CN113534066A - Method and system for rejecting multi-reflection wild values of landing measurement radar in height direction - Google Patents

Method and system for rejecting multi-reflection wild values of landing measurement radar in height direction Download PDF

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CN113534066A
CN113534066A CN202110697011.XA CN202110697011A CN113534066A CN 113534066 A CN113534066 A CN 113534066A CN 202110697011 A CN202110697011 A CN 202110697011A CN 113534066 A CN113534066 A CN 113534066A
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radar
landing
value
ground
landing ground
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CN113534066B (en
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徐秋锋
孙武
贾学振
柯腾伦
丁凯生
陈枭煜
陈睿容
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Beijing Institute of Remote Sensing Equipment
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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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • 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
    • G01S7/414—Discriminating targets with respect to background clutter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Computer Networks & Wireless Communication (AREA)
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  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a method and a system for rejecting multi-reflection wild values of the height direction of a landing measurement radar, wherein the method comprises the following steps: acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT (fast Fourier transform) processing on the baseband signal, analyzing amplitude-frequency characteristics of a radar echo, and performing radar echo signal gravity center estimation processing to obtain the gravity center of the frequency characteristics of the radar echo; measuring the frequency center of gravity of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam directions and the normal direction of the radar antenna to solve the radial distance value of the landing ground to obtain the plane characteristics of the landing ground; and calculating the absolute value of the difference value between the estimated distance value from the crossed landing intersection point of the landing ground to the radar and the radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground. The invention is simple to realize, and can eliminate and correct any type of outliers.

Description

Method and system for rejecting multi-reflection wild values of landing measurement radar in height direction
Technical Field
The invention relates to the technical field of outlier rejection methods, in particular to a method for rejecting multiple reflections of an altitude direction of a landing measurement radar.
Background
The landing measuring radar adopts a pseudo code modulated linear frequency modulation interrupted continuous wave to measure the distance, and the receiving average power of the asynchronously received linear frequency modulation interrupted continuous wave radar is received and transmitted according to the principle of a random signal radar
Figure BDA0003128897980000011
Comprises the following steps:
Figure BDA0003128897980000012
wherein, t0For measuring the delay time, T, corresponding to the distance in two passesPIs the symbol width, PrIs the received average power of the chirped continuous wave. In practical work, in order to ensure complete time sharing of transmitting and receiving, when a transmitting and receiving switch is switched, a protection time delta T is added into a receiving switch time sequence, and delta T < TPThen, then
Figure BDA0003128897980000013
Figure BDA0003128897980000014
Wherein M is more than or equal to 1 and less than 2, and N is more than or equal to 1 and less than or equal to 2.
From the above formula, the closer the distance, the asynchronous receiving and transmitting of the chirp interrupted continuous wave radar,delay time t0The shorter. The landing radar carries out four-beam measurement in a time-sharing manner, wherein the pointing angles of three beams deviate from the normal direction of the antenna by not less than 30 degrees and are respectively numbered as beam 2, beam 3 and beam 4; the other beam is directed at an angle 5 degrees from the antenna normal, numbered beam 1. When the landing is carried out at a short distance, the distance is not more than 50 meters, and the normal direction of the antenna is basically consistent with the gravity direction. When the landing ground is flat, the altitude reflection clutter is strong, and the beam 1 is basically consistent with the altitude direction in pointing direction and is contained in the mainlobe echo at a short distance. The secondary height is reflected to the clutter reflection landing platform and then enters the landing radar through the reflected ground, and the delay time generated by the landing radar is 2t0In some cases, the secondary elevation clutter is more energetic than the mainlobe echo. The problem that arises thereupon, under the condition that does not have prior information, can't judge which is mainlobe echo signal, which is clutter signal to cause landing radar measurement error, the radial distance value of wave beam 1 appears the outlier, if the scene change is less, the outlier will persist, forms spot type outlier, brings the severe examination for outlier elimination algorithm. And the other three wave beams have larger beam pointing direction deviating from the normal direction of the antenna, height direction clutter is greatly inhibited by a side lobe of the antenna, the delay time is longer than that of the wave beam 1, the height direction clutter is basically covered by noise, and a field value cannot appear in measurement. Aiming at the problem that the short-distance gravity-oriented wave beams of the landing measurement radar have multiple height-oriented reflection field values, the existing scheme lacks an effective means for solving the technical problem.
