table, and fusing the envelope description words with the same carrier frequency, the same azimuth and the same repetition interval into a radiation source. Table 2 is the navigation target table processed in step 3.
Table 2 navigation objective table establishment
| r | rft r /MHz | doat r /° | prit r /us | pat r | pwt r /us | scan r / | flag | r |
| 1 | 9395 | 352 | 367～434 | 186 | 0.3 | 0 | -1 | |
| 2 | 9408 | 276 | 461～462 | 70 | 0.8 | 0 | -1 | |
| 3 | 9395 | 342 | 367～434 | 93 | 0.3 | 0 | -1 | |
| 4 | 9388 | 226 | 1400～1450 | 87 | 0.4 | 0 | -1 | |
| 5 | 9395 | 183 | 367～434 | 123 | 0.3 | 0 | -1 |
And 4, traversing the navigation target table, and backtracking the navigation pulse description word set to calculate the scanning period of each batch of targets in the target table. Table 3 is a navigation objective table scan period calculation, initializing r=1.
TABLE 3 navigation target table scan period calculation
| r | rft r /MHz | doat r /° | prit r /us | pat r | pwt r /us | scan r / | flag | r |
| 1 | 9395 | 352 | 367～434 | 186 | 0.3 | 2895 | -1 | |
| 2 | 9408 | 276 | 461～462 | 70 | 0.8 | 2456 | -1 | |
| 3 | 9395 | 342 | 367～434 | 93 | 0.3 | 2896 | -1 | |
| 4 | 9388 | 226 | 1400～1450 | 87 | 0.4 | 0 | -1 | |
| 5 | 9395 | 183 | 367～434 | 123 | 0.3 | 2895 | -1 |
Step 4-1, extracting a corresponding pulse cluster set G from the navigation pulse description word set Y according to the carrier frequency and the azimuth value of the r-th target r . Taking r=2 as an example, fig. 4 is a trace back toa-pa and toa-rf diagram of the pulse corresponding to the lot number 2, and a set of pulse clusters with the same carrier frequency and the same direction as the lot number is extracted, and the set of pulse clusters includes 4 envelopes of sorted envelope descriptors and 4 envelopes of unachieved sorted pulses.
Step 4-2, for pulse cluster set G r Envelope division is carried out, and the initial position e of the first envelope is recorded 1 =1, calculating the difference between the arrival times of adjacent pulses, if the difference between the arrival times of the next pulse and the previous pulse exceeds thr toa Sequentially recording the position { e } 2 ,…,e i …,e I+1 Sum envelope interval dtoa 1 ,…,dtoa i …,dtoa I The conditions are satisfied as follows:
step 4-3, if dtoa 1 ＝…＝dtoa i ＝…＝dtoa I Scan period scan r ＝dtoa 1 Fig. 5 is a trace back to toa-dtoa plot of the corresponding pulse of lot 2, and it can be seen that the scan period obtained by the trace back pulse is constant at 2456ms.
If R < R, r=r+1, step 4.1 is performed; otherwise, step 5 is performed.
And 5, traversing the navigation target table, calculating a navigation display mark of the target table, and transmitting the radiation source parameters of the corresponding batch number with the display mark of 1 to navigation display. The navigation display mark of the lot number corresponding to the largest amplitude is set to be 1, and is sent to navigation display, the rest matched lot numbers are reflection signals, and the navigation display mark is set to be 0. Table 4 is a navigation objective table scan period calculation, initializing r=1.
Table 4 navigation display flag calculation for navigation target table
| r | rft r /MHz | doat r /° | prit r /us | pat r | pwt r /us | scan r / | flag | r |
| 1 | 9395 | 352 | 367～434 | 186 | 0.3 | 2895 | 1 | |
| 2 | 9408 | 276 | 461～462 | 70 | 0.8 | 2456 | 1 | |
| 3 | 9395 | 342 | 367～434 | 93 | 0.3 | 2896 | 0 | |
| 4 | 9388 | 226 | 1400～1450 | 87 | 0.4 | 0 | 0 | |
| 5 | 9395 | 183 | 367～434 | 123 | 0.3 | 2895 | 0 |
Step 5-1, if the navigation display flag of the r-th target is set r > =0, indicating that the batch of targets has been processed, proceeding to step 5.3; if the navigation display flag of the r-th target is set r = -1 and scan period scan r If the signal is=0, the target suspected reflected signal or irregular false signal which is selected by measurement error is considered to make the flag r =0, the lot number target is not displayed; if the navigation display flag of the r-th target is set r = -1 and scan period scan r > 0, then step 5.2 is performed.
