CN111045002A - Maneuvering target coherent accumulation method based on TRT and SNuFFT - Google Patents
Maneuvering target coherent accumulation method based on TRT and SNuFFT Download PDFInfo
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention belongs to the technical field of radar maneuvering target detection, and particularly relates to a maneuvering target coherent accumulation method based on TRT and SNuFFT, which comprises the following steps: acquiring a maneuvering target radar echo signal according to the linear frequency modulation signal transmitted by the radar; aiming at the maneuvering target radar echo signal, multiplying the signals before and after transformation through time reversal transformation to eliminate Doppler frequency ambiguity and secondary Doppler migration; and eliminating linear Doppler migration by variable-scale non-uniform fast Fourier transform aiming at the multiplication result so as to realize high-efficiency coherent accumulation of the maneuvering target. The invention effectively eliminates the influence of speed and acceleration by applying TRT; inspired by signal characteristics, coupling terms between distance frequency and slow time are eliminated through SNuFFT, and slow time energy gathering is efficiently realized; the parameter searching process is avoided, the method can be efficiently realized through fast Fourier transform and non-uniform fast Fourier transform, and the low complexity can be used for processing signals in real time in an actual radar system.
Description
Technical Field
The invention belongs to the technical field of radar maneuvering target detection, and particularly relates to a maneuvering target coherent accumulation method based on TRT and SNuFFT.
Background
The rapid development of stealth airplanes and Unmanned Aerial Vehicles (UAVs) in recent years puts more and more demands on radar maneuvering weak target detection. In order to detect RCS targets with low radar scattering cross-sectional areas, long-time coherent accumulation becomes a convenient and efficient means. Unfortunately, complex movements of a motorized target (e.g. high velocity, acceleration and jerk) will cause range migration RM and doppler frequency migration. These disadvantages will severely degrade the performance of traditional accumulation algorithms such as moving target detection MTD.
In order to coherently detect objects with jerk, a number of more successful algorithms have emerged in recent years. Representative search algorithms include keystone transformation-generalized deskewing KT-GDP, keystone transformation-phase gradient self-focusing KT-PGA, and generalized Radon-Fourier transformation GRFT. Although this type of algorithm has satisfactory detection performance, the great computational complexity makes it unacceptable in practical applications. Meanwhile, the adjacent cross-correlation function-Lu distribution ACCF-LVD, the time reversal transformation-second order keystone transformation-Lu distribution TRT-SKT-LVD are respectively proposed as non-search algorithms. Although the adjacent cross correlation functions and the time reversal transform greatly reduce the amount of computation, the lvus distribution makes the algorithm still difficult to process in real time.
Disclosure of Invention
Therefore, the invention provides a maneuvering target coherent accumulation method based on TRT and SNuFFT, which realizes maneuvering target coherent accumulation based on Time Reversal Transformation (TRT) and variable-scale non-uniform fast Fourier transform, reduces the calculation complexity and improves the maneuvering target detection efficiency.
According to the design scheme provided by the invention, a maneuvering target coherent accumulation method based on TRT and SNuFFT is provided, which comprises the following contents:
acquiring a maneuvering target radar echo signal according to the linear frequency modulation signal transmitted by the radar;
aiming at the maneuvering target radar echo signal, multiplying the signals before and after transformation through time reversal transformation to eliminate Doppler frequency ambiguity and secondary Doppler migration; and eliminating linear Doppler migration by variable-scale non-uniform fast Fourier transform aiming at the multiplication result so as to realize high-efficiency coherent accumulation of the maneuvering target.
As the maneuvering target coherent accumulation method, further, in time reversal transformation, firstly, aiming at a maneuvering target radar echo signal, carrying out Fourier transformation on fast time to obtain signal representation of a range frequency-slow time domain, and constructing reversal signal representation about slow time for each range frequency; the signal representation in the range frequency-slow time domain is then multiplied by the inverted signal representation for the slow time to compensate for the signal linear phase term and the cubic phase term.
As the mobile target coherent accumulation method, further, in the variable-scale non-uniform fast Fourier transform, a coupling factor and a scaling factor are set, and the variable-scale non-uniform fast Fourier transform is carried out on the product result of time reversal transform through the coupling factor and the scaling factor.
As the mobile target coherent accumulation method, a coupling factor is further set according to the signal carrier frequency and the distance frequency corresponding to the fast time.
