CN112415504A - Radar target tracking method and device - Google Patents
Radar target tracking method and device Download PDFInfo
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- CN112415504A CN112415504A CN202011206742.1A CN202011206742A CN112415504A CN 112415504 A CN112415504 A CN 112415504A CN 202011206742 A CN202011206742 A CN 202011206742A CN 112415504 A CN112415504 A CN 112415504A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The invention provides a radar target tracking method, which comprises the following steps: receiving original echo signals obtained after broadband signals are scattered by a target by using a plurality of channels; digitally processing the original echo signals of the plurality of channels to synthesize a sum signal, and synthesizing the sum signal into a high-resolution range profile; carrying out incoherent accumulation on the high-resolution range profile in a slow time direction to obtain a range power profile; performing first threshold judgment on the distance power image, and screening a first distance unit set; calculating a normalized amplitude variance according to the first distance unit set, performing second threshold judgment on the normalized amplitude variance, and screening a stable scattering point distance unit set; and determining the center position of the target according to the stable scattering point distance unit set, and tracking the target. The invention also provides a radar target tracking device, which classifies scattering points based on the normalized amplitude variance of the sum signal, screens out stable scattering points and improves the tracking precision of the target.
Description
Technical Field
The invention relates to the technical field of radar target tracking, in particular to a radar target tracking method and device.
Background
In the radar technology, the range resolution of radar detection is inversely proportional to the bandwidth, the bandwidth of a transmitted signal is increased, and the range resolution can be improved, so that more information of a target is acquired. In modern radar systems, broadband signals are often used to improve the detection performance of the radar.
The tracking radar is a mature target tracking method and is widely applied to the field of target tracking. The classical tracking radar system adopts a monopulse technology, utilizes a special transceiving antenna to form a sum signal and a difference signal, utilizes the sum signal to realize target detection, and the difference signal reflects the angle information of a target.
In practical application, for a complex target, scattering centers are generally randomly distributed on the surface of the target, and echoes received by a radar are vector superposition of echoes of scattering points, so that inevitable interference influence exists among the scattering points, the detection and tracking of the target are influenced, and the target tracking loss can be caused in a serious case. In order to improve the stability of target tracking, stable scattering points need to be screened out, and high-precision tracking is realized on the basis.
Disclosure of Invention
Technical problem to be solved
The present invention is directed to a method and an apparatus for tracking a radar target, so as to solve at least one of the above technical problems.
(II) technical scheme
One aspect of the present invention provides a radar target tracking method, including: receiving original echo signals obtained after broadband signals are scattered by a target by using a plurality of channels; digitally processing the original echo signals of the plurality of channels to synthesize a sum signal, and synthesizing the sum signal into a high-resolution range profile; carrying out incoherent accumulation on the high-resolution range profile in a slow time direction to obtain a range power profile; performing first threshold judgment on the distance power image, and screening a first distance unit set; calculating a normalized amplitude variance according to the first distance unit set, performing second threshold judgment on the normalized amplitude variance, and screening a stable scattering point distance unit set; and determining the center position of the target according to the stable scattering point distance unit set, and tracking the target.
Further, each of the plurality of channels receives a raw echo signal of
Wherein k represents the serial number of the channel, and k is 1, 2, 3 …; m is 1, 2, 3 … M denotes the pulse number in the slow time direction, M is the number of pulses in one tracking period; n is 1, 2, 3 … N, which represents the serial number of the sampling points in the fast time direction in the frequency modulation period of each pulse, and N sampling points are collected in each frequency modulation period;
representing the frequency of the nth sampling point, and B is the signal bandwidth; i is the sequence number of the scattering point on the target, i is 1, 2, 3 …; σ i is the scattering intensity; rimThe distance from the ith scattering point to the radar at the mth pulse time; fkiThe directional diagram coefficient of the ith scattering point echo signal received by the kth channel is obtained; f. ofcIs the carrier frequency; c is 3X 108m/s is the propagation velocity of electromagnetic waves; sk(m, n) represents the original echo signal of the k-th channel.
