CN112684425B - Target secondary screening method after constant false alarm detection - Google Patents
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Abstract
The invention discloses a target secondary screening method after constant false alarm detection, which comprises the following steps: acquiring a distance Doppler unit passing through a primary CFAR detection threshold to obtain a secondary detection unit; calculating clutter guide vectors of clutter points to be suppressed in the secondary detection unit, and estimating the amplitude of each clutter point; targeted suppression is carried out on clutter in echo data of each range-Doppler unit according to the amplitude of each clutter point, and suppressed unit data are obtained; and (3) carrying out conventional clutter suppression on the suppressed unit data again, and carrying out secondary CFAR detection to obtain a target detection result. The target secondary discrimination method after constant false alarm detection reduces the number of false alarms and the burden of a subsequent radar data processor; the method is small in calculated amount and easy to realize in engineering.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a target secondary screening method after constant false alarm detection.
Background
The airborne radar detects and tracks moving objects of interest of aircraft, ships, missiles, etc. by transmitting electromagnetic waves and receiving echoes. However, radar echoes include not only target signals which may exist, but also reflected signals of other objects in the radar illumination scene, such as ground clutter reflected by the ground and weather clutter reflected by cloud and rain. Due to the motion of the stage, clutter occupies a certain width at the doppler frequency and the clutter power density is modulated by the illumination pattern and varies with angle or doppler frequency. The radar beam main lobe is very powerful and the ground echo energy in its illuminated area is also very powerful, and the area occupied in the range-doppler plane is called the main lobe clutter region. The area occupied by the ground echo generated by the irradiation of the radar beam sidelobe is called a side lobe clutter zone, and the power of the side lobe clutter zone is relatively weak. The other areas are called noise areas or clear areas. Because the energy of the mainlobe clutter region is very strong, it is difficult to distinguish between objects when they fall in that region, so we typically only detect objects that fall outside the mainlobe clutter region.
Because the speed of the moving target has a certain Doppler frequency, when the speed of the target is large enough, the target is deviated from the main lobe clutter zone and falls into the side lobe clutter zone or the noise zone. Clutter will often mask the true presence of target signals, and therefore, in practice, clutter suppression is often required before target detection. The target detector judges the output after clutter suppression by setting a proper detection threshold, and judges that a target signal exists in the unit to be detected when the output power is larger than the detection threshold, otherwise, judges that no target exists.
Currently, constant false alarm detection (CFAR) is a commonly used moving object detection method, and the method adaptively adjusts the detection threshold by estimating background power, so that the false alarm probability of the detector remains unchanged.
However, since the adaptive detection threshold is estimated using data units surrounding the unit to be detected, the performance of target detection is inevitably affected by the clutter suppression algorithm. Discrete clutter in the unit to be detected may cross the detection threshold, causing false alarms. In practice, isolated buildings such as a power tower, a wind driven generator, a water tower and the like and isolated strong scatterers widely existing in nature all generate discrete strong clutter, the clutter suppression capability of a clutter suppression algorithm is poor, and in the process of target detection, the detection threshold is hardly improved by reasonably selecting a reference unit to avoid false alarms caused by the discrete strong clutter. Therefore, for the false alarms caused by the discrete strong clutter, it is necessary to study a target screening method to secondarily screen the targets detected by the CFAR so as to reduce the number of the false alarms and reduce the burden of a subsequent radar data processor.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a target secondary screening method after constant false alarm detection. The technical problems to be solved by the invention are realized by the following technical scheme:
a target secondary screening method after constant false alarm detection comprises the following steps:
acquiring a distance Doppler unit passing through a primary CFAR detection threshold to obtain a secondary detection unit;
calculating clutter guide vectors of clutter points to be suppressed in the secondary detection unit, and estimating the amplitude of each clutter point;
targeted suppression is carried out on clutter in echo data of each range-Doppler unit according to the amplitude of each clutter point, and suppressed unit data are obtained;
and carrying out conventional clutter suppression on the suppressed unit data again, and carrying out secondary CFAR detection to obtain a target detection result.