As a maneuvering target coherent accumulation method, further, variable-scale non-uniform fast Fourier transform is expressed as:
wherein ξ is a coupling factor, β is a scaling factor, frDistance frequency, t, corresponding to fast timemIs a slow time variable, STRT(fr,tm) Being the product of a time-reversal transformation, fsnuTo correspond to
Frequency-modulated variable of Ccross(fr,fsnu) Are cross terms.
As the mobile target coherent accumulation method, inverse Fourier transform is further performed on the fast time frequency aiming at the variable-scale non-uniform fast Fourier transform result so as to complete coherent accumulation.
As the coherent accumulation method for the maneuvering target, the method further focuses signal energy into a single spectral peak in a distance-frequency modulation domain in inverse Fourier transform, and completes the detection of the maneuvering target by using a constant false alarm detection technology.
The invention has the beneficial effects that:
in the invention, aiming at the problem of maneuvering target detection, the time reversal transformation is applied to effectively eliminate the influence of speed and acceleration; inspired by signal characteristics, coupling terms between distance frequency and slow time are eliminated through variable-scale non-uniform fast Fourier transform, and slow time energy aggregation is efficiently realized; the parameter searching process is avoided, the method can be efficiently realized through fast Fourier transform and non-uniform fast Fourier transform, and the low complexity can be used for processing signals in real time in an actual radar system. Furthermore, the validity of the coherent accumulation capacity of the scheme is verified through simulation experiments and actual measurement data, and the method has good application value.
Description of the drawings:
FIG. 1 is a schematic flow chart of a coherent accumulation method for a maneuvering target according to an embodiment;
FIG. 2 is a diagram showing coherent accumulation simulation results of maneuvering targets in the embodiment;
FIG. 3 is a schematic diagram illustrating the comparison of detection probabilities of various coherent accumulation methods under different SNR in the example;
FIG. 4 is a diagram showing the measured data result of the radar in the embodiment.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described in detail below with reference to the accompanying drawings and technical solutions.
Aiming at the problem of coherent accumulation of a maneuvering target with jerk motion, the embodiment of the invention focuses on two technical difficulties of distance migration and Doppler frequency migration in coherent accumulation time, and provides a Doppler fuzzy maneuvering target coherent accumulation method based on product variable scale periodic circuit distribution, which is shown in figure 1 and comprises the following steps:
s101) acquiring a maneuvering target radar echo signal according to a linear frequency modulation signal transmitted by a radar;
s102) multiplying signals before and after transformation by time reversal transformation aiming at the maneuvering target radar echo signal to eliminate Doppler frequency ambiguity and secondary Doppler migration; and eliminating linear Doppler migration by variable-scale non-uniform fast Fourier transform aiming at the multiplication result so as to realize high-efficiency coherent accumulation of the maneuvering target.
The time reversal transformation is applied to effectively eliminate the influence of speed and acceleration; and inspired by signal characteristics, coupling terms between distance frequency and slow time are eliminated through variable-scale non-uniform fast Fourier transform, slow-time energy aggregation is efficiently realized, the complexity in the coherent accumulation operation process of the maneuvering target can be reduced, and the maneuvering target detection efficiency is improved.
Assume that the radar transmits a chirp (LFM) signal, i.e.:
wherein rect (-) is a rectangular window function,
is a fast time, TpFor pulse duration, fcAnd gamma are the signal carrier frequency and the modulation frequency, respectively.
Suppose there are Q high maneuvering targets moving at constant jerk. Neglecting the influence of high-order terms, the instantaneous slope distance of the qth target satisfies
Wherein R is0,q,vq,aqAnd gqRespectively, the initial distance, radial velocity, radial acceleration, and radial jerk of the target. t is tm＝m/fpFor slow time variables, m and fpRespectively representing the number of pulses and the pulse repetition frequency(PRF)。
Ignoring the effects of noise, the radar echo after pulse compression can be written as:
as a maneuvering target coherent accumulation method in the embodiment of the invention, further, in time reversal transformation, firstly, for a maneuvering target radar echo signal, performing fourier transformation on fast time to obtain a signal representation of a range frequency-slow time domain, and constructing a reversal signal representation about slow time for each range frequency; the signal representation in the range frequency-slow time domain is then multiplied by the inverted signal representation for the slow time to compensate for the signal linear phase term and the cubic phase term.
Fast time of formula (3)
Fourier Transform (FT) is performed to obtain the signal in the range frequency-slow time domain as:
wherein A isf,qIs the spectral amplitude, frFor a fast time
The corresponding range frequency.
