CN112881982B - Method for restraining dense forwarding interference by frequency agile radar - 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
- 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
- G01S7/2813—Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays
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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
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
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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
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
- G01S7/2928—Random or non-synchronous interference pulse cancellers
Abstract
The invention belongs to the field of radar anti-interference, and provides a method for restraining dense forwarding interference of a frequency agile radar, aiming at the problem that radar frequency agile can reduce the entering number of interference signals as much as possible, but a small number of interference signals enter a radar system and can also influence real target detection, so that 3 key problems of interference restraint, such as distance side lobe restraint, interference elimination and coherent accumulation of the frequency agile radar are analyzed, and a problem solution is provided by combining technologies such as nonlinear processing, outlier detection and slow time matched filtering. The method can obviously improve the target detection probability under the strong interference environment, and even if an interference party is completely known to the radar agility frequency, the critical interference-to-signal ratio of the effective detection of the real target after interference suppression can be improved by about 20dB compared with that before suppression.
Description
Technical Field
The invention belongs to the field of radar anti-interference, and is suitable for solving the problem of dense forwarding interference under the condition of high interference-to-signal ratio inhibition by a frequency agile radar.
Background
The modern war is the countermeasure between the systems of both sides of the war, along with the research and development and application of the advanced weapon platform, the function of the equipment performance in the system is more obvious, and the radar is widely applied to the shore-based, ship-based and other weapon systems as a sensor for sensing targets. Electromagnetic interference on a radar is generally divided into suppression interference and deception interference according to interference effects, and because battlefield situation is changeable instantaneously and military forces are arranged and interwoven in a complex mode, the suppression interference with low dependence on radar information is easier to achieve release conditions than the deception interference in theory. The dense forwarding interference is novel suppressed interference based on a digital radio frequency storage device, interference signals are generated by intercepting full-pulse radar signals, radar repetition frequency prior information is not needed, a radar system is continuously copied and forwarded to effectively suppress, and compared with noise interference, the dense forwarding interference is high in power utilization rate. Modern radars mostly adopt a full-coherent system, frequency agility is taken as a common technical means of coherent radars, the advantages of improving radar anti-interference capability, improving Detection performance, suppressing sea clutter and the like are achieved, the problem of compatibility with radar Moving Target Detection (MTD) is also solved, the number of interference signals entering can be reduced as much as possible by means of radar agility, and real Target Detection can be influenced by the fact that a small number of strong interference signals enter a radar system.
At present, an algorithm for resisting dense forwarding interference by a frequency agile radar is mainly based on a signal layer, the basic idea is to utilize the characteristic that the slow time of a peak value after target pulse pressure is linear to carry out amplitude limiting on the interference, and the real target detection probability is improved by designing a frequency agile coherent processing method. The method is characterized in that a document [ all-English, chen-Xiandan, runfeng, and the like ] is an anti-dense false target interference algorithm [ J ] of frequency agility combined Hough transformation, electronics and informatics newspaper, 2019,41 (11): 2639-2645], a document [ Dong Shuxian, all-English, chen-Xiandan, and the like. Meanwhile, in order to solve the problem of compatibility of the frequency agility and the radar MTD, a two-dimensional high-resolution sparse reconstruction theory is introduced, the method needs to perform 'distance-speed' fine search on a target distance unit slow time signal, and the calculation amount is large.
Disclosure of Invention
The invention aims to provide a method for restraining dense forwarding interference by a frequency agile radar so as to solve the problem that the frequency agile radar restrains the dense forwarding interference under the condition of high interference-to-signal ratio. The method mainly comprises the following steps: compressing 1 CPI echo fast time pulse, and performing range sidelobe suppression; sequentially carrying out interference outlier detection on echoes of each range cell by utilizing a quartile spacing rule, and simultaneously setting the IQ data of the echoes to 0 according to a detection result; and (III) performing coherent processing on the echo signals after the interference rejection by adopting a matched filtering method.