In one embodiment of the present invention, calculating a clutter steering vector of the secondary detection unit that needs to suppress clutter points, and estimating the amplitude of each clutter point includes:
calculating the distance of the secondary detection unit and the normalized Doppler frequency of clutter points in the secondary detection unit to be suppressed;
calculating the normalized spatial frequency of the clutter point according to the distance of the secondary detection unit and the normalized Doppler frequency of the clutter point to be suppressed;
calculating clutter guide vectors according to the normalized Doppler frequency and the normalized spatial frequency of the clutter points;
and constructing a clutter steering vector matrix according to the clutter steering vector, and estimating the amplitude of each clutter point by using a least square method.
In one embodiment of the present invention, the calculation formula of the normalized doppler frequency of the clutter point to be suppressed in the secondary detection unit is:
f d,kp ＝f d,k +pΔf d ；
wherein f d,k Indicating normalized Doppler frequency, Δf, of clutter point to be suppressed in kth secondary detection unit d Representing the interval of normalized Doppler frequencies, f d,kp P= -D, - (D-1), …,0, …, (D-1) represents f d,k Normalized Doppler frequency of surrounding D clutter points, D is a positive integer.
In one embodiment of the present invention, the calculation formula of the normalized spatial frequency is:
wherein f s,kp Normalized spatial frequency, lambda, representing the kth secondary detection unit (kth) and the kth clutter point 0 Represents the radar working wavelength, l represents the array element spacing, theta kp Indicating normalized Doppler frequency f d,kp Azimuth angle phi of the ground scattering body k Representing the pitch angle between the ground scatterer and the radar.
In one embodiment of the present invention, the calculation formula of the amplitude of the clutter point is:
wherein S is k Represents a steering vector matrix formed by D clutter points in the kth secondary detection unit, and x k Representing the original echo data received by the kth secondary detection unit corresponding to the radar.
In one embodiment of the present invention, the expression of the suppressed unit data is:
x′ k ＝x k -S k a k ；
wherein x is k Representing the original echo data received by the radar corresponding to the kth unit to be detected, S k Represents the clutter steering vector matrix, a, in the kth unit to be detected k Indicating the amplitude of the clutter point.
In one embodiment of the present invention, performing conventional clutter suppression on the suppressed unit data again, and performing a secondary CFAR detection to obtain a target detection result, where the method includes:
performing conventional clutter suppression on the suppressed unit data again to obtain output data after conventional clutter suppression;
and carrying out CFAR detection on the output data after the conventional clutter suppression again, eliminating the data which does not pass the CFAR detection, and selecting all the data which pass the CFAR detection as a real target detection result.
In one embodiment of the present invention, the expression of the output data after conventional clutter suppression is:
wherein w is k Weight vector, x 'representing conventional clutter suppression processing' k Representing the suppressed cell data. The invention has the beneficial effects that:
1. the target secondary discrimination method after constant false alarm detection provided by the invention determines the spatial frequency of clutter according to radar system parameters, distance and Doppler information aiming at false alarm points caused by discrete strong clutter points, estimates the clutter amplitude by using a least square method, and pertinently suppresses the discrete strong clutter possibly existing, thereby eliminating the influence of the discrete clutter; meanwhile, conventional clutter suppression processing is carried out on the suppressed data, and secondary CFAR detection is carried out, so that the number of false alarms is reduced, and the burden of a subsequent radar data processor is lightened;
2. the target secondary screening method after the constant false alarm detection provided by the invention has small calculated amount and is easy to realize in engineering.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a flow chart of a target secondary screening method after constant false alarm detection provided by the embodiment of the invention;
FIG. 2 is a flowchart of another method for target secondary discrimination after constant false alarm detection according to an embodiment of the present invention;
FIG. 3 is a graph of CFAR detection results provided by conventional methods;
fig. 4 is a graph of CFAR detection results using the method 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 target secondary screening method after constant false alarm detection according to an embodiment of the present invention, including the following steps:
s1: and acquiring a range Doppler unit passing through the primary CFAR detection threshold to obtain a secondary detection unit.
