CN111007472A - Clutter echo modeling method for hypersonic platform in complex motion state - Google Patents

Clutter echo modeling method for hypersonic platform in complex motion state Download PDF

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CN111007472A
CN111007472A CN201911129789.XA CN201911129789A CN111007472A CN 111007472 A CN111007472 A CN 111007472A CN 201911129789 A CN201911129789 A CN 201911129789A CN 111007472 A CN111007472 A CN 111007472A
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clutter
platform
clutter echo
hypersonic
motion state
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CN111007472B (en
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廖桂生
李佩健
曾操
田明明
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Xidian University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/414—Discriminating targets with respect to background clutter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The invention belongs to the technical field of radars, and particularly relates to a clutter echo modeling method of a hypersonic platform in a complex motion state, which comprises the following steps: acquiring a clutter echo signal and a clutter echo model; updating model parameters of the clutter echo model according to the clutter echo signal to obtain an updated clutter echo model; performing matched filtering operation according to the clutter echo signal and the updated clutter echo model to obtain a matched filtered signal; carrying out covariance matrix estimation on the matched and filtered signals according to a maximum likelihood unbiased estimation method to obtain a covariance matrix; and obtaining a space-time two-dimensional clutter spectrum according to the covariance matrix. When the clutter echo model of the hypersonic platform is established, the clutter echo model and the space-time two-dimensional clutter spectrum of the hypersonic platform can be obtained according to the complex motion characteristic of the platform by considering the condition of the hypersonic platform in a complex motion state.

Description

Clutter echo modeling method for hypersonic platform in complex motion state
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a clutter echo modeling method of a hypersonic platform in a complex motion state.
Background
The hypersonic speed platform has the advantages of high speed, flexibility, mobility, difficulty in finding and the like, and has a good development prospect in reconnaissance and weapon research. At present, much research on hypersonic aircrafts is carried out, while few research on hypersonic platform-mounted radars is carried out, and a relatively complete theoretical system is not provided. The research on radar carried by the hypersonic platform is related to more radar signal processing methods in the later period, and the research on clutter models of the hypersonic platform is less.
At present, much research on clutter echo model research of radar carried by a hypersonic platform is based on that the hypersonic platform keeps a simple motion state. Whether a network mapping method is adopted to model clutter echoes or a clutter echo model for analyzing different amplitude distributions such as Rayleigh distribution, lognormal distribution, Weibull distribution and the like is based on research of a hypersonic platform in a state of uniform linear motion. Or the clutter echo model of the hypersonic platform, which regards the earth as a curved surface, still has a simple motion state of the platform.
Lilong analyzed the space-time two-dimensional clutter spectral characteristics of radar clutter of the hypersonic platform under different pulse repetition frequencies in the thesis 'research on clutter characteristics of the hypersonic platform radar' (modern radar, 2013, 35 (11): 80-83), and established a clutter echo model. The hypersonic speed platform is also in a state of uniform linear motion, and a clutter echo model of the hypersonic speed platform in a complex motion state is not involved.
The researches are carried out on the hypersonic speed platform in a uniform linear motion state, are carried out on the assumption that the platform is in a relatively simple motion state, and do not embody the characteristic of flexibility of the hypersonic speed platform. The hypersonic platform has various complex motions, and at present, clutter echo models of the platform in a complex motion state are less researched.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a clutter echo modeling method under a complex motion state of a hypersonic platform. The technical problem to be solved by the invention is realized by the following technical scheme:
a clutter echo modeling method under a complex motion state of a hypersonic platform comprises the following steps:
acquiring a clutter echo signal and a clutter echo model;
updating model parameters of the clutter echo model according to the clutter echo signal to obtain an updated clutter echo model;
performing matched filtering operation according to the clutter echo signal and the updated clutter echo model to obtain a matched filtered signal;
carrying out covariance matrix estimation on the matched and filtered signals according to a maximum likelihood unbiased estimation method to obtain a covariance matrix;
and obtaining a space-time two-dimensional clutter spectrum according to the covariance matrix.
In one embodiment of the present invention, the expression of the clutter echo signal is as follows:
Figure BDA0002277971250000021
wherein, the rectangular function
Figure BDA0002277971250000022
fcFor transmitting carrier frequency, TpFor pulse width, t is fast time, μ is chirp slope, R (t)m) Is a slow time dependence of the distance between the platform and the clutter, tmIs the slow time, c is the speed of light, and j is the imaginary unit.