The steps are as follows:
step (one): and (3) performing fast time matched filtering and distance sidelobe suppression on 1 Coherent Processing Interval (CPI) echo, and reducing the influence of interference sidelobes on a real echo. In order to suppress the range side lobe, an improved main lobe non-broadening side lobe suppression method is provided, and the specific steps are as follows:
(1) Taking the 1 st repetition period echo x r (t,t 0 ) Performing non-windowed matched filtering to obtain y r (t,t 0 )；
(2) Selecting a window function for the echo x r (t,t 0 ) Then carrying out windowing matched filtering to obtain
(3) To y r (t,t 0 )、
Taking envelope, normalizing to obtain z r (t,t 0 )、
(4) According to z r (t,t 0 )、
The value size divides the fast time into X and Y parts, when t belongs to X,
(5) Let y in X r (t,t 0 ) And in Y
Splicing along the fast time to complete the echo side lobe suppression of the 1 st repetition period;
(6) All echo sidelobe suppression within 1 CPI is done according to steps 1-5.
T in the steps (1) to (6) is a fast time, t m ＝mT r M =0,1,2 \8230forslow time, and M-1,M is the number of accumulated phase references, T r Is a pulse repetition period. In addition, step (2) involves a window function selection problem, stepFrom the steps (1) to (5), the suppressed sidelobe level mainly depends on a window function, in order to reduce the influence of the interference sidelobe on the real echo as much as possible, from the interference suppression angle, the window function needs to have low sidelobe and other ripple characteristics, and fixed windows such as a Nuttall window, a Flattop window, a Blackman-Harris window, and parameter windows such as a Chebyshev window can be selected.
Step (II): and sequentially carrying out interference outlier detection on the echoes of each range cell by using the corrected quartile spacing rule, and simultaneously setting the interference IQ data to be 0 according to the detection result. The method comprises the following specific steps:
(1) Taking echoes on 1 range unit after sidelobe suppression as a sample set X N ＝{x 1 ,x 2 ,…,x n ,…,x N And the Quartile Range (IQR) is as follows:
IQR＝Q 3 -Q 1
wherein Q 1 、Q 3 Are respectively a sample set X N 25%, 75% quantile.
(2) Meanwhile, calculating a sample set normalized skewness (Medcouple, MC):
wherein med [ ·]The median is shown to be calculated,
is the 50% quantile, i.e. median, x, of the sample set i 、x j Are sample values.
(3) And determining an interference outlier detection interval as follows according to the IQR and the MC:
wherein, L is the lower boundary of the interval, and U is the upper boundary.
(4) When X is present N Sample x in (1) n When > U, determine x n To interfere with outliers, it is noted that detectionAnd when the outlier is detected, the envelope of the echo after sidelobe suppression is required, and when the interference outlier is eliminated, the I and Q data of the echo are set to be 0 at the same time according to the position of the interference outlier, so that the subsequent coherent processing is facilitated.
Step (three): and a slow time matching filtering method is adopted to perform coherent processing on the echo signals after the interference elimination, so that the target signal-to-noise ratio is improved, and the detection efficiency is improved. The specific principle is as follows:
(1) The real echo (radio frequency signal) when the radar is subjected to frequency agility is as follows:
wherein, T p For radar emission signal pulse width, k = B/T p Frequency modulation slope of the transmitting signal, B is bandwidth; σ is the target reflection coefficient, t d ＝2R(t m ) C is the time delay, R (t) m )＝R t -v t t m As a function of the radial distance of the target from the radar, R t Is an initial distance, v t Radial velocity, c is speed of light; f. of z (t m )＝f 1 + a (m) Δ f is the radar agile carrier frequency, f 1 For the initial carrier frequency, a (m) is the frequency code, Δ f is the agile step size.
(2) Distinguish 2 cases of fixed frequency local oscillation and frequency automatic tracking local oscillation, for fixed frequency local oscillation, local oscillation frequency f L ＝f 1 For frequency automatic tracking local oscillator f L ＝f z (t m ) And the echo down-conversion respectively obtains:
wherein s is r1 (t,t m )、s r2 (t,t m ) Down conversion for fixed frequency local oscillator and frequency automatic tracking local oscillator respectivelyA wave signal. It can be seen that a fixed frequency local oscillator down-conversion echo signal has a certain initial frequency, and the frequency auto-tracking local oscillator down-conversion echo signal has an initial frequency of zero (commonly referred to as baseband).
(3) According to the radar emission signal, 2 kinds of matching signals are designed, namely:
wherein s is 1 (t) is a fixed frequency local oscillator match signal, s 2 And (t) automatically tracking the local oscillator matching signal for the frequency.
