CN111983578B - Quick self-adaptive angle Doppler compensation method - Google Patents
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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
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Abstract
The invention discloses a kind ofThe fast adaptive angle Doppler compensation method comprises the following steps: acquiring clutter data through an aerial motion platform radar, wherein the clutter data comprises L distance gates; separating an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix from clutter data; for the L th i Estimating an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix of the range gate to obtain an L-th clutter matrix i An estimate of the mainlobe clutter center position of the range gate; fitting and estimating the estimation value of the main lobe clutter central position to obtain the estimation value of the fitted main lobe clutter central position; constructing a compensation matrix by using the fitted estimation value of the main lobe clutter central position; clutter compensation is performed by using the compensation matrix. The clutter information of the three dimensions is used for estimating the clutter central position of the main lobe to obtain the information of the three dimensions of the clutter central position of the main lobe, so that the operation amount of the compensation method is greatly reduced, and the operation speed is improved.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a rapid self-adaptive angle Doppler compensation method.
Background
The estimation of the clutter covariance matrix requires enough sample data of independent co-distribution (iid, independently identically distribution). In the random process, the value at any moment is a random variable, and if the random variables follow the same distribution and are independent, the random variables are independent and distributed. The clutter environment with the statistical characteristics changing along with the distance makes it difficult for the airborne radar to obtain clutter sample data with independent same distribution, and the changes of ground conditions and clutter with different distance rings caused by internal motion have different clutter spectrums. Sample training strategies are often adopted to avoid or reduce the influence of such distribution changes, for example, sample selection methods for training samples and weight vectors with distance changes, including sliding window methods, segmentation processing methods, recursive algorithms, sliding hole methods and the like, all of which assume that clutter data are independently distributed in a small range, so that clutter data of a distance gate near a detection unit have higher reference value.
In order to better suppress clutter, the clutter data needs to be compensated, and then the clutter covariance matrix is estimated by using the compensated clutter data, so that the obtained clutter covariance matrix is more accurate. The adaptive angle Doppler compensation method is a common compensation method at present. The method is mainly suitable for the two-dimensional domain of azimuth space frequency-Doppler frequency, but when the method is used in the three-dimensional domain of azimuth space frequency-pitch space frequency-Doppler frequency, the defect of low operation speed occurs, so that a rapid self-adaptive angle Doppler compensation method is necessary to be further studied.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a fast adaptive angle Doppler compensation method. The technical problems to be solved by the invention are realized by the following technical scheme:
a fast adaptive angle doppler compensation method comprising:
acquiring clutter data through an aerial motion platform radar, wherein the clutter data has L distance gates;
separating an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix from the clutter data;
for the L th i Estimating the azimuth dimension clutter matrix, the elevation dimension clutter matrix and the Doppler dimension clutter matrix of the range gate to obtain an L-th clutter matrix i An estimated value of the main lobe clutter central position of the range gate is more than or equal to 1 and less than or equal to L i ≤L；
When L i When the value is L, fitting estimation is carried out on the estimated value of the main lobe clutter central position to obtain an estimated value of the main lobe clutter central position after fitting;
constructing a compensation matrix by using the fitted estimation value of the main lobe clutter central position;
and performing clutter compensation by using the compensation matrix.
In one embodiment of the present invention, separating the azimuth dimension clutter matrix, the elevation dimension clutter matrix, and the doppler dimension clutter matrix from the clutter data comprises:
and utilizing sliding windows with different dimensions to separate the clutter data into the azimuth dimension clutter matrix, the pitch dimension clutter matrix and the Doppler dimension clutter matrix.
In one embodiment of the present invention, the separating the clutter data into the azimuth dimension clutter matrix, the pitch dimension clutter matrix and the doppler dimension clutter matrix using different dimension sliding windows comprises:
separating the azimuth dimension clutter matrix from the clutter data by using an azimuth dimension sliding window;
separating the pitch dimension clutter matrix from the clutter data by using a pitch dimension sliding window;
and separating the Doppler clutter matrix from the clutter data by using a Doppler sliding window.
In one embodiment of the present invention, the estimated value of the main lobe clutter central position includes: azimuth spatial frequency, elevation spatial frequency, and doppler frequency.