Specifically, first performing initial point-by-point detection on each element in the range-Doppler plane using a CFAR detector, recording position information { (I) passing through CFAR detection threshold elements k ,J k ) K=1, 2, …, K }, resulting in K secondary detection units. Wherein K is the number of the range-Doppler units passing through the CFAR detection threshold.
S2: the method for calculating the clutter guide vector of the clutter points in the secondary detection unit, which needs to be suppressed, estimates the amplitude of each clutter point, specifically comprises the following steps:
s21: and calculating the distance in the secondary detection unit and the normalized Doppler frequency of clutter points in the secondary detection unit.
Firstly, the calculation formula of the distance between the kth unit to be detected, namely the kth distance Doppler unit passing through the CFAR detection threshold is as follows:
R k ＝I k ΔR；
where Δr represents the range resolution of the radar.
The calculation formula of the normalized Doppler frequency of the kth secondary detection unit is as follows:
f d,k ＝-0.5+(J k -1)/M；
where M represents the number of pulses.
Then, the normalized Doppler frequency of D clutter points around the secondary detection unit is calculated according to the normalized Doppler frequency of the kth secondary detection unit.
Specifically, the calculation formula of the normalized doppler frequencies of D clutter points around the kth secondary detection unit is:
f d,kp ＝f d,k +pΔf d ；
wherein f d,k Indicating normalized Doppler frequency, Δf, of clutter point to be suppressed in kth secondary detection unit d Representing the interval of normalized Doppler frequencies, f d,kp P= -D, - (D-1), …,0, …, (D-1) represents f d,k Normalized Doppler frequency of surrounding D clutter points, DIs a positive integer.
S22: and calculating the normalized spatial frequency of the clutter point according to the distance of the secondary detection unit and the normalized Doppler frequency of the clutter point to be suppressed.
First, a pitch angle between the ground scatterer and the radar is calculated based on the distance of the kth secondary detection unit. In the present embodiment, the distance R k Pitch angle phi between ground scatterer and radar at k Can be expressed as:
wherein h is a For the flying height of the carrier, a e Is the equivalent radius of the earth.
Then, calculate the distance R k Where normalized Doppler frequency is f d,kp Azimuth angle theta of ground scattering body kp 。
Specifically, θ kp And f d,kp The relationship of (2) can be expressed as:
where k represents the unit vector of radar pointing to the ground scatterer, and k= [ sin θ ] kp cosφ k cosθ kp cosφ k sinφ k ]V represents a carrier velocity vector, and v= [ v ] x v y v z ] T ，λ 0 Indicating the radar operating wavelength, f c Indicating the operating frequency.
In the present embodiment, according to the obtained f d,kp And phi k From the above equation, θ can be calculated kp 。
And finally, calculating the normalized spatial frequency of clutter points to be suppressed in the kth secondary detection unit, wherein the calculation formula is as follows:
wherein f s,kp Normalized spatial frequency, lambda, representing the kth secondary detection unit (kth) and the kth clutter point 0 Represents the radar working wavelength, l represents the array element spacing, theta kp Indicating normalized Doppler frequency f d,kp Azimuth angle phi of the ground scattering body k Representing the pitch angle between the ground scatterer and the radar.
S23: and calculating clutter guide vectors according to the normalized Doppler frequency and the normalized spatial frequency of clutter points, wherein the calculation formula is as follows:
wherein N represents the number of array elements.
S24: and constructing a clutter steering vector matrix according to the clutter steering vector, and estimating the amplitude of each clutter point by using a least square method.