Disclosure of Invention
The invention aims to provide a method and a system for eliminating a multi-reflection wild value from a landing measurement radar height direction, which can solve the problem of a measurement wild value generated by multi-reflection from a short-distance height direction.
In view of this, the present invention provides a method for rejecting a multi-reflection outlier in a landing measurement radar height direction, which is characterized by comprising:
acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, if not, ending, otherwise, giving an identifier of the radar echo;
analyzing amplitude-frequency characteristics of radar echoes according to the identification of the radar echoes, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echoes to obtain the gravity center of the frequency characteristics of the radar echoes;
measuring the frequency center of gravity of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam directions and the normal direction of the radar antenna to solve the radial distance value of the landing ground to obtain the plane characteristic of the landing ground;
analyzing the plane characteristics of the landing ground, and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the beam with the minimum included angle between the beam direction and the normal direction of the radar antenna;
and calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the radar antenna to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle to the landing ground from the landing intersection point intersected with the landing ground to the radar to obtain a measured value of the distance from the landing intersection point intersected with the landing ground to the radar.
Further, still include: and calculating the width of a radar echo signal at the current moment according to the measured value of the distance from the landing intersection point intersected with the landing ground to the radar and the incident angle of each wave beam to the landing ground, and calculating the amplitude-frequency characteristic of the radar echo in the next measurement period.
Further, performing FFT processing on the baseband signal includes: and respectively carrying out FFT processing on the positive and negative frequency modulation receiving signals subjected to dechirp processing and orthogonal down-conversion to obtain FFT processing results.
Further, performing CFAR detection to determine whether a radar echo exists includes: opening a detection window with the width of N sampling points near the maximum amplitude of the FFT processing result, and judging that the sampling points pass the CFAR detection if M sampling points can pass the detection threshold in the detection window and N is more than or equal to M and more than or equal to 1; and if no M sampling points can pass the detection threshold in the detection window, judging that the CFAR detection is not passed.
Further, the method for estimating and processing the center of gravity of the radar echo signal by using the amplitude-frequency characteristics of the radar echo comprises the following steps:
firstly, acquiring a wave gate center, a near beam width and a far beam width;
then, a beam with a near-side width W is opened near the center of the wave gatenearA sampling point and a beam far side width of WfarAnd carrying out gravity center estimation processing on the detection windows of the sampling points to obtain the gravity center of the echo signal.
Further, time-sharing measurement of the frequency center of the radar echo of a corresponding beam by a plurality of beams having different angles with respect to the normal direction of the radar antenna includes: and judging the effectiveness of the radial distance values of at least three beams with the largest included angle between the beam direction and the normal direction of the radar antenna.
Further, judging the effectiveness of the radial distance values of at least three beams with the largest included angle between the beam direction and the normal direction of the radar antenna comprises the following steps:
firstly, at least three wave beams with the largest included angle between the wave beam direction and the normal direction of the radar antenna are measured in a time-sharing mode, and the radial distance to the ground is obtained respectively;
then, measuring the wave beam with the minimum included angle between the wave beam direction and the normal direction of the radar antenna to obtain the radial distance to the ground, finishing the measurement of four wave beams to be a complete current measurement period, and starting to judge the distance validity when the next measurement period is reached;
and finally, calculating to obtain the absolute value of the distance difference between the front measurement period and the rear measurement period of the same beam.
Another object of the present invention is to provide a system for rejecting a multi-reflection outlier in a landing measurement radar height direction, comprising:
the acquisition unit is used for acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, and if not, ending, otherwise, giving an identifier of the radar echo;
the analysis unit is used for analyzing the amplitude-frequency characteristics of the radar echo according to the identification of the radar echo, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echo to obtain the gravity center of the frequency characteristics of the radar echo;
the resolving unit is used for measuring the frequency center of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam direction and the normal direction of the radar antenna to resolve the radial distance value of the landing ground to obtain the plane characteristic of the landing ground;
the estimating unit is used for analyzing the plane characteristics of the landing ground and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the beam with the minimum included angle between the beam direction and the normal direction of the radar antenna;
and the determining unit is used for calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground with the distance from the landing intersection point intersected with the landing ground to the radar to obtain an actual measurement value of the distance from the landing intersection point intersected with the landing ground to the radar.