Obviously, the fast time frequency frAnd slow time tmCoupling between them is the root cause of range migration. In addition, the instantaneous doppler frequency of the qth target can be expressed as:
wherein λ ═ c/fcIs the signal wavelength.
Linear doppler migration and quadratic doppler migration coexist due to the acceleration and jerk of the target. Also in the case of high target speeds and low radar pulse repetition frequencies, doppler ambiguity tends to occur. These disadvantages all cause difficulties in signal energy focusing. In order to achieve coherent accumulation, the effects of coupling and doppler frequency migration must be effectively eliminated.
In general, the signal slow time can be written as:
tm＝m/fp,(m＝-Na/2,…,-1,0,1,…,Na/2) (6)
subject to slow time tmInspiring of symmetry, an inverted signal about slow time can be constructed for each range frequency, namely:
wherein the content of the first and second substances,
representing a time reversed transformation.
Obviously, by multiplying equation (7) by equation (4), the linear phase term and the cubic phase term can be compensated, that is:
wherein, the cross terms among multiple targets are:
in equation (8), the effect of the target acceleration motion still exists, which causes linear doppler frequency migration and range envelope curvature. Here, it is proposed that a variable-scale non-uniform fast fourier transform achieves fast energy focusing.
As a maneuvering target coherent accumulation method in the embodiment of the invention, further, in the variable-scale non-uniform fast fourier transform, a coupling factor and a scaling factor are set, and the variable-scale non-uniform fast fourier transform is performed on a product result of time reversal transform through the coupling factor and the scaling factor.
Equation (8) gives an advantage in that only second order terms exist in the first exponential term. In the prior art, f is eliminated by second-order keystone transformation and Lu distribution respectivelyrAnd
the nonlinear coupling between them then achieves coherent accumulation. However, the interpolation operation of the second-order keystone transform will cause numerical errors, and the computation complexity of the Lu distribution is high. For non-uniformly sampled signals, energy concentration may be achieved using a non-uniform fast fourier transform. Further, in the embodiment of the present invention, a variable-scale non-uniform fast fourier transform is proposed by considering the coupling factor, which is defined as:
wherein ξ ═ fr+fc)/fcFor the coupling factor, β is a scaling factor to remove Doppler frequency ambiguity, fsnuTo correspond to
Frequency-modulated variable of Ccross(fr,fsnu) Are cross terms.
As a maneuvering target coherent accumulation method in the embodiment of the invention, further, inverse fourier transform is performed on the fast time frequency for a variable-scale non-uniform fast fourier transform result to complete coherent accumulation.
As can be seen from equation (10), the coupling term is eliminated and the signal energy is well focused in the frequency-modulated domain. Cross term C due to the presence of linear and cubic termscross(fr,fsnu) Accumulation cannot be realized through variable-scale non-uniform fast Fourier transform, which is beneficial to spectral peak detection of self-terms.
Finally, coherent accumulation can be done by Inverse Fourier Transform (IFT) on the fast time frequency, i.e.:
wherein G iscross(fr,fsnu) Is the cross term after the IFT.
As a maneuvering target coherent accumulation method in the embodiment of the invention, further, in inverse fourier transform, signal energy is focused into a single spectral peak in a distance-frequency modulation domain, and the maneuvering target is detected by using a constant false alarm detection technology.
The constant false alarm detection technology is a technology for determining whether a target signal exists by judging signals and noise output by a receiver under the condition that the false alarm probability of a radar system is kept constant. Firstly, processing input noise, then determining a threshold, comparing the threshold with an input end signal, if the input end signal exceeds the threshold, judging that the target exists, otherwise, judging that the target does not exist.
In equation (11), the signal energy is focused as a single spectral peak in the range-frequency modulation domain. And the target detection can be finally finished by using a constant false alarm detection technology.
To verify the validity of the technical solution of the present invention, the following further explanation is made through specific data:
it is noted that low computational complexity is crucial in practical applications, since the motion state of the object changes dramatically with time. Respectively recording the number of distance units and the number of pulses of radar received signals as NrAnd Na. The technical scheme of the invention mainly comprises the steps of variable-scale non-uniform fast Fourier change, which can pass through the non-uniform fast Fourier transform time and keep the same calculated amount, namely O (2N)rNalog2Na). Thus, the total computation of the proposed algorithm is about O (2N)rNalog2NrNa)。
Meanwhile, several representative algorithms are selected for comparison, namely MTD, KT-GDP, ACCF-LVD and TRT-SKT-LVD. Recording folding factor searching number and acceleration searching numberAnd jerk search numbers are each Mk、MaAnd Mg. Table 1 lists the computational complexity and computational time for each method. Through comparison, the technical scheme provided by the invention can effectively avoid the searching process, and is more suitable for practical application, especially real-time processing.