(4) Utilize 2 kinds of matching signal fixed frequency local oscillators respectively, frequency automatic tracking local oscillator down conversion echo signal to carry out pulse compression, obtain:
wherein, y s1 (t,t m )、y s2 (t,t m ) And respectively tracking the echo signals after the local oscillator pulse pressure for the fixed frequency local oscillator and the frequency automatic tracking local oscillator pulse pressure.
(5) Let t = t d And obtaining target peak value slow time signals which are respectively as follows:
wherein, y s1 (t d ,t m )、y s2 (t d ,t m ) And respectively tracking local oscillator target peak slow time signals for the fixed frequency local oscillator and the frequency automatic tracking local oscillator. For a fixed frequency local oscillator frequency agile radar, a target peak value slow time signal is a single-frequency signal, coherent accumulation can be directly carried out theoretically, but due to the fact that an echo signal after down-conversion has an initial frequency, in order to meet a sampling theorem during echo digital sampling, the sampling frequency is required to meet f s ≥2{max[|f z (t m )-f 1 |]+ B }, and for frequency autotracking local oscillator agile radar, the sampling frequency f s Not less than 2B.
(6) The frequency automatic tracking local oscillator radar echo slow time signal is as follows:
wherein, the 1 st part φ (t) m ,R t ) Related to the radial distance of the target, the agile carrier frequency, can be eliminated by compensating the echo phase of each range cell, part 2
Relative to the target radial velocity, the agile carrier frequency, the phase derivative of which is the instantaneous frequency
When the radar frequency is not agile, i.e./ z (t m )＝f 1 When the temperature of the water is higher than the set temperature,
the phase-coherent accumulation can be realized by Fast Fourier Transform (FFT) on slow echo time of a single-frequency signal (the frequency is the target Doppler frequency); when the radar steps frequency, i.e. f z (t m )＝f 1 +t m At the time of the delta f,
for LFM signals, using scoresThe time-frequency rotation characteristic of Fractional Fourier Transform (FRFT) can effectively focus echo energy in slow time; when the frequency of the radar is changed in a random and rapid mode,
the internal form is complex, and coherent accumulation cannot be realized by using tools such as FFT, FRFT and the like. From the point of view of object detection, matched filtering is the optimal detection method for a known signal form, and
can understand partial information known signal (radar agile carrier frequency is known, target speed is unknown), set speed search range [ v [ v ] ] min ,v max ]Constructing a reference signal
v x ∈[v min ,v max ]By using
To pair
Performing matched filtering when v is x ＝v t The matched output exhibits shock characteristics due to
No time delay exists, and the output peak value is positioned at the slow time t 0 The time of day.
The beneficial effects of the invention are as follows:
(1) The distance-broadening-free sidelobe suppression is carried out on the echo before interference rejection, and the influence of the interference sidelobe on the real echo is effectively reduced on the premise of keeping the requirement of the radar on high distance resolution.
(2) The actual working environment of the radar is complex, the echo distribution is usually difficult to accurately model, the interference outlier is detected by using the modified interquartile distance criterion, and the detection interval is correspondingly adjusted along with the deflection degree of the sample.
(3) Compared with a two-dimensional high-resolution sparse reconstruction theory, the method only needs to search for the speed, and is lower in calculation complexity.
Drawings
FIG. 1 is a flow chart of the method steps of the present invention;
FIG. 2 is a compression result of an echo pulse after sidelobe suppression;
FIG. 3 is a partial enlarged view of a side lobe suppression effect;
FIG. 4 is an echo slow time normalized skew;
FIG. 5 is an upper bound of outlier detection interval;
FIG. 6 shows the echo pulse compression result after interference rejection;
FIG. 7 is the target range unit echo slow time matched filter result;
FIG. 8 is the result of the coherent processing of 1 CPI echo;
FIG. 9 is a graph of the change in true target detection rate with interference-to-signal ratio;
FIG. 10 is a graph of the true target detection rate versus the number of disturbances;
FIG. 11 is a plot of true target detection rate versus interference ratio.
Detailed description of the invention
The following describes a method for suppressing dense forwarding interference by a frequency agile radar according to the present invention in detail with reference to the accompanying drawings. Referring to fig. 1, the specific implementation steps are as follows:
(1) Compressing 1 CPI echo fast time pulse, performing main lobe non-widening distance sidelobe suppression, and reducing the influence of interference side lobes on real echoes on the premise of keeping the requirement of a radar on high distance resolution;
(2) Sequentially carrying out interference outlier detection on echoes of each range cell by using a corrected quartile spacing rule, and simultaneously setting the IQ data of the echoes to 0 according to a detection result;
(3) And a slow time matching filtering method is adopted to perform coherent processing on the echo signals after the interference elimination, so that the target signal-to-noise ratio is improved, and the detection efficiency is improved.