Further, the determining unit includes a outlier rejection module, configured to complete outlier rejection processing on a beam measurement result with a minimum normal included angle with the radar antenna according to the estimated distance of the beam with the minimum normal included angle with the radar antenna in the measurement period.
And further, the system also comprises an iteration unit, which is used for calculating the width of the radar echo signal at the current moment according to the measured value of the distance from the landing intersection point intersected with the landing ground to the radar and the incident angle of each wave beam to the landing ground, and calculating the amplitude-frequency characteristic of the radar echo in the next measurement period.
The invention achieves the following significant beneficial effects:
the realization is simple, include: acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, if not, ending, otherwise, giving an identifier of the radar echo; analyzing amplitude-frequency characteristics of radar echoes according to the identification of the radar echoes, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echoes to obtain the gravity center of the frequency characteristics of the radar echoes; measuring the frequency center of gravity of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam directions and the normal direction of the radar antenna to solve the radial distance value of the landing ground to obtain the plane characteristic of the landing ground; analyzing the plane characteristics of the landing ground, and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the beam with the minimum included angle between the beam direction and the normal direction of the radar antenna; and calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the radar antenna to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle to the landing ground from the landing intersection point intersected with the landing ground to the radar to obtain a measured value of the distance from the landing intersection point intersected with the landing ground to the radar. The method can judge the outlier, correct the outlier according to a more accurate estimated distance, feed back the result after outlier rejection to the wave gate selection of the next measurement period, prevent the wrong calculation of the next measurement period, and eliminate the measurement outlier generated by multiple reflections of the short-distance altitude by fully utilizing the measurement redundant information of the landing radar and relying on the redundant measurement information of the landing radar, thereby completing the correction measurement.
Drawings
FIG. 1 is a flowchart of a method for rejecting a multi-reflection outlier from a landing measurement radar height according to the present invention;
fig. 2 is a schematic structural diagram of a system for rejecting a multi-reflection outlier from a landing measurement radar height according to the present invention.
Schematic of the reference numerals
1- -FFT processing module 2- -CFAR detection module 3- -OCOG processing module 4- -measurement distance resolving module
5-distance effectiveness judging module 6-estimation distance calculating module 7-wild value eliminating module
8-radial distance value feedback module
Detailed description of the preferred embodiment
The advantages and features of the present invention will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings and detailed description of specific embodiments of the invention. It is to be noted that the drawings are in a very simplified form and are not to scale, which is intended merely for convenience and clarity in describing embodiments of the invention.
It should be noted that, for clarity of description of the present invention, various embodiments are specifically described to further illustrate different implementations of the present invention, wherein the embodiments are illustrative and not exhaustive. In addition, for simplicity of description, the contents mentioned in the previous embodiments are often omitted in the following embodiments, and therefore, the contents not mentioned in the following embodiments may be referred to the previous embodiments accordingly.
While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood that the inventors do not intend to limit the invention to the particular embodiments described, but intend to protect all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the claims. The same meta-module part number may be used throughout the drawings to represent the same or similar parts.
Referring to fig. 1, a method for rejecting a multi-reflection outlier from a landing measurement radar height of the present invention includes:
step S101, obtaining a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, if not, finishing, otherwise, giving an identifier of the radar echo;
step S102, analyzing amplitude-frequency characteristics of radar echoes according to the identification of the radar echoes, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echoes to obtain the gravity center of the frequency characteristics of the radar echoes;
step S103, measuring the frequency center of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam directions and the normal direction of the radar antenna to solve the radial distance value of the landing ground to obtain the plane characteristics of the landing ground;
step S104, analyzing the plane characteristics of the landing ground, and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the wave beam with the minimum included angle between the wave beam direction and the normal direction of the radar antenna;
step S105, calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the radar antenna to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle to the landing ground from the landing intersection point intersected with the landing ground to the radar to obtain an actual measurement value of the distance from the landing intersection point intersected with the landing ground to the radar.