In one embodiment of the present invention, the relationship between the distance between the platform and the clutter with respect to the slow time is:
Figure BDA0002277971250000023
wherein cos Ψ ═ cos (θ + θ)p)cosα，tm＝mTr，m＝[0,1,2,…,K-1]K is the cumulative pulse, TrFor pulse repetition time, Ψ is the spatial cone angle of the clutter scattering unit with respect to the X-axis direction, Vx0Is the initial velocity on the X axis, ax0Is an initial acceleration on the X axis, rxFor second acceleration on the X-axisDegree, Vz0Is the initial velocity on the Z axis, az0Is the initial acceleration in the Z axis, rzIs the second acceleration on the Z axis.
In one embodiment of the present invention, the formula of the matched filtering is:
∫s(t-u)s*(-u)du，
wherein s (t) is clutter echo signal s*(-u) is its conjugate signal.
In an embodiment of the present invention, the expression of the matched filtered signal is:
Figure BDA0002277971250000024
wherein A is1To match the filtered signal amplitude, tmIs slow time, c is speed of light, fcFor transmitting carrier frequencies, j is an imaginary unit, R (t)m) Is the relationship of the distance between the platform and the clutter with respect to the slow time.
In one embodiment of the present invention, the covariance matrix estimation formula is:
Figure BDA0002277971250000031
wherein L is a total of L distance rings, XlIs the clutter data of the ith range bin,
Figure BDA0002277971250000032
is XlThe conjugate transpose of (c).
In one embodiment of the present invention, the space-time two-dimensional clutter spectrum expression is:
Figure BDA0002277971250000033
wherein S is a space-time guide vector of the position of the target, SHIs a conjugate transpose of S, R-1Is the inverse of the clutter echo covariance matrix.
The invention has the beneficial effects that:
1. when the clutter echo model of the hypersonic platform is established, the characteristic that the hypersonic platform is high in movement speed is considered, the distance walking caused by the slow time quadratic term is introduced, and the established clutter echo model is more accurate.
2. When the clutter echo model of the hypersonic platform is established, the clutter echo model and the space-time two-dimensional clutter spectrum of the hypersonic platform can be obtained according to the complex motion characteristic of the platform by considering the condition of the hypersonic platform in a complex motion state.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic flow chart of a clutter echo modeling method in a complex motion state of a hypersonic velocity platform according to an embodiment of the present invention;
FIG. 2 is a geometric model diagram of a hypersonic platform according to a clutter echo modeling method in a complex motion state of the hypersonic platform provided by the embodiment of the invention;
fig. 3 is a space-time two-dimensional clutter spectrogram of a hypersonic platform in a complex motion state when the platform is in uniform acceleration linear motion according to the clutter echo modeling method provided by the embodiment of the invention;
fig. 4 is a space-time two-dimensional clutter spectrogram of the hypersonic platform in the complex motion state in the clutter echo modeling method when the platform is in a dive motion according to the embodiment of the present invention;
fig. 5 is a space-time two-dimensional clutter spectrogram of the hypersonic platform in the complex motion state in the clutter echo modeling method provided by the embodiment of the invention when the platform moves in a parabolic manner.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1, fig. 1 is a schematic flow chart of a clutter echo modeling method in a complex motion state of a hypersonic platform according to an embodiment of the present invention, including:
acquiring a clutter echo signal and a clutter echo model;
updating model parameters of the clutter echo model according to the clutter echo signal to obtain an updated clutter echo model;
performing matched filtering operation according to the clutter echo signal and the updated clutter echo model to obtain a matched filtered signal;
carrying out covariance matrix estimation on the matched and filtered signals according to a maximum likelihood unbiased estimation method to obtain a covariance matrix;
and obtaining a space-time two-dimensional clutter spectrum according to the covariance matrix.
When the clutter echo model of the hypersonic platform is established, the clutter echo model and the space-time two-dimensional clutter spectrum of the hypersonic platform can be obtained according to the complex motion characteristic of the platform by considering the condition of the hypersonic platform in a complex motion state.