Further, the sum signal is a signal of a sum channel, the sum signal ssum(m, n) is
Wherein s issum(m, n) is a sum signal.
Further, said synthesizing said sum signal into a high resolution range profile comprises; processing the sum signal in a fast time direction to synthesize a high-resolution range profile, wherein the high-resolution range profile is a sum channel high-resolution range profile
Wherein l is a distance unit number; l is the number of points of fast Fourier transform operation in the process of synthesizing the high-resolution range profile; a. thes(m, l, i) is the response of the ith scattering point on the high resolution range profile; y issum(m, l) is a high-resolution range profile.
Further, the step of performing a first threshold judgment on the distance power image and screening a first distance unit set includes: calculating a median value of the distance power image, and multiplying the median value by a threshold factor to serve as a first threshold value; and judging whether the power value in each distance unit on the distance power image is larger than a first threshold value, if so, recording the number of the distance unit to form a first distance unit set.
Further, the step of calculating a normalized amplitude variance according to the first distance unit set, performing a second threshold judgment on the normalized amplitude variance, and screening a stable scattering point distance unit set includes: extracting an amplitude response sequence of each range cell in the plurality of range cell numbers on the high-resolution range profile in a tracking period according to the plurality of range cell numbers in the first range cell set; calculating a normalized amplitude variance of the amplitude response sequence; and judging whether the normalized amplitude variance of each distance unit in the first target distance unit set is smaller than a second threshold value, if so, recording the number of the distance unit to form a stable scattering point distance unit set.
Further, the normalized amplitude variance is
Wherein u ismRepresenting a sequence of magnitude responses of a range bin over a high resolution range profile over a tracking period;
a mean value representing a sequence of amplitude responses;
a mean square value representing a sequence of magnitude responses; sigmanaIs the normalized amplitude variance.
The present invention also provides a radar target tracking device, including: the multi-channel receiving module is used for receiving an original echo signal obtained after a broadband signal is scattered by a target by using a plurality of channels; the signal synthesis module is used for carrying out digital processing on the original echo signals of the channels to synthesize a sum signal and synthesizing the sum signal into a high-resolution range image; the distance power image generation module is used for carrying out incoherent accumulation on the high-resolution distance image in the slow time direction to obtain a distance power image; the first distance unit screening module is used for judging a first threshold value of the distance power image and screening a first distance unit set; the stable scattering point distance unit screening module is used for calculating normalized amplitude variance according to the first distance unit set, carrying out second threshold judgment on the normalized amplitude variance and screening a stable scattering point distance unit set; and the target tracking module is used for determining the central position of the target according to the stable scattering point distance unit set and tracking the target.
Further, the first range bin screening module includes: a first threshold calculation unit, configured to calculate a median value of the distance power image, and multiply the median value by a threshold factor to serve as a first threshold; and the first threshold judging unit is used for judging whether the power value in each distance unit on the distance power image is larger than a first threshold, if so, recording the number of the distance unit to form a first distance unit set.
Further, the stable scattering point screening module comprises: an amplitude response sequence extraction unit, configured to extract, according to a plurality of range bin numbers in the first range bin set, an amplitude response sequence on the high-resolution range profile in a tracking period for each range bin in the plurality of range bin numbers; an amplitude variance calculation unit for calculating a normalized amplitude variance of the amplitude response sequence; and the second threshold judgment unit is used for judging whether the normalized amplitude variance of each distance unit in the first target distance unit set is smaller than a second threshold, and if so, recording the serial number of the distance unit to form a stable scattering point distance unit set.
(III) advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) the broadband signals are used for synthesizing high-resolution range images for the received signals, the range resolution is improved, scattering points of different parts on the target can be detected, and more detailed information of the target can be acquired.
(2) And classifying the scattering points based on the normalized amplitude variance of the sum signal, screening out stable scattering points, and improving the tracking precision of the target.
Drawings
Fig. 1 is a flowchart of a radar target tracking method according to an embodiment of the present invention.
FIG. 2 is a flow chart of screening a first set of range cells according to an embodiment of the invention.