And 5-2, traversing the navigation target table again, and finding out all batch numbers with the same carrier frequency, the same repetition interval and the same scanning period as the r-th batch of targets. Setting thr scan =3ms is the scan period matching tolerance, and the scan period same indicates that the scan period difference is within the scan period matching tolerance. If not, make flag r =1, and send the r-th batch of parameters to display; if there is a jth target (j. Noteq. R), the condition | rft is satisfied r -rft j |≤thr rf ,|doat r -doat j |≤thr doa ,|scan r -scan j |≤thr scan And setting the navigation display mark with the largest amplitude corresponding to the lot number as 1, sending the navigation display mark to the navigation display, and setting the navigation display mark as 0 when the rest matched lot numbers are reflection signals. If pat r ＞pat j Then flag r ＝1,flag j =0, otherwise flag r ＝0,flag j =1. Fig. 6 is a diagram of corresponding pulses toa-pa, toa-doa and toa-pri with the same carrier frequency, the same repetition interval and the same scanning period as those of lot 1, and fig. 7 is a diagram of corresponding pulses toa-pa, toa-doa and toa-pri of lot 1, so that it can be seen that a plurality of reflected signals exist in the lot target, and the amplitude of lot 1 is the largest and is a real signal.
Step 5-3, if R is less than R, r=r+1, and step 5.1 is performed, otherwise, the process is finished.
Claims (7)
1. The navigation radar signal sorting method based on envelope analysis is characterized by comprising the following steps:
step 1, carrying out carrier frequency and pulse width filtering on an original pulse description word set to obtain a navigation pulse description word set;
step 2, carrying out carrier frequency azimuth parameter clustering on the navigation pulse description word set to obtain a pulse cluster set, carrying out envelope division on the pulse cluster set, and extracting an envelope description word of a single scanning envelope exceeding a pulse number threshold;
step 3, sequentially carrying out parameter association comparison on the envelope description words, establishing a navigation target table, and fusing the envelope description words with the same carrier frequency, the same azimuth and the same repetition interval into the same radiation source parameter in the target table;
step 4, traversing the navigation target table, backtracking the navigation pulse description word set, and calculating the scanning period of each batch of targets of the target table by utilizing the sorted envelope and the unsorted envelope;
and 5, traversing the navigation target table, calculating a navigation display mark of the target table, if the lot numbers with the same carrier frequency, the same repetition interval and the same scanning period exist, setting the navigation display mark with the largest amplitude corresponding to the lot numbers as 1, setting the rest matched lot numbers as reflection signals, setting the navigation display mark as 0, and transmitting the radiation source parameters with the display mark as 1 corresponding to the lot numbers to the navigation display.
2. The envelope analysis-based navigation radar signal sorting method according to claim 1, wherein the obtained set of navigation pulse descriptors Y satisfies the following condition:
wherein y is m For the mth navigation pulse description word, M is the total number of navigation radar pulse samples, Y epsilon X, M is less than or equal to N, N is the total number of original pulse samples,
represents the nth original pulse description word, rf is carrier frequency, pw is pulse width, doa is azimuth, pa is amplitude, toa is arrival time, rf min For navigating radar carrier frequency lower limit, rf max For the upper limit of the carrier frequency of the navigation radar, pw max Is the upper limit of the pulse width of the navigation radar.
3. The method for sorting navigation radar signals based on envelope analysis according to claim 1, wherein the specific steps of performing envelope division on a pulse cluster set obtained by clustering carrier frequency azimuth parameters on a navigation pulse descriptor set, and extracting envelope descriptors of single-scan envelopes exceeding a pulse number threshold are as follows:
step 2-1, carrier frequency azimuth parameter clustering is carried out on a navigation pulse description word set Y, each pulse cluster consists of a plurality of scanning envelopes with the same frequency and the same azimuth, and P pulse cluster sets { Z } are obtained 1 ,Z 2 ,…,Z p …,Z P }；
Step 2-2, for each pulse cluster set Z p Envelope division is carried out, and the initial position c of the first envelope is recorded 1 =1, calculating the difference between the arrival times of adjacent pulses, if the arrival time difference between the next pulse and the previous pulse exceeds the set envelope time difference threshold thr toa Sequentially recording the position { c } 2 ,…,c q …,c Q }；
Extracting Q single scan envelope pulse sets { H } p1 ,H p2 ,…,H pq …,H pQ Corresponding to the number of pulses { d } p1 ,d p2 ,…,d pq …,d pQ The q-th envelope pulse set and the corresponding pulse number satisfy the conditions as follows:
wherein H is pq A qth single scan envelope pulse set representing a p-th pulse cluster set, d pq The number of pulses for the corresponding envelope;
step 2-3, making the number of envelope description words L=0, and sequentially for each single scanning envelope pulse set H of each pulse cluster set pq The specific treatment method comprises the following steps: setting thr cnt For envelope processing the threshold number of pulses, if the number of pulses d is to be envelope processed pq ＜thr cnt Then not extracting; otherwise, calculating the statistical information of each parameter of the current single-scanning envelope pulse set, and extracting an envelope description word Bedw L ＝{rfs L ,doas L ,pris L ,pas L ,pws L }, therein rfs L ,doas L ,pws L Respectively represent H pq Carrier frequency mean, pulse width mean, azimuth mean, pas L Represents H pq Amplitude maximum, pri L Represents H pq Is a repetition interval of (a).