In one embodiment of the present invention, the expression of the clutter echo signal is as follows:
Figure BDA0002277971250000041
wherein, the rectangular function
Figure BDA0002277971250000042
fcFor transmitting carrier frequency, TpFor pulse width, t is fast time, μ is chirp slope, R (t)m) Is a slow time dependence of the distance between the platform and the clutter, tmIs the slow time, c is the speed of light, and j is the imaginary unit.
In one embodiment of the present invention, the relationship between the distance between the platform and the clutter with respect to the slow time is:
Figure BDA0002277971250000043
wherein cos Ψ ═ cos (θ + θ)p)cosα，tm＝mTr，m＝[0,1,2,…,K-1]K is the cumulative pulse, TrFor pulse repetition time, Ψ is a clutter scatter unitAngle of space taper of the element in the X-axis direction, Vx0Is the initial velocity on the X axis, ax0Is an initial acceleration on the X axis, rxIs a secondary acceleration on the X axis, Vz0Is the initial velocity on the Z axis, az0Is the initial acceleration in the Z axis, rzIs the second acceleration on the Z axis.
In one embodiment of the present invention, the formula of the matched filtering is:
∫s(t-u)s*(-u)du，
wherein s (t) is clutter echo signal s*(-u) is the conjugate signal of the clutter echo signal.
In an embodiment of the present invention, the expression of the matched filtered signal is:
Figure BDA0002277971250000051
wherein A is1To match the filtered signal amplitude, tmIs slow time, c is speed of light, fcFor transmitting carrier frequencies, j is an imaginary unit, R (t)m) Is the relationship of the distance between the platform and the clutter with respect to the slow time.
In one embodiment of the present invention, the covariance matrix estimation formula is:
Figure BDA0002277971250000052
wherein L is a total of L distance rings, XlIs the clutter data of the ith range bin,
Figure BDA0002277971250000053
is XlThe conjugate transpose of (c).
In one embodiment of the present invention, the space-time two-dimensional clutter spectrum expression is:
Figure BDA0002277971250000054
wherein S is the position of the targetSpace-time steering vector, SHIs a conjugate transpose of S, R-1Is the inverse of the clutter echo covariance matrix.
The method comprises the following specific steps.
Step 1, determining the motion state of the platform, and calculating a relation of the distance between the radar-bearing platform and the clutter with respect to slow time.
Referring to fig. 2, fig. 2 is a geometric model diagram of a hypersonic platform according to a method for modeling clutter echoes of the hypersonic platform in a complex motion state provided by an embodiment of the present invention, where an initial position of the hypersonic platform is a, an initial height of the hypersonic platform is H, P is an arbitrary clutter scattering unit, and an initial distance between the platform and clutter is R0Forming a group of N equivalent array elements after the antenna area array is synthesized, wherein the distance is d, theta and α are divided into an azimuth angle and a pitch angle, and thetapIs the included angle between the axial direction of the antenna and the X-axis, psi is the space cone angle between the clutter scattering unit and the X-axis direction, psiaThe included angle between the clutter scattering unit and the axial direction of the antenna is formed. The platform moves in the ZOX plane, and the velocity vector can be decomposed into VxAnd VzTwo speeds. After a period of time, the platform reaches the A' position, at which time the distance between the platform and the clutter is R.
At tmFrom position A to position A', over a distance S in the direction of the X-axisxAnd a distance S of movement in the Z-axis directionzSince PD > DQ, PQ ≈ PD-DQ in the triangular PDQ, and the distance between the platform and the clutter scattering unit is known as follows according to the geometrical relationship:
Figure BDA0002277971250000061
wherein cos Ψ ═ cos (θ + θ)p)cosα，tm＝mTr. Wherein m is [0,1,2, …, K-1 ═ m]K is the cumulative pulse, TrIs the pulse repetition time.