In an embodiment of the present application, specifically, further comprising: and calculating the width of a radar echo signal at the current moment according to the measured value of the distance from the landing intersection point intersected with the landing ground to the radar and the incident angle of each wave beam to the landing ground, and calculating the amplitude-frequency characteristic of the radar echo in the next measurement period.
In an embodiment of the present application, specifically, performing FFT processing on the baseband signal includes: and respectively carrying out FFT processing on the positive and negative frequency modulation receiving signals subjected to dechirp processing and orthogonal down-conversion to obtain FFT processing results.
In an embodiment of the present application, specifically, performing CFAR detection to determine whether there is a radar echo includes: opening a detection window with the width of N sampling points near the maximum amplitude of the FFT processing result, and judging that the sampling points pass the CFAR detection if M sampling points can pass the detection threshold in the detection window and N is more than or equal to M and more than or equal to 1; and if no M sampling points can pass the detection threshold in the detection window, judging that the CFAR detection is not passed.
In an embodiment of the present application, specifically, the performing, by using amplitude-frequency characteristics of the radar echo, a radar echo signal gravity center estimation process includes:
firstly, acquiring a wave gate center, a near beam width and a far beam width;
then, a beam is opened up near the center of the gate to be wide near sideDegree WnearA sampling point and a beam far side width of WfarAnd carrying out gravity center estimation processing on the detection windows of the sampling points to obtain the gravity center of the echo signal.
In an embodiment of the present application, specifically, time-sharing measurement of frequency centroids of the radar echoes of the respective beams by a plurality of beams having different angles from a normal direction of a radar antenna includes: and judging the effectiveness of the radial distance values of at least three beams with the largest included angle between the beam direction and the normal direction of the radar antenna.
In an embodiment of the present application, specifically, the determining the validity of the radial distance values of at least three beams in which the beam direction has the largest included angle with the normal direction of the radar antenna includes:
firstly, at least three wave beams with the largest included angle between the wave beam direction and the normal direction of the radar antenna are measured in a time-sharing mode, and the radial distance to the ground is obtained respectively;
then, measuring the wave beam with the minimum included angle between the wave beam direction and the normal direction of the radar antenna to obtain the radial distance to the ground, finishing the measurement of four wave beams to be a complete current measurement period, and starting to judge the distance validity when the next measurement period is reached;
and finally, calculating to obtain the absolute value of the distance difference between the front measurement period and the rear measurement period of the same beam.
Another object of the present invention is to provide a system for rejecting multi-reflection outliers in a landing measurement radar height direction, comprising:
the acquisition unit is used for acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, and if not, ending, otherwise, giving an identifier of the radar echo;
the analysis unit is used for analyzing the amplitude-frequency characteristics of the radar echo according to the identification of the radar echo, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echo to obtain the gravity center of the frequency characteristics of the radar echo;
the resolving unit is used for measuring the frequency center of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam direction and the normal direction of the radar antenna to resolve the radial distance value of the landing ground to obtain the plane characteristic of the landing ground;
the estimating unit is used for analyzing the plane characteristics of the landing ground and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the beam with the minimum included angle between the beam direction and the normal direction of the radar antenna;
and the determining unit is used for calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground with the distance from the landing intersection point intersected with the landing ground to the radar to obtain an actual measurement value of the distance from the landing intersection point intersected with the landing ground to the radar.
In an embodiment of the application, specifically, the determining unit includes a outlier rejection module, configured to complete outlier rejection processing on a beam measurement result with a minimum normal included angle with the radar antenna according to an estimated distance of a beam with a minimum normal included angle with the radar antenna in the measurement period.
In an embodiment of the present application, specifically, the method further includes an iteration unit, configured to calculate a width of a radar echo signal at a current time according to an actually measured value of a distance from a landing intersection intersecting with the landing ground to the radar and an incident angle of each beam to the landing ground, and calculate an amplitude-frequency characteristic of a radar echo in a next measurement period.