The implementation conditions are as follows: the simulation experiment was performed under the following parameter conditions:
TABLE 1 Radar, target and interference parameters
The radar pulse repetition frequency is 2000Hz, the coherent accumulation number is 128, the normal working frequency is 1.5GHz, the frequency points are 64, the maximum agility is 10% of the working frequency, and the agility mode is pseudo-random agility among pulses; the transmitting signal is an LFM pulse signal, the pulse width is 100 mus, the bandwidth is 2MHz, and the sampling frequency is 8MHz; the self-defense jammer is a point target, the initial distance is 31km, and the radial speed is 70m/s; the quantity and the amplitude of the intensive forwarding interference in each repetition period are the same, and the false targets are randomly distributed in the range from 23km to 54km after pulse compression. The SNR is-13 dB, the JSR is 40dB, the number of intensive forwarding interference in 1 repetition period is 5, 32 repetition period echoes still suffer interference in the radar frequency agility state, 1 CPI echo is subjected to fast time pulse compression, and no-widening distance side lobe suppression (frequency domain windowing and a window function using a Nuttall window) is performed, and the result is shown in figure 2. To show details, the interference outliers at the circles in FIG. 2 are taken and the results are shown in FIG. 3. The normalized skew was calculated for the echo after sidelobe suppression along the slow time, and the result is shown in figure 4. The upper bound of the interference outlier detection interval obtained by normalizing the skewness according to the echoes of each range unit is shown in fig. 5. The echo IQ data greater than the upper bound of the interval is set to 0, and the result is shown in fig. 6. The speed searching range is set to be 18-182 m/s, the step length is 1.3m/s, slow time matching filtering is carried out on the distance unit echo (phase error caused by compensated distance) where the target is located after interference rejection, and the result is shown in fig. 7. According to the steps, the echoes of all the distance units after the interference elimination are subjected to slow time matched filtering in sequence, and t is taken 0 The time signal is used as a search result, and the result is shown in fig. 8. Before interference, after interference and after interference suppression are distinguished, the SNR, JSR, the number of interference (the number of interference signals in a repetition period) and the interference ratio (the ratio of the number of interfered repetition periods of the radar in 1 CPI) to the transmission are analyzed by taking the real target detection rate as an indexThe effect is obviously affected. Fig. 9, fig. 10, and fig. 11 are graphs of the change of the real target detection rate with the interference-to-signal ratio, the interference number, and the interference ratio, respectively. As can be seen from the attached figure 2, the real echoes of different repetition periods are positioned in the same distance unit, and the interference is distributed in a messy way in each repetition period and presents an obvious outlier characteristic; as can be seen from the attached figure 3, under the noise condition, the interference peak side lobe level is about-13 dB without windowing, the interference peak side lobe level after windowing is about-40 dB, and the main lobe is widened; it can be seen from fig. 4 that most range cell echoes have a significant right-hand signature (MC)>0) (ii) a As can be seen from fig. 5, the upper bounds of the detection intervals of different distance units from the outliers are different; as can be seen from the attached figure 6, the interference outliers are effectively eliminated, and the residual interference side lobe energy is equivalent to that of the target; as can be seen from FIG. 7, the target peak is located at the slow time t 0 Time of day; as can be seen from the attached figure 8, the real targets are effectively accumulated, the target distance obtained by peak value searching is 31.01km, the radial speed is 69.72m/s, and the target distance is basically consistent with the target distance used by simulation, namely 31km and 70m/s; as can be seen from the attached figure 9, the suppression efficiency of the invention is superior to that of the reference under different JSR conditions, the real target detection probability is obviously improved after the interference suppression, and the JSR tolerance is sequentially enhanced. According to curve distribution, the interference rejection contributes most to the suppression efficiency, the frequency agility coherent processing is the next time, the side lobe suppression contributes relatively little, and the functions of the method in the invention are indispensable in consideration of the effective maintenance of the side lobe suppression method without widening the main lobe on high distance resolution and the effective improvement of the real target detection rate under the condition of high JSR; as can be seen from fig. 10 and 11, the interference number and the interference ratio have certain influence on the present invention, and as the interference number is larger and the interference ratio is larger, the detection rate of the real target is correspondingly reduced, and as can be seen from the descending trend of the detection rate of the real target, the tolerance of the present invention on the interference ratio is higher than the interference number.