FIG. 3 is a flow chart of screening a set of stable scatter point range cells according to an embodiment of the present invention.
FIG. 4 is a diagram of an actual moving object model according to an embodiment of the invention.
Fig. 5 is a schematic diagram of a moving object tracking scene according to an embodiment of the invention.
FIG. 6 is a graph of a range power image according to an embodiment of the invention.
Fig. 7 is a calculation of normalized amplitude variance according to an embodiment of the present invention.
FIG. 8 is a diagram illustrating the determination of the center of the target according to an embodiment of the invention.
FIG. 9 is a target azimuth tracking curve according to an embodiment of the present invention.
Fig. 10 is a block diagram of a radar target tracking device according to an embodiment of the present invention.
Fig. 11 is a block diagram of a first range bin screening module according to an embodiment of the invention.
FIG. 12 is a block diagram of a stable scattering point range unit screening module according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, a tracking radar mainly works in a microwave frequency band, when the working frequency of the radar is increased to a millimeter wave frequency band, the bandwidth of a signal is also obviously increased, and the range resolution of the radar is improved. For complex targets containing multiple scattering points, the broadband radar can separate the scattering points with distance difference exceeding one resolution unit onto different range units, and more target information is provided. However, as the radar frequency is increased, the wavelength is shortened, and the interference effect between scattering points is more obvious, so that unstable scattering points appear in a target detection result, and the accuracy and stability of target tracking are reduced. The invention provides a radar target tracking method by utilizing the relation between the normalized amplitude variance of echo signals and the target stability.
Fig. 1 is a flowchart of a radar target tracking method according to an embodiment of the present invention.
As shown in fig. 1, a radar target tracking method includes the steps of:
and step S1, receiving original echo signals obtained after the broadband signals are scattered by the target by using a plurality of channels.
After the broadband signal is scattered by the target, a plurality of channels are used for receiving the original echo signal, and the channels work independently. Each of the plurality of channels receives a raw echo signal of
Wherein k represents the serial number of the channel, and k is 1, 2, 3 …; m is 1, 2, 3 … M denotes the pulse number in the slow time direction, M is the number of pulses in one tracking period; n is 1, 2, 3 … N, which represents the serial number of the sampling points in the fast time direction in the frequency modulation period of each pulse, and N sampling points are collected in each frequency modulation period;
representing the frequency of the nth sampling point, and B is the signal bandwidth; i is the sequence number of the scattering point on the target, i is 1, 2, 3 …; sigmaiIs the scattering intensity; rimThe distance from the ith scattering point to the radar at the mth pulse time; fkiThe directional diagram coefficient of the ith scattering point echo signal received by the kth channel is obtained; f. ofcIs the carrier frequency; c is 3X 108m/s is the propagation velocity of electromagnetic waves; sk(m, n) represents the original echo signal of the k-th channel.
Step S2, digitally processing the original echo signals of the multiple channels to synthesize a sum signal, and synthesizing the sum signal into a high-resolution range image.
Synthesizing the original echo signals received by a plurality of channels into a sum signal, i.e. the sum signal is the sum channel signal, and the sum signal ssum(m, n) is
Processing the sum signal in a fast time direction, and synthesizing a high-resolution range image of the sum channel, wherein the high-resolution range image is a high-resolution range image of the sum channel
Wherein l is a distance unit number; l is a process for synthesizing a high-resolution range profileThe number of points of fast Fourier transform operation in the process; a. thes(m, l, i) is the response of the ith scattering point on the high resolution range profile; y issum(m, l) is a high-resolution range profile; other symbols are as described above.
The high resolution range image shows the intensity distribution of scattering points at different distances on the object.
And step S3, carrying out incoherent accumulation on the high-resolution range profile in the slow time direction to obtain a range power profile.
Specifically, M high-resolution range images in one tracking period are subjected to incoherent accumulation in a slow time direction to obtain range power images.
Step S4, a first threshold value determination is performed on the range power image, and a first range bin set is screened.
FIG. 2 is a flow chart of screening a first set of range cells according to an embodiment of the invention.