Specifically, a clutter steering vector matrix constructed from clutter steering vectors can be expressed as:
S k ＝[s k1 ,s k2 ,…,s kP ]。
then, the amplitude is estimated by using a least square method, and the calculation formula is as follows:
wherein x is k Represents the kth unit to be detected (I k ,J k ) Corresponding to the original echo data received by the radar, which is NM multiplied by 1-dimensional complex data, a k Indicating the amplitude of the clutter point.
S3: specifically suppressing clutter in echo data of each range-doppler cell according to the amplitude of each clutter point, and obtaining suppressed cell data expressed as:
x′ k ＝x k -S k a k 。
s4: and (3) carrying out conventional clutter suppression on the suppressed unit data again, and carrying out CFAR detection to obtain a target detection result.
Firstly, conventional clutter suppression is carried out on the suppressed unit data again, and output data after conventional clutter suppression is obtained and expressed as:
wherein w is k A weight vector representing conventional clutter suppression processing.
And then, carrying out CFAR detection on the output data after the conventional clutter suppression again, eliminating the data which does not pass the CFAR detection, and selecting all the data which pass the CFAR detection as a real target detection result.
Specifically, if |y 'is judged' j | 2 If the detection threshold is not passed, the unit is considered to have no target signal, and corresponding data is removed; otherwise, the target signal is considered to exist, and all the results detected through CFAR detection are selected to be used as real target detection results.
And carrying out the operation on all the secondary detection units to obtain all the results passing through the CFAR detection threshold, taking the results as final target detection results, and outputting target discrimination results. Referring to fig. 2, fig. 2 is a flowchart of another method for target secondary screening after constant false alarm detection according to an embodiment of the present invention.
The target secondary discrimination method after constant false alarm detection provided by the invention determines the spatial frequency of clutter according to radar system parameters, distance and Doppler information aiming at false alarm points caused by discrete strong clutter points, estimates the clutter amplitude by using a least square method, and pertinently suppresses the discrete strong clutter possibly existing, thereby eliminating the influence of the discrete clutter; meanwhile, conventional clutter suppression processing is carried out on the suppressed data, and secondary CFAR detection is carried out, so that the number of false alarms is reduced, and the burden of a subsequent radar data processor is reduced; the method is small in calculated amount and easy to realize in engineering.
Example two
The beneficial effects of the target secondary screening method after the constant false alarm detection provided in the first embodiment are further verified and described through simulation experiments.
Experimental conditions:
setting the flying height h of the carrier a For 3000m, the array antenna adopts a uniform linear array of 16 multiplied by 1, the array element spacing l is 0.1m, the speed direction of the carrier is axially parallel to the array surface, namely, the front side view array, the main beam is directed at an included angle of 90 degrees with the axial direction of the array surface, and the pitch angle of the main beam is 0 degree. Carrier frequency f c At 1.5GHz, wavelength lambda 0 The distance sampling frequency adopted by the radar is 2MHz, the pulse repetition frequency is 3000Hz, and the pulse number is 64.
The experimental contents are as follows:
in the simulation experiment, a target signal is added at a 137 th range gate, a normalized Doppler frequency is-0.3281 and a 71 st range gate, the normalized Doppler frequency is 0.0469, discrete strong clutter is added at a 87 th range gate, an azimuth angle is-18 degrees, a 164 th range station and an azimuth angle is 10 degrees, a target signal with the normalized Doppler frequency of 0.3438 and a discrete clutter signal with the azimuth angle of 33 degrees are added at a 180 th range gate, and similarly, a target signal with the normalized Doppler frequency of 0.2344 and a discrete clutter signal with the azimuth angle of 21 degrees are added at a 270 th range gate, and then the simulation experiment is performed.
Analysis of experimental results:
referring to fig. 3, fig. 3 is a graph of CFAR detection results provided by a conventional method, in which "+%" represents a target point detected by CFAR, and as can be seen from fig. 3, two range-doppler units including a target point, two discrete clutter points, and two range-doppler units including both the target point and the discrete clutter point are determined as targets by the CFAR detector.