The method adopts redundant measurement information of landing radar multi-beam measurement to eliminate outliers of short-distance gravity direction beams. The method for rejecting the multi-reflection wild values of the landing measurement radar in the height direction comprises the following steps:
FFT processing module 1, CFAR detection module 2, OCOG processing module 3, measure apart from resolving module 4, apart from validity judgement module 5, estimate apart from resolving module 6, wild value elimination module 7 and radial distance value feedback module 8, wherein:
the measurement result of the FFT processing module 1 is output to the CFAR detection module 2, the detection result of the CFAR detection module 2 is output to the OCOG processing module 3, the calculation result of the OCOG processing module 3 is output to the measurement distance calculation module 4, the measurement result of the measurement distance calculation module 4 is output to the distance effectiveness judgment module 5, the judgment result of the distance effectiveness judgment module 5 is output to the estimation distance calculation module 6, the calculation result of the estimation distance calculation module 6 is output to the wild value rejection module 7, the processing result of the wild value rejection module 7 is output to the radial distance value feedback module 8, and the feedback result of the radial distance value feedback module 8 is output to the OCOG processing module 3;
the landing radar firstly measures the wave beam 2, the wave beam 3 and the wave beam 4, and then measures the wave beam 1;
the estimated distance calculating module 6 jointly calculates the estimated distance of the beam 1 according to the effective distances of the beam 2, the beam 3 and the beam 4 in the measurement period;
and the outlier removing module 7 finishes the outlier removing processing of the measurement result of the beam 1 according to the estimated distance of the beam 1 in the measurement period.
And the radial distance value feedback module 8 finishes the selection of the wave gate in the next measurement period according to the radial distance value in the measurement period.
The following is a detailed description of the system for performing the steps of the preferred embodiment of the present invention:
in one embodiment, the FFT processing module 1 performs N on the dechirp processed and quadrature down-converted positive and negative fm received signals s (t) respectivelyFFTPerforming point FFT to obtain an FFT result S (f), wherein the formula is as follows:
S(f)＝FFT{s(t)}
formula (1);
in one embodiment, the CFAR detection module 2 performs CFAR detection on the FFT processing result s (f), opens a detection window with a width of N sampling points near the maximum amplitude of s (f), and determines that CFAR detection is passed if M sampling points can pass through a detection threshold in the detection window and N is greater than or equal to M and greater than or equal to 1; and if no M sampling points can pass the detection threshold in the detection window, judging that the CFAR detection is not passed.
In one embodiment, after CFAR detection, the center k of the wave gate is obtained by calculation according to the radial distance value feedback module 8ZBeam near side width WnearAnd a beam distal width WfarAt the center k of the wave gateZNear opening a beam with a near side width WnearA sampling point and a beam far side width of WfarA detection window of each sampling point, wherein the detection window is processed by OCOG to obtain the gravity center of the echo signal
Figure BDA0003128897980000101
Figure BDA0003128897980000102
Formula (2); s (f)m) For FFT result, the FFT frequency point m is belonged to [ R [)left,Rright]。
Wherein k isZNegative number, k, in positive frequency modulationZPositive number when negative frequency modulation; left radius
Figure BDA0003128897980000103
Right radius
Figure BDA0003128897980000104
PnFor the noise mean, the noise mean P is counted outside the detection windown：
Figure BDA0003128897980000105
Formula (3);
wherein the statistical range of the noise
Figure BDA0003128897980000106
Constant Ny≥10，NlpfThe number of FFT frequency points corresponding to the bandwidth of the intermediate frequency filter.
Center of gravity of actual echo signal
Figure BDA0003128897980000107
Averaging the respective centers of gravity of the positive and negative frequency-modulated echo signals:
Figure BDA0003128897980000108
formula (4);
wherein the content of the first and second substances,
Figure BDA0003128897980000111
is the center of gravity of the positive frequency modulation echo signal;
Figure BDA0003128897980000112
the center of gravity of the echo signal with negative frequency modulation is a positive number.