In one embodiment of the invention, for the L < th) i Estimating the azimuth dimension clutter matrix, the elevation dimension clutter matrix and the Doppler dimension clutter matrix of the range gate to obtain an L-th clutter matrix i An estimate of the mainlobe clutter center position of a range gate, comprising:
for the L th i Estimating the azimuth dimension clutter matrix of the range gate to obtain the azimuth space frequency;
for the L th i Estimating the pitching dimension clutter matrix of the distance gate to obtain the pitching spatial frequency;
for the L th i And estimating the Doppler clutter matrix of the range gate to obtain the Doppler frequency.
In one embodiment of the present invention, performing fitting estimation on the estimated value of the main lobe clutter central position to obtain an estimated value of the fitted main lobe clutter central position includes:
fitting and estimating the azimuth space frequency to obtain a fitted azimuth space frequency;
fitting and estimating the pitching spatial frequency to obtain fitted pitching spatial frequency;
and carrying out fitting estimation on the Doppler frequency to obtain the fitted Doppler frequency.
In one embodiment of the present invention, constructing a compensation matrix using the fitted estimate of the main lobe clutter central position includes:
constructing an azimuth space frequency compensation matrix by using the fitted azimuth space frequency;
constructing a pitching spatial frequency compensation matrix by using the fitted pitching spatial frequency;
constructing a Doppler frequency compensation matrix by utilizing the fitted Doppler frequency;
and constructing a clutter compensation matrix by using the azimuth space frequency compensation matrix, the pitching space frequency compensation matrix and the Doppler frequency compensation matrix.
In one embodiment of the invention, the estimated value of the main lobe clutter central position is subjected to fitting estimation by using a least square method to obtain the estimated value of the fitted main lobe clutter central position.
The invention has the beneficial effects that:
the invention provides a rapid self-adaptive angle Doppler compensation method aiming at the problem of low operation speed caused by the application of the self-adaptive angle Doppler compensation method in the three-dimensional domain of azimuth space frequency-pitching space frequency-Doppler frequency, which is characterized in that the obtained clutter data are separated into an azimuth dimension clutter matrix, a pitching dimension clutter matrix and a Doppler dimension clutter matrix, clutter matrix information of three dimensions of the azimuth dimension clutter matrix, the pitching dimension clutter matrix and the Doppler dimension clutter matrix is estimated to obtain an estimated value of the center position of a main lobe clutter, and fitting and compensation processing are carried out by utilizing the estimated value of the center position of the main lobe clutter, so that the operation amount of the compensation method is greatly reduced, and the operation speed is improved.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a flowchart of a fast adaptive angle doppler compensation method according to an embodiment of the present invention;
figure 2 is a flow chart of another method for fast adaptive angle doppler compensation provided by an embodiment of the present invention;
FIG. 3 is a graph of the output signal-to-noise ratio of simulation 1 provided by an embodiment of the present invention;
FIG. 4 is a graph of the output signal-to-noise ratio of the main lobe clutter region of simulation 1 provided by an embodiment of the present invention;
FIG. 5 is a graph of the output signal-to-noise ratio of simulation 2 provided by an embodiment of the present invention;
FIG. 6 is a graph of the output signal-to-noise ratio of the main lobe clutter region of simulation 2 provided by an embodiment of the present invention;
FIG. 7 is a graph of the output signal-to-noise ratio of simulation 3 provided by an embodiment of the present invention;
FIG. 8 is a graph of the output signal-to-noise ratio of the main lobe clutter region of simulation 3 provided by an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1, fig. 1 is a flowchart of a fast adaptive angle doppler compensation method according to an embodiment of the present invention. A fast adaptive angle doppler compensation method comprising:
step 1, acquiring clutter data through an aerial motion platform radar, wherein the clutter data has L distance gates.
Specifically, the obtained clutter data is X, the dimension size is mnk×l, where M is the number of pitching array elements, N is the number of horizontal array elements, K is the number of pulses in a coherent processing interval (CPI, coherent process interval), and L is the distance gate number of the clutter data.
And step 2, separating an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix from clutter data.
Will be L i (1≤L i And less than or equal to L), the clutter data of the range gate are separated into an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix.
Let L i The echo data of the distance gate is x, the dimension is MNK×L, and then L i Echo of number range gateThe expression of the data matrix is:
x kn ＝[x kn1 x kn2 … x knm … x knM ] T ；
wherein x represents L i An echo data matrix of the number range gate; x is x k Representing an echo data matrix received during the kth pulse, wherein K is more than or equal to 1 and less than or equal to K; x is x kn Representing an echo data matrix received by an nth row array element in the kth pulse, wherein N is more than or equal to 1 and less than or equal to N; x is x knm Representing an echo data matrix received by an nth row and an mth column array element in the kth pulse, wherein M is more than or equal to 1 and less than or equal to M; t is a transposed symbol, M is the number of pitching array elements, N is the number of horizontal array elements, and K is the number of pulses within one coherent processing interval.