4. The envelope analysis-based navigation radar signal sorting method according to claim 3, wherein the carrier frequency identical finger carrier frequency difference value is within a carrier frequency matching tolerance range, the azimuth identical finger azimuth difference value is within an azimuth matching tolerance range, and the pulse cluster set satisfies the following condition:
wherein Z is p Representing the set of the p-th pulse cluster,
the kth pulse description word of the kth pulse cluster set is K, the total number of pulse samples of the kth pulse cluster set is Z p ∈Y,K≤M，thr rf Thr for carrier frequency matching tolerance doa Tolerance for orientation matching.
5. The envelope analysis-based navigation radar signal sorting method according to claim 1, wherein the specific method for establishing the navigation target table is as follows:
step 3-1, setting the total number of targets in the target table as R, and setting the radiation source parameter of the R-th target as Tedw r ＝{rft r ,doat r ,prit r ,pat r ,pwt r ,scan r ,flag r Rft is a target table carrier frequency value, doat is a target table azimuth value, prit is a target table repetition interval value, pat is a target table amplitude value, pwt is a target table pulse width value, scan is a target table scanning period value, flag is a navigation display mark, and l=1, r=0 are initialized;
step 3-2, taking the first envelope description word Bedw l The method is sequentially associated and matched with R target parameters of a target table, and specifically comprises the following steps: setting thr pri For repeat interval matching tolerance, repeat interval identical finger repeat interval difference values are within the repeat interval matching tolerance range; if the first envelope description word is the same as the r target carrier frequency, the direction is the same, and the repetition interval is the same, the condition | rft is satisfied r -rfs l |≤thr rf 、|doat r -doas l |≤thr doa And |prit r -pris l |≤thr pri Step 3-4, regarding that the association matching with the r-th target parameter is successful; if the target is not matched with the R targets, performing the step 3-3;
step 3-3, navigating the target number R=R+1 of the target table, and enabling the radiation source parameters of the target table to be Tedw R ＝{rft R ,doat R ,prit R ,pat R ,pwt R ,scan R ,flag R Of which rft is R ＝rfs l ,doat R ＝doas l ,prit R ＝pris l ,pat R ＝pas l ,pwt R ＝pws l ,scan R ＝0,flag R ＝-1；
Step 3-4, if L < L, l=l+1, proceeding with step 3-2; otherwise, the subsequent steps are carried out.
6. The method for sorting navigation radar signals based on envelope analysis according to claim 1, wherein the specific method for calculating the scanning period of each batch of targets in the target table is as follows:
step 4-1, extracting a corresponding pulse cluster set G from the navigation pulse description word set Y according to the carrier frequency and the azimuth value of the r-th target r ；
Step 4-2, for pulse cluster set G r Envelope division is carried out, and the initial position e of the first envelope is recorded 1 =1, calculating the difference between the arrival times of adjacent pulses, if the difference between the arrival times of the subsequent pulse and the previous pulse exceeds the threshold thr toa Sequentially recorded subsequent pulse positions e 2 ,…,e i …,e I+1 Sum envelope interval dtoa 1 ,…,dtoa i …,dtoa I }；
Step 4-3, if dtoa 1 ＝…＝dtoa i ＝…＝dtoa I Scan period scan r ＝dtoa 1 ；
R < R, r=r+1, step 4-1 is performed; otherwise, the subsequent steps are carried out.
7. The method for sorting navigation radar signals based on envelope analysis according to claim 1, wherein the method for calculating the navigation display flag is specifically as follows:
step 5-1, if the navigation display flag of the r-th target is set r > =0, indicating that the batch of targets has been processed, proceeding to step 5-3; if the navigation display flag of the r-th target is set r = -1 and scan period scan r If the signal is=0, the target suspected reflected signal or irregular false signal which is selected by measurement error is considered to make the flag r =0, the lot number target is not displayed; if the navigation display flag of the r-th target is set r = -1 and scan period scan r If more than 0, performing the step 5-2;
step 5-2, traversing the navigation target table again, and finding out all batch numbers with the same carrier frequency, the same repetition interval and the same scanning period as the r-th batch of targets; if not, the navigation display flag is set r =1, and send the r-th batch of parameters to display; if the jth target lot (j not equal to r) exists, the condition is satisfied|rft r -rft j |≤thr rf ,|doat r -doat j |≤thr doa ,|scan r -scan j |≤thr scan Setting the navigation display mark with the largest amplitude corresponding to the batch number as 1, sending the navigation display mark to the navigation display, setting the rest matched batch numbers as reflection signals, and setting the navigation display mark as 0; if pat r ＞pat j Then flag r ＝1,flag j =0, otherwise flag r ＝0,flag j ＝1，thr scan For the scanning period matching tolerance, the same scanning period refers to the scanning period difference value within the scanning period matching tolerance range;
step 5-3, if R is less than R, r=r+1, and step 5-1 is performed, otherwise, ending.
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