CN112698316B - Method for improving radar ranging accuracy based on improved gravity center interpolation - Google Patents
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- 230000035485 pulse pressure Effects 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 9
- 238000004088 simulation Methods 0.000 claims abstract description 9
- 238000009826 distribution Methods 0.000 claims description 6
- 238000013139 quantization Methods 0.000 abstract description 10
- 238000013461 design Methods 0.000 abstract description 5
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/418—Theoretical aspects
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Abstract
The invention relates to a method for improving radar ranging accuracy based on improved gravity center interpolation, and belongs to the technical field of pulse method radar ranging. In combination with a priori information, when the time width, bandwidth and window functions are selected, both the transmit signal waveform and echo pulse compression results are determined. And under the radar parameter design and without noise, selecting a higher sampling rate for simulation experiments to obtain the one-to-one correspondence between the amplitude ratio of the sampling maximum value and the next-largest value point at different positions in the main lobe of the pulse pressure result according to the time sequence and the peak position of the pulse pressure waveform. And then, the corresponding relation is utilized to conduct gravity center interpolation processing on the sampling maximum value and the next-largest value point in the main lobe of the pulse pressure result under the actual sampling rate and with noise, so that more accurate estimation of pulse pressure waveform peak time is realized. Experimental results show that the improved gravity center interpolation method provided by the invention can obviously reduce the distance quantization error and improve the radar ranging accuracy.
Description
Technical Field
The invention belongs to the technical field of pulse method radar ranging, in particular to a method for improving radar ranging accuracy based on improved gravity center interpolation, which is used for reducing distance quantization error during radar ranging and improving radar ranging accuracy.
Background
The most basic task of the radar is to detect a target and measure the distance of the target, namely, the target is found and positioned by utilizing the reflection of electromagnetic waves by the target, and the ranging accuracy is one of important performance indexes of the radar.
The radio wave propagates straight in a uniform medium at a fixed speed (the propagation speed in free space is approximately equal to the speed of light), and the distance of the target to the radar station can be obtained by measuring the time required for the wave to make a round trip, which is the delay of the echo with respect to the transmitted signal, and thus the distance of the target is measured accurately. Depending on the radar emission signal, pulse methods, frequency methods, and phase methods are generally used to determine the delay time.
The invention is mainly aimed at pulse ranging. Pulse method distance measurement is to find the distance unit number corresponding to the maximum point according to the power spectrum curve after pulse pressure processing is performed on the target echo, so as to determine the target distance. However, the LFM signal is added with gaussian white noise to perform pulse compression to obtain pulse pressure results, which are a series of discrete sampling points, and in order to reduce the distance quantization error, interpolation estimation needs to be performed on the peak time of the echo pulse pressure waveform. The traditional barycenter interpolation method utilizes the amplitude information and the position information of the maximum value and the next maximum value sampling points in the echo pulse pressure result to directly conduct barycenter interpolation to estimate the peak position. The method has the defects of larger inherent error and incapability of meeting the situation with higher requirements on the distance measurement precision, so the method for researching and reducing the distance quantization error is an important content for researching the radar distance measurement technology.
Disclosure of Invention
Technical problem to be solved
In order to solve the problem of inherent errors generated in the process of estimating the echo peak position by gravity center interpolation in the prior art and improve the ranging precision, the invention provides a method for improving the radar ranging precision based on improved gravity center interpolation.
Technical proposal
A method for improving radar ranging accuracy based on improved gravity center interpolation is characterized by comprising the following steps:
step 1: time width T, bandwidth B, sampling rate f selected in a given project s1 And window function information, selecting a higher sampling rate f without adding noise s2 At f s2 Obtaining near continuous echo pulse pressure waveform through simulation experiment, and simultaneously using the real sampling rate f for sampling time s1 Normalizing to a sampling time unit; peak time unit t 'of pulse pressure waveform with near continuous echo' max For the centre, two sampling time intervals (2*1/f s1 ) Pulse pressure waveforms within;
step 2: at the actual sampling rate f on the echo pulse pressure waveform selected in step 1 s1 Determining sampling intervals
Sequentially taking two sampling points, so that the sampling points are distributed over the selected pulse pressure waveform; sampling time units t 'corresponding to the two sampling points are sequentially arranged according to time sequence' 1 、t′ 2 And amplitude ratio->
The values are recorded; simultaneously and sequentially calculating the distribution t 'of the sampling points' 1 、t′ 2 And waveform peak time unit t' max The positional relationship between, i.e. the ideal amplitude ratio +.>
Obtaining the amplitude ratio of the sampling points
Ratio to ideal amplitude->
One-to-one correspondence of (a) and recording the data;
step 3: for actual radar parameter time width T, bandwidth B and sampling rate f s1 And carrying out gravity center interpolation processing on the sampling maximum value and the next maximum value point of the echo pulse pressure result under the window function and with noise; let the twoThe sampling time units corresponding to the sampling points according to the time sequence are respectively t 1 、t 2 The amplitude ratio is
Finding the Q value closest to Q' according to the data record in the step 2, and recording the K value corresponding to the Q value at the moment; calculating echo peak time unit according to gravity center method interpolation formula
Step 4: converting echo peak time units to peak time, i.e. t max The corresponding sampling time is t max /f s1 。
The technical scheme of the invention is as follows: f in step 1 s2 ＝40f s1 。
The technical scheme of the invention is as follows: and in the step 2, the execution times of the two sampling points are 6 times in sequence.