Further, the clutter data are separated into an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix by utilizing sliding windows with different dimensions: comprising the following steps:
a. and separating an azimuth dimension clutter matrix from the clutter data by using an azimuth dimension sliding window.
The expression of the azimuth dimension clutter matrix is:
u＝[u 11 u 12 … u 1k … u 1K u 21 u 22 … u 2K … u mk … u MK ]；
u mk ＝[x k1m x k2m … x knm … x kNm ] T ；
where u represents the azimuth dimension clutter matrix, u mk Represents the azimuth dimension echo data matrix received by the m-th array element in the kth pulse, x knm Representing an echo data matrix received by the nth row and mth column array element in the kth pulse, wherein K is more than or equal to 1 and less than or equal to K, N is more than or equal to 1 and less than or equal to N, and m is more than or equal to 1 and less than or equal to 1M, T is the transposed symbol, M is the number of pitching array elements, N is the number of horizontal array elements, and K is the number of pulses in one coherent processing interval.
b. And separating a pitch dimension clutter matrix from the clutter data by using a pitch dimension sliding window.
The expression of the pitch dimension clutter matrix is:
v＝[v 11 v 12 … v 1k … v 1K v 21 v 22 … v 2K … v nk … v NK ]；
v nk ＝x kn ＝[x kn1 x kn2 … x knm … x knM ] T ；
wherein v represents the pitch dimension clutter matrix, v nk Representing a pitch-dimensional echo data matrix, x, received by an nth array element at a kth pulse knm The matrix of echo data received by the nth row and mth column array elements during the kth pulse is represented, K is not less than 1 and not more than K, N is not less than 1 and not more than N, M is not less than 1 and not more than M, T is a transposed symbol, M is the number of pitching array elements, N is the number of horizontal array elements, and K is the number of pulses in a coherent processing interval.
c. And separating the Doppler clutter matrix from the clutter data by using a Doppler sliding window.
The expression of the Doppler clutter matrix is:
t＝[t 11 t 12 … t 1m … t 1M t 21 t 22 … t 2M … t nm … t NM ]；
t nm ＝[x 1nm x 2nm … x knm … x Knm ] T ；
wherein t represents Doppler clutter matrix, t nm Representing the Doppler echo data matrix received by the nth row and mth column array element, x knm The matrix of echo data received by the nth row and mth column array elements during the kth pulse is represented, K is not less than 1 and not more than K, N is not less than 1 and not more than N, M is not less than 1 and not more than M, T is a transposed symbol, M is the number of pitching array elements, N is the number of horizontal array elements, and K is the number of pulses in a coherent processing interval.
Description: the process of separating clutter data into an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix by using an azimuth dimension sliding window, a pitch dimension sliding window and a Doppler dimension sliding window respectively is not sequential.
Step 3, for the L i Estimating an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix of the range gate to obtain an L-th clutter matrix i An estimated value of the main lobe clutter central position of the range gate is more than or equal to 1 and less than or equal to L i ≤L。
Specifically, the parameters of the estimated value of the main lobe clutter central position include: azimuth spatial frequency, elevation spatial frequency, and doppler frequency.
Further, estimating an estimated value of the main lobe clutter center position by using the azimuth dimension clutter matrix, the elevation dimension clutter matrix and the Doppler dimension clutter matrix includes:
a. for the L th i And estimating the azimuth dimension clutter matrix of the range gate to obtain azimuth space frequency.
First, a clutter covariance matrix R of an azimuth dimension is obtained by using a clutter matrix u of the azimuth dimension u Clutter covariance matrix R of azimuth dimension u The expression of (2) is:
R u ＝uu H /MK；
wherein R is u The clutter covariance matrix representing the azimuth dimension, u represents the received data of the azimuth dimension, H is the conjugate transpose symbol, M is the pitching array element number, and K is the pulse number in a coherent processing interval.
Then, the spectrum peak search is carried out to obtain the spectrum peak position f su Position f of spectral peak su As the azimuth spatial frequency of the range gate, the expression of the azimuth spatial frequency is:
wherein f su ＝argmax(P)，f su (N ui ) Representing the position of the ith azimuth dimension, s, in the spectral peak search su (N ui ) Representing spectral peak searchThe i-th azimuth dimension spatially directs the vector.
b. For the L th i And estimating a pitching dimension clutter matrix of the range gate to obtain pitching spatial frequency.