As shown in fig. 2, step S4 includes the following sub-steps:
step S41, calculating a median of the distance power image, and multiplying the median by a threshold factor as a first threshold.
Step S42, determining whether the power value in each range cell on the range power image is greater than a first threshold, if so, recording the number of the range cell to form a first range cell set.
And judging the power value of each distance unit on the distance power image and the size of the first threshold, recording the number of the distance unit if a certain power value is larger than the first threshold, wherein all the distance unit numbers meeting the judgment condition form a first distance unit set. The first set of range cells may be indexed as potential target range cells.
Step S5, calculating a normalized amplitude variance according to the first distance unit set, performing second threshold judgment on the normalized amplitude variance, and screening a stable scattering point distance unit set.
FIG. 3 is a flow chart of screening a set of stable scatter point range cells according to an embodiment of the present invention.
As shown in fig. 3, step S5 includes the following sub-steps:
step S51, extracting an amplitude response sequence of each range cell in the plurality of range cell numbers on the high-resolution range profile in a tracking period according to the plurality of range cell numbers in the first range cell set;
step S52, calculating a normalized amplitude variance of the amplitude response sequence;
the normalized amplitude variance is calculated by:
wherein u ismRepresenting a sequence of magnitude responses of a range bin over a high resolution range profile over a tracking period;
a mean value representing a sequence of amplitude responses;
a mean square value representing a sequence of magnitude responses; sigmanaIs the normalized amplitude variance.
Step S53, determining whether the normalized amplitude variance of each range cell in the first target range cell set is smaller than a second threshold, if yes, recording the number of the range cell, and forming a stable scattering point range cell set.
The second threshold is set according to actual needs, and the specific invention is not limited. And judging all the distance units in the first distance unit set, wherein a set of all the distance unit numbers meeting the judgment condition forms a stable scattering point distance unit set.
And step S6, determining the center position of the target according to the stable scattering point distance unit set, and tracking the target.
Specifically, according to the coordinate values of each stable scattering point in the stable scattering point distance unit set, arithmetic mean values are respectively calculated on the coordinates in the x direction and the y direction, the target center position can be determined, and target tracking is performed on the target center position.
In the foregoing, the radar target tracking method provided by the present invention is introduced, and the validity of the radar target tracking method provided by the present invention is verified by using a specific embodiment. It should be noted that the following embodiments and the above methods are referred to correspondingly.
In an embodiment of the invention, the stable scattering point screening method provided by the invention is used in an actual moving target tracking process, and the processed data is derived from data acquired by a tracking radar in target movement.
Specific parameters of the radar system used include: carrier frequency fcThe signal bandwidth B is 15GHz, the number of fast time sampling points N is 4096, the number of slow time pulse accumulation M is 25, and the radar receives original echo data by using two independent channels.
FIG. 4 is a diagram of an actual moving object model according to an embodiment of the invention. Fig. 5 is a schematic diagram of a moving object tracking scene according to an embodiment of the invention.
As shown in fig. 4, the tracked object according to an embodiment of the present invention is an airplane model composed of 19 corner reflectors, and the actual size of the moving object is 0.25m × 0.20 m. As shown in fig. 5, the coordinate system is a radar tracking coordinate system, wherein the radar is located at the coordinate origin, the Y-axis is the range direction, and the X-axis is the azimuth direction. In the process of tracking the target under the coordinate system, the initial position of the center of the target is shown as a solid line, the initial coordinate of the center of the target is (-1.5m, 22.52m), the motion exists only in the azimuth direction, and the speed is Vx＝0.052m/s，V y0. After the movement, the position of the target center is moved to the position of the dotted line in the figure.
In an embodiment of the present invention, a radar target tracking method includes:
and S100, receiving original echo signals obtained after broadband signals are scattered by a target by using a plurality of channels.
Step S200, the original echo signals of the channels are processed digitally to synthesize a sum signal, and the sum signal is synthesized into a high-resolution range image.
And step S300, carrying out incoherent accumulation on the high-resolution range profile in the slow time direction to obtain a range power profile.