The technical scheme of the invention is as follows: the actual signal in step 3 is the LFM signal.
Advantageous effects
The method for improving radar ranging accuracy based on improved gravity center interpolation combines prior information, and when the time width T, the bandwidth B and the window function are selected, the transmitted signal waveform and the echo pulse compression result are determined. And under the radar parameter design and without noise, selecting a higher sampling rate for simulation experiments to obtain the one-to-one correspondence between the amplitude ratio of the sampling maximum value and the next-largest value point at different positions in the main lobe of the pulse pressure result and the peak position of the pulse pressure waveform. And then, the corresponding relation is utilized to conduct gravity center interpolation processing on the sampling maximum value and the next-largest value point in the main lobe of the pulse pressure result under the actual sampling rate and with noise, so that more accurate estimation of pulse pressure waveform peak time is realized. Experimental results show that the improved gravity center interpolation method provided by the invention can obviously reduce the distance quantization error and improve the radar ranging accuracy.
Drawings
FIG. 1 is a schematic diagram of the gravity interpolation algorithm used in the present invention
FIG. 2 is a schematic diagram of the main lobe waveform of the result of pulse pressure of selected echo when using the present invention
FIG. 3 is a schematic diagram showing the amplitude relationship between the maximum and the next-maximum values in the pulse pressure results of the actual echo signals using the present invention
FIG. 4 is a schematic diagram showing analysis of the relationship between the position of the sampling point and the position of the peak value using the present invention
FIG. 5 is a graph showing the analysis of the amplitude ratio of sampling points corresponding to the same sampling position at different SNRs using the present invention
FIG. 6 is a flow chart of an echo pulse pressure result peak time estimation using the present invention
FIG. 7 is a graph showing the variation of the distance quantization error with SNR for different offsets of the sampling point from the echo peak position using the present invention
Detailed Description
The invention will now be further described with reference to examples, figures:
the invention utilizes prior information, and when the time width T, the bandwidth B and the window function are selected, the transmitted signal waveform and the echo pulse compression result are determined. In the radar parameter design, a higher sampling rate f is first selected without adding noise s2 And obtaining the approximately continuous echo pulse pressure waveform through a simulation experiment. At the actual sampling rate f within the main lobe of the near continuous echo pulse pressure waveform s1 Determining sampling intervals
Two sampling points are sequentially taken, so that the sampling points are distributed over the main lobe of the pulse pressure waveform. Sampling time units t 'corresponding to the two sampling points are sequentially arranged according to time sequence' 1 、t′ 2 And amplitude ratio->
The values are recorded. Will be higher sampling rate f s2 The lower near continuous echo pulse pressure waveform peak time unit is defined as t' max Calculating the point position distribution t 'of various sampling maximum values and the next-largest value points' 1 、t′ 2 At the peak of waveformThe interunit t' max Positional relationship between the two. Let the ideal amplitude ratio
Obtaining the amplitude ratio of the sampling point->
Ratio to ideal amplitude->
One-to-one correspondence of (a). Assuming the actual sampling rate f s1 Sampling time units corresponding to two sampling points of maximum value and second maximum value in echo pulse pressure result with noise are respectively t according to time sequence 1 、t 2 The amplitude values are y respectively 1 、y 2 Calculating the amplitude ratio +.>
Referring to fig. 5, the simulation result shows that the error between the Q ' value and the Q value at the corresponding position is small, so that the Q ' value at this time can be compared with the Q value to find the Q value closest to the Q '. The Q value and the K value are in one-to-one correspondence, and the gravity center interpolation calculation can be performed by combining the K value at the moment, so that the echo peak time +.>
In the process of the invention, the experimental parameter design bandwidth B is 2MHz, and the sampling rate f s1 For 2.5MHz, the window function selects the Hamming window by sampling at a higher sampling rate f s2 Simulation analysis is performed at 100MHz to obtain an echo peak time unit of t' max 24, so that the sampling interval selected in the main lobe of the approximately continuous echo pulse pressure waveform is taken into account in order to ensure that the position distribution of the various sampling maxima and sub-maxima in practice is taken into account to be [23, 25]Combined with sampling rate f s1 And f s2 Is known from the relation of (1) at the actual sampling rate f s1 Determining sampling intervals
After that, there are 41 cases in which the positional relationship between the maximum value and the next-maximum value point is sampled. Various sample maximum and next-maximum point distributions t' 1 、t′ 2 And waveform peak time unit t' max The positional relationship between the two and the amplitude ratio experimental results at this time are shown in table 1. The data in Table 1 is used as prior information, the value range of the SNR is set to be 10-30 dB in the experiment, and the actual sampling rate f is used s1 The amplitude ratio of the sampled maximum value and the next maximum value with noise according to the time sequence +.>
Comparing with the data in table 1, finding the Q value closest to Q', and then carrying out gravity center interpolation processing on the sampling maximum value and the next largest value by using the K value corresponding to the Q value at the moment to estimate an echo peak time unit. Experimental data show that after interpolation processing is carried out by the method provided by the patent, when the SNR is only 10dB, the maximum value of the distance quantization error is controlled to be about 12m, and the radar ranging accuracy is obviously improved.