Referring to fig. 4, fig. 4 is a graph of CFAR detection results using the method of the present invention, wherein, "++" indicates the target point, "" indicates the point determined as a false alarm using the method of the present invention. As can be seen from fig. 4, the false alarm points containing only the discrete clutter are eliminated, while the cells containing only the target and both the target and the discrete clutter are still determined to be present.
From the above analysis, it can be concluded that the present invention can effectively reject false alarms caused by discrete clutter in the sidelobe region.
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 (6)
1. The target secondary screening method after constant false alarm detection is characterized by comprising the following steps of:
acquiring a distance Doppler unit passing through a primary CFAR detection threshold to obtain a secondary detection unit;
calculating the distance of the secondary detection unit and the normalized Doppler frequency of clutter points in the secondary detection unit to be suppressed; the calculation formula of the normalized Doppler frequency of the clutter point to be suppressed in the secondary detection unit is as follows:
f d,kp ＝f d,k +pΔf d ；
wherein f d,k Indicating normalized Doppler frequency, Δf, of clutter point to be suppressed in kth secondary detection unit d Representing the interval of normalized Doppler frequencies, f d,kp P= -D, - (D-1), …,0, …, (D-1) represents f d,k Normalized Doppler frequency of surrounding D clutter points, D is a positive integer;
calculating the normalized spatial frequency of the clutter point according to the distance of the secondary detection unit and the normalized Doppler frequency of the clutter point to be suppressed;
calculating clutter guide vectors according to the normalized Doppler frequency and the normalized spatial frequency of the clutter points;
constructing a clutter steering vector matrix according to the clutter steering vector, and estimating the amplitude of each clutter point by using a least square method;
targeted suppression is carried out on clutter in echo data of each range-Doppler unit according to the amplitude of each clutter point, and suppressed unit data are obtained;
and carrying out conventional clutter suppression on the suppressed unit data again, and carrying out secondary CFAR detection to obtain a target detection result.
2. The method for target secondary discrimination after constant false alarm detection according to claim 1, wherein the calculation formula of the normalized spatial frequency is:
wherein f s,kp Normalized spatial frequency, lambda, representing the kth secondary detection unit (kth) and the kth clutter point 0 Represents the radar working wavelength, l represents the array element spacing, theta kp Indicating normalized Doppler frequency f d,kp Azimuth angle phi of the ground scattering body k Representing the pitch angle between the ground scatterer and the radar.
3. The method for secondarily discriminating the target after the constant false alarm detection according to claim 1, wherein the calculation formula of the amplitude of the clutter point is:
wherein S is k Represents a steering vector matrix formed by D clutter points in the kth secondary detection unit, and x k Representing the original echo data received by the kth secondary detection unit corresponding to the radar.
4. The method for target secondary screening after constant false alarm detection according to claim 1, wherein the expression of the suppressed unit data is:
x′ k ＝x k -S k a k ；
wherein x is k Representing the original echo data received by the radar corresponding to the kth unit to be detected, S k Represents the clutter steering vector matrix, a, in the kth unit to be detected k Indicating the amplitude of the clutter point.
5. The method for secondarily discriminating the target after the constant false alarm detection according to claim 1, wherein the conventional clutter suppression is performed again on the suppressed unit data, and the secondary CFAR detection is performed, so as to obtain a target detection result, comprising:
performing conventional clutter suppression on the suppressed unit data again to obtain output data after conventional clutter suppression;
and carrying out CFAR detection on the output data after the conventional clutter suppression again, eliminating the data which does not pass the CFAR detection, and selecting all the data which pass the CFAR detection as a real target detection result.
6. The method for secondary discrimination of a target after constant false alarm detection according to claim 5, wherein the expression of the output data after regular clutter suppression is:
wherein w is k Weight vector, x 'representing conventional clutter suppression processing' k Representing the suppressed cell data.
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