First, a clutter covariance matrix R of a pitch dimension is obtained by using a clutter matrix v of the pitch dimension v Clutter covariance matrix R of pitch dimension v The expression of (2) is:
R v ＝vv H /NK；
wherein R is v The clutter covariance matrix of the pitch dimension is represented by v, the received data of the pitch dimension is represented by H, the conjugate transpose symbol is represented by N, the horizontal array element number is represented by N, and the pulse number in a coherent processing interval is represented by K.
Then, the spectrum peak search is carried out to obtain the spectrum peak position f sv Position f of spectral peak sv As the pitch-wise spatial frequency of the range gate, the expression of the pitch-wise spatial frequency is:
wherein f sv ＝argmax(P)，f sv (N vi ) Representing the position of the ith pitch dimension, s, in the spectral peak search sv (N vi ) Representing the ith pitch dimension spatial steering vector in the spectral peak search.
c. For the L th i And estimating the Doppler clutter matrix of the range gate to obtain Doppler frequency.
First, a Doppler clutter covariance matrix R is obtained by using a Doppler clutter matrix t t Clutter covariance matrix R of Doppler dimension t The expression of (2) is:
R t ＝tt H /NM；
wherein R is t The clutter covariance matrix of the Doppler dimension is represented, t represents the received data of the Doppler dimension, H is a conjugate transpose symbol, N is the number of horizontal array elements, and M is the number of pitching array elements.
Then, the spectrum peak search is carried out to obtain the spectrum peak position f d Position f of spectral peak d As the doppler frequency of the range gate, the expression of the doppler frequency is:
wherein f d ＝argmax(P)，f d (N ti ) Representing the position of the ith Doppler dimension, s, during the spectral peak search t (N ti ) Representing the ith Doppler time domain steering vector during the spectral peak search.
Description: the azimuth space frequency, the elevation space frequency and the Doppler frequency of the estimated values of the main lobe clutter center position are estimated by using the azimuth dimension clutter matrix, the elevation dimension clutter matrix and the Doppler dimension clutter matrix respectively.
Step 4, when L i When the value is L, fitting estimation is carried out on the estimation value of the main lobe clutter central position to obtain the estimation value of the main lobe clutter central position after fitting.
Referring to fig. 2, fig. 2 is a flowchart of another fast adaptive angle doppler compensation method according to an embodiment of the present invention. For determining L i Whether or not =l is true, if L i < L, then L i ＝L i +1, step 3 is performed; if L i =l, step 5 is performed.
Step 5, when L i When the value is L, fitting estimation is carried out on the estimation value of the main lobe clutter central position to obtain the estimation value of the main lobe clutter central position after fitting.
Specifically, the estimated value of the main lobe clutter central position is subjected to fitting estimation by using a least square method to obtain the estimated value of the fitted main lobe clutter central position.
For L points (x i ，y i ) Assuming that the fitted curve is P-th order, the fitted curve may be set to f, where the fitted curve f is expressed as:
f＝a p x p +a p-1 x p-1 +…+a 0 ；
wherein,0≤i 0 p is less than or equal to the ith 0 The order coefficient, p is a preset integer, < ->0≤i 0 P is less than or equal to the square of the variable.
Taking the minimum value of the sum of errors between the fitting curve and each point, wherein the expression of the minimum value is as follows:
wherein, min represents taking the minimum value, the absolute value is indicated by the term,to the power p, a of the ith data p Is the coefficient of the p-th order in the equation, y i Is an estimate of the i-th data.
And then y=xa;
wherein y= [ y ] 1 y 2 … y L ] T ；A＝[a p a p-1 … a 0 ] T 。
The expression for further deriving coefficient vector a is:
A＝(x H x) -1 x H y；
wherein A is coefficient vector, x is input data matrix, H is conjugate transpose symbol, x H Representing the conjugate transpose of the data matrix, y is the estimated matrix for the data.
Further, step 5 includes:
and carrying out fitting estimation on the azimuth space frequency by using a least square method to obtain the fitted azimuth space frequency.
And fitting and estimating the pitching spatial frequency by using a least square method to obtain the fitted pitching spatial frequency.
And carrying out fitting estimation on the Doppler frequency by using a least square method to obtain the fitted Doppler frequency.
And 6, constructing a compensation matrix by using the fitted estimation value of the main lobe clutter central position.