TABLE 1 comparison of computational complexity for each algorithm
The coherent accumulation capacity of the technical scheme of the invention is evaluated by specific simulation experimental data, and the result is shown in fig. 2. The simulation experiment parameters for the radar and target are given in table 2.
TABLE 2 simulation parameters
Fig. 2(a) shows the target trajectory, it is evident that severe range migration occurs during the accumulation process due to the high speed motion of the target, fig. 2(b) shows the result of the time reversal transform in the range-slow time domain, in correspondence with the above complexity analysis, the effects of target velocity and jerk are eliminated, and only the range bending due to acceleration is still present, fig. 2(c) shows the result of the scaled non-uniform fast fourier transform in the range-chirp domain, with a scaling factor of β -2, the target energy is effectively concentrated by the non-uniform fourier transform, frAnd
the coupling between them is eliminated and edges are formed respectively
And
two distinct straight lines. Finally, coherent accumulation can be accomplished by IFT, and the result is shown in FIG. 2 (d). Two areThe signal of each target is focused into a sharp spectral peak, and the energy of the cross phase is dispersed in a distance-frequency modulation slope domain, so that the subsequent constant false alarm detection is facilitated.
The detection performance of the technical scheme of the invention is explored through a Monte Carlo experiment. Meanwhile, four coherent accumulation algorithms of KT-GDP, ACCF-LVD, TRT-SKT-LVD and MTD are selected for comparison. The signal-to-noise ratio after pulse compression varies from-15 dB to 20dB at 1dB intervals. Monte Carlo simulations were performed 500 times for each signal-to-noise ratio. The false alarm rate of radar is set as Pfa＝10-6. The probing probability curve is shown in fig. 3, and it can be seen from the graph that the MTD has the worst detection performance because it ignores the range migration and the doppler frequency migration. The KT-GDP algorithm can accurately estimate the motion parameters of the target under a lower signal-to-noise ratio through multi-dimensional parameter search, and therefore has the most detection performance. Compared with a KT-GDP algorithm, the technical scheme and the TRT-SKT-LVD algorithm have 4dB performance deterioration due to the constant time delay in time reversal transformation. It can also be seen that the variable-scale non-uniform fast fourier transform can replace the complex second-order keystone transform and the lu distribution while maintaining the same performance. There is a 10dB performance penalty for the ACCF-LVD algorithm because the ACCF loses a significant amount of signal energy. Finally, the conclusion is drawn: the technical scheme of the invention achieves good balance between the target detection performance and the calculation complexity.
The effectiveness of the technical scheme of the invention is further verified through specific radar experimental data as follows:
TABLE 3 FMCW Radar parameters
Actual measurement radar data of commercial unmanned aerial vehicle of Xinjiang eidolon 3 is adopted for verification. The radar parameters are shown in table 3. Fig. 4(a) and 4(b) show the experimental scenario and the radar system used. Fig. 4(c) shows the motion trace of the target after pulse compression. It can be seen that within the coherent accumulation time, the drone moves more than 24 range cells, causing severe range migration. Fig. 4(d) shows the result of a time reversal transformation, when range migration due to target velocity and jerk is effectively eliminated. The coherent integration result of the technical scheme of the invention is shown in fig. 4 (e). It can be seen that the target is focused to a sharp spectral peak in the range-chirp domain. In contrast, fig. 4(f) shows the accumulation of MTD, signal energy is spread over multiple range and doppler cells, and significant spikes are formed due to clutter, eventually detecting false targets. The experiment fully verifies the practicability of the technical scheme of the invention.
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.
Based on the foregoing method, an embodiment of the present invention further provides a server, including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method described above.
Based on the above method, the embodiment of the present invention further provides a computer readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the above method.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A maneuvering target coherent accumulation method based on TRT and SNuFFT is characterized by comprising the following steps:
acquiring a maneuvering target radar echo signal according to the linear frequency modulation signal transmitted by the radar;
aiming at the maneuvering target radar echo signal, multiplying the signals before and after transformation through time reversal transformation to eliminate Doppler frequency ambiguity and secondary Doppler migration; and eliminating linear Doppler migration by variable-scale non-uniform fast Fourier transform aiming at the multiplication result so as to realize high-efficiency coherent accumulation of the maneuvering target.