In one embodiment, the radial distance value is resolved by the measured distance resolution module 4. Calculating the processing result of the OCOG processing module 3
Figure BDA0003128897980000113
Resolving to obtain a radial distance value R of the beam kkK is 1,2,3,4, formula:
Figure BDA0003128897980000114
formula (5);
wherein, Δ fFFTIs the frequency resolution of the FFT; k is a radical ofLFMIs the slope of the chirp signal; and c is the speed of light.
In one embodiment, the validity of the radial distance values for beam 2, beam 3 and beam 4 is determined by a distance validity determination module 5.
Firstly, the wave beam 2, the wave beam 3 and the wave beam 4 are measured in a time-sharing way, and the radial distance to the ground R is obtained respectively2、R3And R4(ii) a Then measuring the wave beam 1 to obtain the radial distance R to the ground1And finishing the measurement of the four beams to form a complete measurement period, and starting to judge the distance validity when the measurement period reaches the second measurement period. T thkWhen the wave beam is measured in one measuring period, the absolute value delta R of the distance difference between the front measuring period and the rear measuring period of the same wave beam is obtained by calculationk：
ΔRk＝|Rk(tk)-Rk(tk-1)| k＝2,3,4
Formula (6); rk(tk) Is a beam k (k e [1,4 ]]) At tkThe radial distance of the moment.
If Δ Rk＜μ1Rk(tk)+μ2，0.15≤μ1≤0.25，μ2If the value is more than or equal to 1, the t-th of the beam k is consideredkThe distance measurement data of each measurement period is valid; otherwise, the data is invalid, and the radial distance value feedback module 8 is reinitialized.
In one embodiment, if the data for beam 2, beam 3, and beam 4 are all valid, the estimated distance for beam 1 is resolved by the estimated distance resolution module 6.
Since the beam pointing angles of the beams 2,3 and 4 in the rectangular coordinate system of the landing radar antenna are known, the beam pointing unit vector vec of the beams 2,3 and 4 can be obtained2、vec3And vec4：
Figure BDA0003128897980000121
Formula (7);
wherein alpha iskDefining the pointed elevation angle of a wave beam k under a rectangular coordinate system of the landing radar antenna as the included angle between the wave beam pointing direction and the projection of the wave beam pointing direction on an XY plane; beta is akDefining the pointing azimuth angle of a wave beam k under a rectangular coordinate system of the landing radar antenna as the pointing direction of the wave beam on an XY planeThe projection of (a) and the X axis;
from this, the beam pointing vectors of the beams 2,3, and 4 with respect to the ground are R2vec2、R3vec3And R4vec4。
Since the high-order multiple reflection of the clutter in the beam 1 occurs under the condition of flat ground, it is a reasonable assumption to assume that the ground is a plane. The normalized ground plane equation can be determined from the pointing vectors of beams 2,3,4 with respect to the ground:
ax+by+cz＝1
formula (8);
where a, b, c are constants that describe the spatial characteristics of the ground plane.
The constants of the ground plane spatial features are solved as:
Figure BDA0003128897980000122
formula (9);
according to the known ground plane equation ax + by + cz ═ 1, since the beam pointing angle of the beam 1 is known, the unit vector vec of beam pointing of the beam 1 can be obtained1：
vec1＝[cos(α1)cos(β1) cos(α1)sin(β1) sin(α1)]
Formula (10);
then the linear equation for beam 1 can be found:
Figure BDA0003128897980000131
formula (11);
jointly solving a ground plane equation and a linear equation of the beam 1 to obtain an intersection point coordinate [ x ] of the beam 1 pointing to the ground1y1 z1]Then the estimated distance R of the beam 1 can be obtained1ref：
Figure BDA0003128897980000132
Formula (12);
in one embodiment, outlier culling module 7 bases on the estimated distance R1refWild value elimination is carried out on the radial distance value of the wave beam 1, and the radial distance value R of the wave beam 1 is calculated1And an estimated distance R1refDifference value Δ R of1：
ΔR1＝|R1-R1ref|
Formula (13);
if Δ R1＜γ1R1ref+γ2，0.15≤γ1≤0.25，γ2If the radial distance value of the wave beam 1 is more than or equal to 1, the radial distance value of the wave beam 1 is effective; otherwise, the radial distance value of beam 1 is not valid to estimate distance R1refAs a value of the radial distance of the beam 1, i.e. R1＝R1ref。
In one embodiment, the beam center and beam width for the next measurement cycle are resolved by the radial distance value feedback module 8.