Further, step 6 includes:
and constructing an azimuth space frequency compensation matrix by using the fitted azimuth space frequency.
And constructing a pitching spatial frequency compensation matrix by using the fitted pitching directional spatial frequency.
And constructing a Doppler frequency compensation matrix by using the fitted Doppler frequency.
And constructing a clutter compensation matrix by using the azimuth space frequency compensation matrix, the pitching space frequency compensation matrix and the Doppler frequency compensation matrix.
Further, assume that the compensation matrix is T e The dimension of the compensation matrix is nmk×nmk.
And 7, performing clutter compensation by using a compensation matrix.
The expression of the compensated clutter data Y is:
wherein Y is the clutter data after compensation, T e For the compensation matrix, X is the clutter data when not compensated, and H is the conjugate transpose symbol.
Example two
The effect of the present invention can be verified by the following computer simulation.
Simulation conditions:
the simulation experiment environment of the invention is: MATLAB,2017b, intel (R) Xeon (R) CPU2.20GHz, windows7 specialty.
Simulation results and analysis:
referring to fig. 3 and 4, fig. 3 is an output signal-to-noise ratio diagram of the simulation 1 according to the embodiment of the present invention, and fig. 4 is an output signal-to-noise ratio diagram of the main lobe clutter region of the simulation 1 according to the embodiment of the present invention. The abscissa is the Doppler channel, the ordinate is the output signal to noise ratio, and SMI is the direct covariance matrix inversion.
The rapid self-adaptive angle Doppler compensation method uses fitting processing when estimating the estimated value of the main lobe clutter central position of each range gate, thereby being capable of estimating relevant parameters more accurately. Meanwhile, the method for Adaptive Angle Doppler Compensation (AADC) in the prior art is subjected to fitting treatment, and the accuracy of the method for estimating the main lobe clutter center position is higher than that of the AADC after fitting. And the rapid self-adaptive angle Doppler compensation method is much less than AADC in calculation amount.
The output signal-to-noise ratio curve of the rapid adaptive angle Doppler compensation method is obviously superior to the adaptive angle Doppler compensation method in the prior art in the main lobe clutter region.
Referring to fig. 5 and 6, fig. 5 is an output signal-to-noise ratio diagram of the simulation 2 according to the embodiment of the present invention, and fig. 6 is an output signal-to-noise ratio diagram of the main lobe clutter region of the simulation 2 according to the embodiment of the present invention. The abscissa is the Doppler channel, the ordinate is the output signal to noise ratio, and SMI is the direct covariance matrix inversion.
FIG. 5 is an improvement factor versus curve for the fast adaptive angle Doppler compensation method of the present invention and other methods with 5% amplitude phase error; fig. 6 is an enlarged view of a portion of fig. 5 in the mainlobe clutter region. As can be seen from fig. 5 and fig. 6, in the case of 5% amplitude-phase error, the output signal-to-noise ratio curve of the main lobe clutter region of the present invention is closer to the theoretical value than the AADC after the fitting process, which also indicates that the clutter compensation performance of the present invention is better than the adaptive angle doppler compensation performance of the prior art.
Referring to fig. 7 and 8, fig. 7 is an output signal-to-noise ratio diagram of the simulation 3 according to the embodiment of the present invention, and fig. 8 is an output signal-to-noise ratio diagram of the main lobe clutter region of the simulation 3 according to the embodiment of the present invention. The abscissa is the Doppler channel, the ordinate is the output signal to noise ratio, and SMI is the direct covariance matrix inversion.
As can be seen from fig. 7 and fig. 8, in the case of 5% amplitude-phase error, the output signal-noise ratio curve of the fast adaptive angle doppler compensation method of the present invention in the main lobe clutter region is closer to the theoretical value than the AADC after fitting, i.e. the clutter compensation estimated by the method of the present invention is more accurate, thereby illustrating that the accuracy of the clutter compensation of the fast adaptive angle doppler compensation method of the present invention is higher than the accuracy of the AADC.
Simulation results of simulation 1, simulation 2 and simulation 3 can show that the clutter compensation performance of the rapid self-adaptive angle Doppler compensation method is better than that of the fitted AADC under the conditions of no amplitude-phase error and amplitude-phase error. The invention adopts independent estimation to the parameters of azimuth dimension, pitch dimension and Doppler dimension, and the calculation amount required by the algorithm is greatly reduced.