FIG. 6 is a graph of a range power image according to an embodiment of the invention.
As shown in fig. 6, in the graph of the distance power image, the abscissa represents the distance unit and the ordinate represents the power value.
Step S400, a first threshold value judgment is carried out on the distance power image, and a first distance unit set is screened.
Specifically, step S400 includes sub-steps S401 to S402.
Step S401, calculating a median of the distance power image, and multiplying the median by a threshold factor to obtain a first threshold.
In one embodiment of the present invention, the threshold factor η takes a value of 3.98.
Step S402, determining whether the power value in each distance unit on the distance power image is greater than a first threshold, if so, recording the number of the distance unit, and forming a first distance unit set.
For each distance unit on the distance power image, extracting the power value thereof to carry out first threshold judgment, wherein all the distance unit numbers L meeting the judgment condition form the first distance unit set L0. The first set of range cells L0As a potential target range bin set index.
As shown in fig. 6, after the first threshold judgment, 5 scattering points are detected on the range power image and are identified by "o" on the curve.
Step S500, calculating a normalized amplitude variance according to the first distance unit set, performing second threshold judgment on the normalized amplitude variance, and screening a stable scattering point distance unit set.
Fig. 7 is a calculation of normalized amplitude variance according to an embodiment of the present invention.
As shown in fig. 7, normalized amplitude variances are calculated for 5 range bins in the range bin set, respectively. As can be seen from the figure, the normalized amplitude variance values corresponding to the 1 st to 4 th distance units are less than 0.05, so that the distance unit numbers of the 4 scattering points form a stable scattering point distance unit set.
Specifically, step S500 includes sub-steps S501 to S503.
Step S501, according to a plurality of range bin numbers in the first range bin set, extracting an amplitude response sequence of each range bin in the plurality of range bin numbers on the high-resolution range profile in a tracking period.
The amplitude response sequence is 25 in length.
Step S502, calculating a normalized amplitude variance of the amplitude response sequence.
Step S503, judging whether the normalized amplitude variance of each distance unit in the first target distance unit set is smaller than a second threshold value, if yes, recording the number of the distance unit, and forming a stable scattering point distance unit set.
In one embodiment of the present invention, the second threshold ηnaThe value is 0.05.
And S600, determining the center position of the target according to the stable scattering point distance unit set, and tracking the target.
FIG. 8 is a diagram illustrating the determination of the center of the target according to an embodiment of the invention.
As shown in fig. 8, in an embodiment of the present invention, 4 stable scattering points are screened out according to the normalized amplitude variance value, and according to coordinate values of the 4 stable scattering points, coordinates of a geometric center of the target can be determined.
Further, the geometric center of the target is tracked, and an azimuth tracking curve of the target is obtained.
FIG. 9 is a target azimuth tracking curve according to an embodiment of the present invention.
As shown in fig. 9, it can be seen that, in a certain tracking period, the tracking angle of the azimuth tracking curve is close to the real angle in the target movement process, thereby verifying that the radar target tracking method provided by the present invention has higher tracking accuracy.
The invention also provides a radar target tracking device, and the device provided by the embodiment of the invention is described below, and the device described below corresponds to the method described above.
Fig. 10 is a block diagram of a radar target tracking device according to an embodiment of the present invention.
As shown in fig. 10, the radar target tracking apparatus 900 may include:
a multi-channel receiving module 910, configured to receive, by using multiple channels, an original echo signal obtained after a broadband signal is scattered by a target;
a signal synthesis module 920, configured to digitally process the original echo signals of the multiple channels to synthesize a sum signal, and synthesize the sum signal into a high-resolution range profile;
a distance power image generating module 930, configured to perform incoherent accumulation on the high-resolution distance image in a slow time direction to obtain a distance power image;
a first distance unit screening module 940, configured to perform a first threshold judgment on the distance power image, and screen a first distance unit set;
a stable scattering point distance unit screening module 950, configured to calculate a normalized amplitude variance according to the first distance unit set, perform a second threshold judgment on the normalized amplitude variance, and screen a stable scattering point distance unit set;
and the target tracking module 960 is configured to determine a target center position according to the set of stable scattering point distance units, and perform target tracking.