The motion speed of the platform on the X axis is decomposed as follows: vx＝Vx0+axtmWherein a isx＝ax0+rxtm，Vx0Is the initial velocity on the X axis, ax0Is an initial acceleration on the X axis, rxIs the second acceleration on the X-axis. Thus, the distance S of movement in the X-axis direction can be obtainedxComprises the following steps:
Figure BDA0002277971250000062
the motion speed of the platform on the Z axis is decomposed as follows: vz＝Vz0+aztmWherein a isz＝az0+rztm，Vz0Is the initial velocity on the Z axis, az0Is an initial acceleration on the X axis, rzIs the second acceleration on the Z axis. Thus, the distance S of movement in the Z-axis direction can be obtainedzComprises the following steps:
Figure BDA0002277971250000063
the relationship of the distance between the platform and the clutter with respect to the slow time can be obtained by Taylor expansion as follows:
Figure BDA0002277971250000064
therefore, the relation expression of the distance between the platform and the clutter relative to the slow time is obtained under the complex motion state of the hypersonic platform.
And 2, establishing a clutter echo model.
The radar signal is a chirp signal, namely:
Figure BDA0002277971250000065
wherein:
Figure BDA0002277971250000066
fcfor transmitting carrier frequency, TpFor pulse width, t is the fast time, μ is the chirp rate.
Then the baseband clutter echo signal received by the radar is:
Figure BDA0002277971250000071
wherein A is0Is the signal amplitude. Therefore, the clutter echo model and the clutter echo signal thereof under the complex motion state of the platform can be obtained only by obtaining the relation of the distance between the platform and the clutter with respect to the slow time according to the method in the step 1.
And 3, matching and filtering clutter echo signals.
And (3) performing matched filtering on the clutter echo signal of each array element according to the clutter echo model obtained in the step (2), wherein the filtering method comprises the following steps:
∫s(t-u)s*(-u)du
wherein s (t) represents a clutter echo signal, s*(-u) is its conjugate signal.
The matched filtered signal can be expressed as:
Figure BDA0002277971250000072
wherein A is1To match the filtered signal amplitude. And obtaining a matched filtered signal after matched filtering the clutter echo signal.
And 4, calculating the covariance matrix to obtain a space-time two-dimensional clutter spectrum of the covariance matrix.
Obtaining a covariance matrix by a maximum likelihood unbiased estimation method according to the filtered clutter echo signal
Figure BDA0002277971250000073
The specific calculation method is as follows:
Figure BDA0002277971250000074
wherein L represents a total of L distance rings, XlIs the clutter data of the ith range bin,
Figure BDA0002277971250000075
is XlConjugated transformation ofAnd (4) placing. And further calculating a space-time two-dimensional clutter spectrum of the spectrum, wherein the specific calculation method comprises the following steps:
Figure BDA0002277971250000076
wherein S is a space-time guide vector of the position of the target, SHIs a conjugate transpose of S, R-1Is the inverse of the clutter echo covariance matrix. Therefore, a model of clutter echoes of the platform in a complex motion state and a space-time two-dimensional clutter spectrum of the model can be obtained.
The effect of the present invention is further explained by simulation below.
1. Simulation conditions are as follows:
the simulation of the present invention was performed in the software environment of MATLAB R2018 b.
2. Simulation content:
the method adopts a positive side array, and the array element spacing is half of the wavelength. The space-time two-dimensional clutter spectrum of the hypersonic platform under the states of uniform acceleration linear motion, dive motion and parabolic motion is simulated respectively.
3. Simulation analysis:
referring to fig. 3, fig. 3 is a space-time two-dimensional clutter spectrogram of a hypersonic platform in a uniform acceleration linear motion state according to the clutter echo modeling method in a complex motion state of the hypersonic platform provided in the embodiment of the present invention, where V isx＝V0+atm，V z0. Wherein V0Is the initial velocity in the direction of the X axis and a is the fixed acceleration on the X axis. The abscissa in fig. 3 represents normalized doppler and the ordinate represents spatial cone angle. As can be seen from FIG. 3, when the platform is in a state of uniform acceleration linear motion, the space-time two-dimensional clutter spectrum of the platform is in a diagonal line, and the clutter spectrum is broadened, which is consistent with the theoretical analysis result.
Referring to fig. 4, fig. 4 is a space-time two-dimensional clutter spectrogram of a hypersonic platform in a complex motion state when the platform is in a dive motion according to a clutter echo modeling method provided in an embodiment of the present invention, where V is0The initial velocities in the X-axis direction and the Z-axis direction. The abscissa in FIG. 4 represents normalizationDoppler, the ordinate represents the spatial cone angle. As can be seen from fig. 4, when the platform is in the diving motion state, the space-time two-dimensional clutter spectrum of the platform is a curve, and the clutter spectrum also has a certain broadening, which is consistent with the theoretical analysis result.