Assuming that the degree of freedom of the spatial azimuth dimension is M, the degree of freedom of the spatial pitch dimension is N, and the time domain degree of freedom is K, the total calculation amount O of the invention 0 The expression of the magnitude of (c) is:
O 0 ＝O(M)+O(N)+O(K)；
wherein O is 0 For the magnitude of the total calculated amount of the invention, O (M) is the magnitude of the calculated amount of the space azimuth dimension clutter compensation, O (N) is the magnitude of the calculated amount of the space pitch dimension clutter compensation, and O (K) is the magnitude of the calculated amount of the Doppler dimension clutter compensation.
While AADC adopts joint estimation, the calculated amount O of AADC AADC The expression of (2) is:
O AADC ＝O(MNK)；
wherein O is AADC For the magnitude of the total computation of AADC, O (MNK) is the magnitude of the clutter compensation total computation of the spatial azimuth, spatial pitch and doppler dimensions.
The magnitude of the total calculation amount and the magnitude of the AADC calculation amount can be easily obtained, the calculation amount can be greatly reduced, the AADC method needs to use a three-dimensional sliding window in application, and clutter compensation performance of the AADC method can be influenced if the size of the three-dimensional sliding window is not suitable.
In summary, the method and the device can greatly reduce the calculated amount and improve the operation speed on the premise of ensuring the accuracy of clutter compensation estimation, so that the method and the device can be applied to a system with higher real-time requirements.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (4)
1. A fast adaptive angle doppler compensation method, comprising:
acquiring clutter data through an aerial motion platform radar, wherein the clutter data has L distance gates;
separating an azimuth dimension clutter matrix, a pitch dimension clutter matrix and a Doppler dimension clutter matrix from the clutter data;
for the L th i Estimating the azimuth dimension clutter matrix, the elevation dimension clutter matrix and the Doppler dimension clutter matrix of the range gate to obtain an L-th clutter matrix i An estimate of a mainlobe clutter central position of a range gate, the estimate of the mainlobe clutter central position comprising: azimuth spatial frequency, pitching spatial frequency and Doppler frequency, L is more than or equal to 1 i The weight is less than or equal to L; the method specifically comprises the following steps: for the L th i Estimating the azimuth dimension clutter matrix of the range gate to obtain the azimuth space frequency; for the L th i Estimating the pitching dimension clutter matrix of the distance gate to obtain the pitching spatial frequency; for the L th i Estimating the Doppler clutter matrix of the range gate to obtain the Doppler frequency;
when L i When the value is L, fitting estimation is carried out on the estimated value of the main lobe clutter central position to obtain an estimated value of the main lobe clutter central position after fitting; the method specifically comprises the following steps: fitting and estimating the azimuth space frequency to obtain a fitted azimuth space frequency; fitting and estimating the pitching spatial frequency to obtain fitted pitching spatial frequency; for the multipleCarrying out fitting estimation on the Doppler frequency to obtain a fitted Doppler frequency;
constructing a compensation matrix by using the fitted estimation value of the main lobe clutter central position; the method specifically comprises the following steps: constructing an azimuth space frequency compensation matrix by using the fitted azimuth space frequency; constructing a pitching spatial frequency compensation matrix by using the fitted pitching spatial frequency; constructing a Doppler frequency compensation matrix by utilizing the fitted Doppler frequency; constructing a clutter compensation matrix by using the azimuth space frequency compensation matrix, the pitching space frequency compensation matrix and the Doppler frequency compensation matrix;
and performing clutter compensation by using the compensation matrix.
2. The fast adaptive angular doppler compensation method of claim 1 wherein separating an azimuth dimension clutter matrix, a pitch dimension clutter matrix, and a doppler dimension clutter matrix from the clutter data comprises:
and utilizing sliding windows with different dimensions to separate the clutter data into the azimuth dimension clutter matrix, the pitch dimension clutter matrix and the Doppler dimension clutter matrix.
3. The fast adaptive angular doppler compensation method of claim 2 wherein separating the clutter data into the azimuth dimension clutter matrix, the elevation dimension clutter matrix, and the doppler dimension clutter matrix using different dimension sliding windows comprises:
separating the azimuth dimension clutter matrix from the clutter data by using an azimuth dimension sliding window;
separating the pitch dimension clutter matrix from the clutter data by using a pitch dimension sliding window;
and separating the Doppler clutter matrix from the clutter data by using a Doppler sliding window.
4. The fast adaptive angular doppler compensation method of claim 1 wherein the estimating the center position of the mainlobe clutter is performed by a least square method to obtain an estimated value of the center position of the mainlobe clutter after fitting.
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