Fig. 11 is a block diagram of a first range bin screening module according to an embodiment of the invention.
As shown in fig. 11, the first distance unit screening module 940 may include, for example:
a first threshold calculation unit 941, configured to calculate a median of the distance power image, and multiply the median by a threshold factor to serve as a first threshold;
a first threshold determining unit 942 is configured to determine whether a power value in each distance unit on the distance power image is greater than a first threshold, and if so, record the number of the distance unit to form a first distance unit set.
FIG. 12 is a block diagram of a stable scattering point range unit screening module according to an embodiment of the invention.
As shown in fig. 12, the stable scattering point range unit screening module 950 may include, for example:
an amplitude response sequence extraction unit 951, configured to extract, according to a plurality of range bin numbers in the first range bin set, an amplitude response sequence on the high-resolution range profile in a tracking period for each range bin in the plurality of range bin numbers;
an amplitude variance calculation unit 952, configured to calculate a normalized amplitude variance of the amplitude response sequence;
and a second threshold value judging unit 953, configured to judge whether the normalized amplitude variance of each distance unit in the first target distance unit set is smaller than a second threshold value, and if yes, record the number of the distance unit to form a stable scattering point distance unit set.
Any number of modules, sub-modules, units, sub-units, or at least part of the functionality of any number thereof according to embodiments of the present disclosure may be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to the embodiments of the present disclosure may be implemented by being split into a plurality of modules. Any one or more of the modules, sub-modules, units, sub-units according to embodiments of the present disclosure may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in any other reasonable manner of hardware or firmware by integrating or packaging a circuit, or in any one of or a suitable combination of software, hardware, and firmware implementations. Alternatively, one or more of the modules, sub-modules, units, sub-units according to embodiments of the disclosure may be at least partially implemented as a computer program module, which when executed may perform the corresponding functions.
The radar target tracking device provided by the invention can be applied to target tracking equipment, such as a PC terminal, a cloud platform, a server and a server cluster, and the type of the target tracking equipment is not particularly limited.
In summary, the radar target tracking method and apparatus provided by the present invention obtain a high resolution range profile of a target by using a broadband signal, and obtain information of upward scattering points of the target at different distances. In order to eliminate the influence of unstable scattering points on target tracking precision caused by electromagnetic signal interference, the normalized amplitude variance is used as a measurement index of the stable scattering points, the unstable scattering points are removed, target tracking is performed according to the geometric center of the stable scattering point synthetic target, and the tracking precision and stability are improved.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", etc., used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present invention. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present invention.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate contents of the embodiments of the present invention. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A radar target tracking method, comprising:
receiving original echo signals obtained after broadband signals are scattered by a target by using a plurality of channels;
digitally processing the original echo signals of the plurality of channels to synthesize a sum signal, and synthesizing the sum signal into a high-resolution range profile;
carrying out incoherent accumulation on the high-resolution range profile in a slow time direction to obtain a range power profile;
performing first threshold judgment on the distance power image, and screening a first distance unit set;
calculating a normalized amplitude variance according to the first distance unit set, performing second threshold judgment on the normalized amplitude variance, and screening a stable scattering point distance unit set;
and determining the center position of the target according to the stable scattering point distance unit set, and tracking the target.
2. The radar target tracking method of claim 1, wherein each of the plurality of channels receives a raw echo signal of
Wherein k represents a channelNumber of (1), 2, 3 …; m is 1, 2, 3 … M denotes the pulse number in the slow time direction, M is the number of pulses in one tracking period; n is 1, 2, 3 … N, which represents the serial number of the sampling points in the fast time direction in the frequency modulation period of each pulse, and N sampling points are collected in each frequency modulation period;
representing the frequency of the nth sampling point, and B is the signal bandwidth; i is the sequence number of the scattering point on the target, i is 1, 2, 3 …; sigmaiIs the scattering intensity; rimThe distance from the ith scattering point to the radar at the mth pulse time; fkiThe directional diagram coefficient of the ith scattering point echo signal received by the kth channel is obtained; f. ofcIs the carrier frequency; c is 3X 108m/s is the propagation velocity of electromagnetic waves; sk(m, n) represents the original echo signal of the k-th channel.