Referring to fig. 5, fig. 5 is a space-time two-dimensional clutter spectrogram of a hypersonic platform in a complex motion state when the platform moves in a parabolic manner according to the clutter echo modeling method in an embodiment of the present invention, where V is a valuex＝V0+atm，Vz＝V0. Wherein V0Is the initial velocity in the X-axis direction and the Z-axis direction, and a is the fixed acceleration in the X-axis. The abscissa in fig. 5 represents normalized doppler and the ordinate represents spatial cone angle. As can be seen from fig. 5, when the platform is in the parabolic motion state, the space-time two-dimensional clutter spectrum of the platform is a curve, and the clutter spectrum also has a certain broadening, which is consistent with the theoretical analysis result.
The invention provides a method for establishing a clutter echo model when a hypersonic platform is in a complex motion state and has a distance walking condition. After the motion state of the platform is determined, a clutter echo model under the motion state can be obtained.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (7)

1. A clutter echo modeling method under a complex motion state of a hypersonic platform is characterized by comprising the following steps:
acquiring a clutter echo signal and a clutter echo model;
updating model parameters of the clutter echo model according to the clutter echo signal to obtain an updated clutter echo model;
performing matched filtering operation according to the clutter echo signal and the updated clutter echo model to obtain a matched filtered signal;
carrying out covariance matrix estimation on the matched and filtered signals according to a maximum likelihood unbiased estimation method to obtain a covariance matrix;
and obtaining a space-time two-dimensional clutter spectrum according to the covariance matrix.
2. The method for modeling clutter echo in the complex motion state of the hypersonic platform according to claim 1, wherein the expression of the clutter echo signal is:
Figure FDA0002277971240000011
wherein, the rectangular function
Figure FDA0002277971240000012
fcFor transmitting carrier frequency, TpFor pulse width, t is fast time, μ is chirp slope, R (t)m) Is a slow time dependence of the distance between the platform and the clutter, tmIs the slow time, c is the speed of light, and j is the imaginary unit.
3. The modeling method of clutter echoes in a complex motion state of a hypersonic platform according to claim 2, characterized in that the relation of the distance between the platform and the clutter with respect to the slow time is as follows:
Figure FDA0002277971240000013
wherein cos Ψ ═ cos (θ + θ)p)cosα，tm＝mTr，m＝[0,1,2,…,K-1]K is the cumulative pulse, TrFor pulse repetition time, Ψ is the spatial cone angle of the clutter scattering unit with respect to the X-axis direction, Vx0Is the initial velocity on the X axis, ax0Is an initial acceleration on the X axis, rxIs a secondary acceleration on the X axis, Vz0Is the initial velocity on the Z axis, az0Is the initial acceleration in the Z-axis,rzis the second acceleration on the Z axis.
4. The method for modeling clutter echoes of the hypersonic platform according to claim 1, wherein the formula of the matched filtering is as follows:
∫s(t-u)s*(-u)du，
wherein s (t) is clutter echo signal s*(-u) is the conjugate signal of the clutter echo signal.
5. The method for modeling clutter echoes of the hypersonic platform according to claim 1, wherein the expression of the matched and filtered signals is as follows:
Figure FDA0002277971240000021
wherein A is1To match the filtered signal amplitude, tmIs slow time, c is speed of light, fcFor transmitting carrier frequencies, j is an imaginary unit, R (t)m) Is the relationship of the distance between the platform and the clutter with respect to the slow time.
6. The method for modeling clutter echoes of the hypersonic platform in the complex motion state according to the claim 1, wherein the covariance matrix estimation formula is:
Figure FDA0002277971240000022
wherein L is a total of L distance rings, XlClutter data for the ith range bin, Xl HIs XlThe conjugate transpose of (c).
7. The method for modeling clutter echo in the complex motion state of the hypersonic platform according to claim 1, wherein the space-time two-dimensional clutter spectrum expression is as follows:
Figure FDA0002277971240000023
wherein S is a space-time guide vector of the position of the target, SHIs a conjugate transpose of S, R-1Is the inverse of the clutter echo covariance matrix.
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