Claims (5)
1. A method for restraining dense forwarding interference by a frequency agile radar is characterized by comprising the following steps:
compressing 1 CPI echo fast time pulse, and performing range sidelobe suppression;
sequentially carrying out interference outlier detection on echoes of each range cell by utilizing a quartile spacing rule, and simultaneously setting the IQ data of the echoes to 0 according to a detection result;
step three, performing coherent processing on the echo signals after interference rejection by adopting a matched filtering method;
wherein, the quartile space criterion in the step (two) is specifically as follows:
(1) Set sample set X N ＝{x 1 ,x 2 ,…,x n ,…,x N And the quadridentate spacing is as follows:
IQR＝Q 3 -Q 1
wherein Q 1 、Q 3 Are respectively a sample set X N 25%, 75% quantile of;
(2) Calculating the normalized skewness of the sample set:
wherein med [. C]The median is shown to be calculated,
is the 50% quantile, i.e. median, x, of the sample set i 、x j All are sample values;
(3) According to the four-quadrant spacing and the normalized skewness of the sample set, determining an outlier detection interval as follows:
wherein, L is the lower boundary of the interval, and U is the upper boundary;
(4) When sample x in the sample set n When is greater than U, judge x n Is an interference outlier;
the method for matched filtering in the step (three) specifically comprises the following steps:
(1) The target echo after pulse compression is subjected to slow time signal y s2 (t m ) Decomposition into a product of 2 parts:
wherein, the first and the second end of the pipe are connected with each other,
f z (t m )＝f 1 + a (m) Δ f is the radar agile carrier frequency, f 1 For the initial carrier frequency, a (m) is the frequency code, Δ f is the agile step size, t d ＝2R(t m ) C is the target time delay, R (t) m )＝R t -v t t m As a function of the radial distance of the target from the radar, t m Is slow time, R t Is an initial distance, v t Radial velocity, c is the speed of light;
(2) Sequentially compensating the phase of each distance unit echo after pulse compression
Eliminating phi (t) m ,R t ) Wherein R is x Corresponding to echo different distance units;
(3) Setting a velocity search Range [ v ] min ,v max ]Constructing a reference signal
v x ∈[v min ,v max ]By using
Sequentially carrying out matched filtering on echoes of each distance unit after phase compensation, and taking t 0 The time signal is used as a search result to complete coherent processing of 1 CPI echo of the frequency agile radar, wherein t 0 Is t m A point in time of.
2. The method for suppressing dense retransmission interference by using frequency agile radar according to claim 1, wherein the method for suppressing range sidelobe in step (one) specifically comprises:
(1) Taking the 1 st repetition period echo x r (t,t 0 ) Performing non-windowing matched filtering to obtain y r (t,t 0 ) Where t is the fast time, t m ＝mT r Slow time, M =0,1,2 \ 8230am, M-1, M is coherent accumulation number, T r Is a pulse repetition period;
(2) Selecting a window function for 1 st repetition period echo x r (t,t 0 ) Performing windowed matched filtering to obtain
(3) For y r (t,t 0 )、
Taking envelope, normalizing to obtain z r (t,t 0 )、
(4) According to z r (t,t 0 )、
The value size divides the fast time into X and Y parts, when t belongs to X,
(5) Let y in X r (t,t 0 ) And in Y
Splicing along the fast time to complete the 1 st repetition period echo sidelobe suppression;
(6) And (5) completing M repeated cycle echo distance sidelobe suppression according to the steps (1) to (5).
3. The method for suppressing dense repeating interference by using frequency agile radar according to claim 2, wherein the window function used in step (2) has low sidelobe equiripple characteristics.
4. The method as claimed in claim 3, wherein the window function is selected from Nuttall window, flattop window, blackman-Harris window or Chebyshev window.
5. The method for suppressing dense forwarding interference by frequency agile radar according to claim 1, wherein the velocity search range [ v ] is determined according to the maximum unambiguous distance of the radar and the motion characteristic of the target min ,v max ]。
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