3. The radar target tracking method of claim 2, wherein the sum signal is a sum channel signal, the sum signal ssum(m, n) is
Wherein s issum(m, n) is a sum signal.
4. The method of claim 2, wherein said synthesizing said sum signal into a high resolution range image comprises;
processing the sum signal in a fast time direction to synthesize a high-resolution range profile, wherein the high-resolution range profile is a sum channel high-resolution range profile
Wherein l is the distanceA unit number; l is the number of points of fast Fourier transform operation in the process of synthesizing the high-resolution range profile; a. thes(m, l, i) is the response of the ith scattering point on the high resolution range profile; y issum(m, l) is a high-resolution range profile.
5. The method of claim 1, wherein said first threshold determination of said range power image, screening a first set of range cells, comprises:
calculating a median value of the distance power image, and multiplying the median value by a threshold factor to serve as a first threshold value;
and judging whether the power value in each distance unit on the distance power image is larger than a first threshold value, if so, recording the number of the distance unit to form a first distance unit set.
6. The method of claim 1, wherein said computing a normalized amplitude variance from said first set of range bins, performing a second threshold determination on said normalized amplitude variance, and screening a set of stable scatter point range bins comprises:
extracting an amplitude response sequence of each range cell in the plurality of range cell numbers on the high-resolution range profile in a tracking period according to the plurality of range cell numbers in the first range cell set;
calculating a normalized amplitude variance of the amplitude response sequence;
and judging whether the normalized amplitude variance of each distance unit in the first target distance unit set is smaller than a second threshold value, if so, recording the number of the distance unit to form a stable scattering point distance unit set.
7. The method of claim 2, wherein the normalized amplitude variance is
Wherein u ismRepresenting a sequence of magnitude responses of a range bin over a high resolution range profile over a tracking period;
a mean value representing a sequence of amplitude responses;
a mean square value representing a sequence of magnitude responses; sigmanaIs the normalized amplitude variance.
8. A radar target tracking apparatus, comprising:
the multi-channel receiving module is used for receiving an original echo signal obtained after a broadband signal is scattered by a target by using a plurality of channels;
the signal synthesis module is used for carrying out digital processing on the original echo signals of the channels to synthesize a sum signal and synthesizing the sum signal into a high-resolution range image;
the distance power image generation module is used for carrying out incoherent accumulation on the high-resolution distance image in the slow time direction to obtain a distance power image;
the first distance unit screening module is used for judging a first threshold value of the distance power image and screening a first distance unit set;
the stable scattering point distance unit screening module is used for calculating normalized amplitude variance according to the first distance unit set, carrying out second threshold judgment on the normalized amplitude variance and screening a stable scattering point distance unit set;
and the target tracking module is used for determining the central position of the target according to the stable scattering point distance unit set and tracking the target.
9. The apparatus of claim 1, wherein the first range bin screening module comprises:
a first threshold calculation unit, configured to calculate a median value of the distance power image, and multiply the median value by a threshold factor to serve as a first threshold;
and the first threshold judging unit is used for judging whether the power value in each distance unit on the distance power image is larger than a first threshold, if so, recording the number of the distance unit to form a first distance unit set.
10. The apparatus of claim 1, wherein the stable scattering point screening module comprises:
an amplitude response sequence extraction unit, configured to extract, according to a plurality of range bin numbers in the first range bin set, an amplitude response sequence on the high-resolution range profile in a tracking period for each range bin in the plurality of range bin numbers;
an amplitude variance calculation unit for calculating a normalized amplitude variance of the amplitude response sequence;
and the second threshold judgment unit is used for judging whether the normalized amplitude variance of each distance unit in the first target distance unit set is smaller than a second threshold, and if so, recording the serial number of the distance unit to form a stable scattering point distance unit set.
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