2. The TRT and SNuFFT-based maneuvering target coherent accumulation method according to claim 1, characterized in that in time reversal transformation, firstly, aiming at maneuvering target radar echo signals, a signal representation of a range frequency-slow time domain is obtained by performing Fourier transformation on fast time, and a reversal signal representation about slow time is constructed for each range frequency; the signal representation in the range frequency-slow time domain is then multiplied by the inverted signal representation for the slow time to compensate for the signal linear phase term and the cubic phase term.
3. The TRT and SNuFFT-based maneuvering target coherent accumulation method according to claim 1 or 2, characterized in that in the variable-scale non-uniform fast Fourier transform, a coupling factor and a scaling factor are set, and the variable-scale non-uniform fast Fourier transform is performed on a product result of time reversal transform through the coupling factor and the scaling factor.
4. The TRT and SNuFFT-based maneuvering target coherent accumulation method according to claim 3, characterized in that the coupling factor is set according to a signal carrier frequency and a distance frequency corresponding to a fast time.
5. The TRT and SNuFFT-based maneuvering target coherent accumulation method according to claim 1 or 2, characterized in that the variable-scale non-uniform fast Fourier transform is expressed as:
wherein ξ is a coupling factor, β is a scaling factor, frDistance frequency, t, corresponding to fast timemIs a slow time variable, STRT(fr,tm) Being the product of a time-reversal transformation, fsnuTo correspond to
Frequency-modulated variable of Ccross(fr,fsnu) Are cross terms.
6. The TRT and SNuFFT-based maneuvering target coherent accumulation method according to claim 1 or 2, characterized in that fast time frequency is subjected to inverse Fourier transform for the variable scale non-uniform fast Fourier transform result to complete coherent accumulation.
7. The TRT and SNuFFT-based maneuvering target coherent accumulation method according to claim 6, characterized in that in the inverse Fourier transform, signal energy is focused into a single spectral peak in a distance-frequency modulation domain, and the maneuvering target detection is completed by using a constant false alarm detection technology.
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Cited By (4)
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| CN112114296A (en) * | 2020-09-18 | 2020-12-22 | 王玉冰 | Parameter estimation method and system for unmanned aerial vehicle cooperative TDOA/FDOA composite positioning |
| CN112748427A (en) * | 2020-12-09 | 2021-05-04 | 中国人民解放军战略支援部队信息工程大学 | Joint estimation method for range difference and range difference change rate of pulse signal |
| CN113109797A (en) * | 2021-03-01 | 2021-07-13 | 北京清瑞维航技术发展有限公司 | Target detection method and device of frequency modulation continuous wave staring radar and computer equipment |
| CN117452329A (en) * | 2023-10-25 | 2024-01-26 | 中国人民解放军军事科学院系统工程研究院 | Coherent estimation method and device for target positioning parameters of radiation source |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112114296A (en) * | 2020-09-18 | 2020-12-22 | 王玉冰 | Parameter estimation method and system for unmanned aerial vehicle cooperative TDOA/FDOA composite positioning |
| CN112114296B (en) * | 2020-09-18 | 2024-04-16 | 王玉冰 | Parameter estimation method and system for unmanned aerial vehicle collaborative TDOA/FDOA composite positioning |
| CN112748427A (en) * | 2020-12-09 | 2021-05-04 | 中国人民解放军战略支援部队信息工程大学 | Joint estimation method for range difference and range difference change rate of pulse signal |
| CN112748427B (en) * | 2020-12-09 | 2024-04-23 | 中国人民解放军战略支援部队信息工程大学 | Joint estimation method for distance difference and distance difference change rate of pulse signals |
| CN113109797A (en) * | 2021-03-01 | 2021-07-13 | 北京清瑞维航技术发展有限公司 | Target detection method and device of frequency modulation continuous wave staring radar and computer equipment |
| CN113109797B (en) * | 2021-03-01 | 2023-12-22 | 北京清瑞维航技术发展有限公司 | Method and device for detecting target of frequency modulation continuous wave staring radar and computer equipment |
| CN117452329A (en) * | 2023-10-25 | 2024-01-26 | 中国人民解放军军事科学院系统工程研究院 | Coherent estimation method and device for target positioning parameters of radiation source |
| CN117452329B (en) * | 2023-10-25 | 2024-04-02 | 中国人民解放军军事科学院系统工程研究院 | Coherent estimation method and device for target positioning parameters of radiation source |
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