TABLE 1 analysis of the relationship between sample point amplitude ratio and ideal amplitude ratio
As shown in fig. 6, the method specifically comprises the following steps:
step 3, for the actual radar parameter time width T, bandwidth B and sampling rate f s1 And carrying out gravity center interpolation processing on the sampling maximum value and the next maximum value point of the echo pulse pressure result under the window function and with noise. The sampling time units corresponding to the two sampling points according to the time sequence are respectively t 1 、t 2 The amplitude ratio is
Based on the data statistics in step 2,the Q value closest to Q' is found, and the K value corresponding to the Q value at that time is recorded. Calculating echo peak time unit according to gravity center method interpolation formula
And 4, converting the echo peak time unit into peak time. Since the sampling time unit is a real sampling rate f s1 The sampling time is normalized, so t is obtained in the step 3 max The corresponding sampling time is t max /f s1 。
Referring to fig. 7, under the radar parameter design described above, when the SNR is between 10 and 30dB, the generated distance quantization error is reduced from 12m to 0.9m, which significantly improves the ranging accuracy and meets the requirements of practical engineering.
The interpolation method for reducing the distance quantization error during radar ranging provided by the invention has been applied in engineering practice, and has obvious effects. The invention carries out improved gravity center interpolation processing by taking only the maximum value and the next maximum value sampling points in the main lobe of the echo pulse pressure result, and predicts the echo peak time, thereby realizing the reduction of the distance quantization error. The method solves the problem of inherent errors generated in the process of estimating the echo peak position by gravity center interpolation in the prior art.
Claims (4)
1. A method for improving radar ranging accuracy based on improved gravity center interpolation is characterized by comprising the following steps:
step 1: time width T, bandwidth B, sampling rate f selected in a given project s1 And window function information, selecting a higher sampling rate f without adding noise s2 At f s2 Obtaining near continuous echo pulse pressure waveform through simulation experiment, and simultaneously using the real sampling rate f for sampling time s1 Normalizing to a sampling time unit; peak time unit t 'of pulse pressure waveform with near continuous echo' max For the center, two sampling time intervals 2*1/f are selected s1 Pulse pressure waveforms within;
step 2: in step 1 selectThe actual sampling rate f is carried out on the obtained echo pulse pressure waveform s1 Determining sampling intervals
Sequentially taking two sampling points, so that the sampling points are distributed over the selected pulse pressure waveform; sampling time units t 'corresponding to the two sampling points are sequentially arranged according to time sequence' 1 、t′ 2 And amplitude ratio->
The values are recorded; simultaneously and sequentially calculating the distribution t 'of the sampling points' 1 、t′ 2 And waveform peak time unit t' max The positional relationship between, i.e. the ideal amplitude ratio +.>
Obtaining the amplitude ratio of the sampling point->
Ratio to ideal amplitude->
One-to-one correspondence of (a) and recording the data;
step 3: for actual radar parameter time width T, bandwidth B and sampling rate f s1 And carrying out gravity center interpolation processing on the sampling maximum value and the next maximum value point of the echo pulse pressure result under the window function and with noise; the sampling time units corresponding to the two sampling points according to the time sequence are respectively t 1 、t 2 The amplitude ratio is
Finding the Q value closest to Q' according to the data record in the step 2, and recording the K value corresponding to the Q value at the moment; calculating echo peak time unit according to gravity center interpolation formula>
Step 4: peak echo time unitConversion to peak time, i.e. t max The corresponding sampling time is t max /f s1 。
2. The method for improving radar ranging accuracy based on improved center of gravity interpolation according to claim 1, wherein f in step 1 s2 ＝40f s1 。
3. The method for improving radar ranging accuracy based on improved center of gravity interpolation according to claim 1, wherein the number of execution times of sequentially taking two sampling points in step 2 is 6.
4. The method of claim 1, wherein the actual signal in step 3 is an LFM signal.
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Effective date of registration: 20231229 Address after: 710100 Fengqi East Street, Weiqu, Chang'an District, Xi'an City, Shaanxi Province Patentee after: Xi'an Electronic Engineering Research Institute Patentee after: XI'AN CHANGYUAN ELECTRON ENGINEERING Co.,Ltd. Address before: Changan District Fengqi road 710100 Shaanxi city of Xi'an Province Patentee before: Xi'an Electronic Engineering Research Institute |