When the measurement is started or the data is invalid in the first measurement period, the frequency point with the maximum amplitude of S (f) is taken as the beam center kZ。
At the t thkAfter one measurement period, tkNot less than 2, in terms of tkR of one measurement periodkCalculating the beam center k of the next measurement periodZ：
Figure BDA0003128897980000133
Formula (14);
wherein Round [ ] is a rounding operation.
And the beam near side width WnearAnd a beam distal width WfarThe formula of solution is as follows:
Figure BDA0003128897980000141
formula (15);
wherein the constant is not less than 0.45 eta1Not more than 0.5, constant not less than 0.5 ≤ η2Not more than 0.8, constant 2 not more than eta3≤10。
In summary, in the present invention, the estimated distance of the beam 1 is obtained by the distance measurement information of the beam 2, the beam 3, and the beam 4, and by comparing the estimated distance with the actual measurement distance, the outlier can be discriminated and corrected by the more accurate estimated distance, and the outlier removed result is fed back to the gate selection of the next measurement period, so as to prevent the error resolution of the next measurement period.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
the realization is simple, include: acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, if not, ending, otherwise, giving an identifier of the radar echo; analyzing amplitude-frequency characteristics of radar echoes according to the identification of the radar echoes, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echoes to obtain the gravity center of the frequency characteristics of the radar echoes; measuring the frequency center of gravity of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam directions and the normal direction of the radar antenna to solve the radial distance value of the landing ground to obtain the plane characteristic of the landing ground; analyzing the plane characteristics of the landing ground, and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the beam with the minimum included angle between the beam direction and the normal direction of the radar antenna; and calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the radar antenna to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle to the landing ground from the landing intersection point intersected with the landing ground to the radar to obtain a measured value of the distance from the landing intersection point intersected with the landing ground to the radar. The method can judge the outlier, correct the outlier according to a more accurate estimated distance, feed back the result after outlier rejection to the wave gate selection of the next measurement period, prevent the wrong calculation of the next measurement period, and eliminate the measurement outlier generated by multiple reflections of the short-distance altitude by fully utilizing the measurement redundant information of the landing radar and relying on the redundant measurement information of the landing radar, thereby completing the correction measurement.
Any other suitable modifications can be made according to the technical scheme and the conception of the invention. All such alternatives, modifications and improvements as would be obvious to one skilled in the art are intended to be included within the scope of the invention as defined by the appended claims.

Claims (10)

1. A method for rejecting multi-reflection wild values of the height direction of a landing measurement radar is characterized by comprising the following steps:
acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, if not, ending, otherwise, giving an identifier of the radar echo;
analyzing amplitude-frequency characteristics of radar echoes according to the identification of the radar echoes, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echoes to obtain the gravity center of the frequency characteristics of the radar echoes;
measuring the frequency center of gravity of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam directions and the normal direction of the radar antenna to solve the radial distance value of the landing ground to obtain the plane characteristic of the landing ground;
analyzing the plane characteristics of the landing ground, and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the beam with the minimum included angle between the beam direction and the normal direction of the radar antenna;
and calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the radar antenna to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle to the landing ground from the landing intersection point intersected with the landing ground to the radar to obtain a measured value of the distance from the landing intersection point intersected with the landing ground to the radar.
2. The method for multi-reflection outlier rejection for landing measurement radar height measurement according to claim 1, further comprising: and calculating the width of a radar echo signal at the current moment according to the measured value of the distance from the landing intersection point intersected with the landing ground to the radar and the incident angle of each wave beam to the landing ground, and calculating the amplitude-frequency characteristic of the radar echo in the next measurement period.
3. The method for rejecting multi-reflection outliers in landing measurement radar height direction according to claim 1, wherein performing FFT processing on the baseband signal comprises: and respectively carrying out FFT processing on the positive and negative frequency modulation receiving signals subjected to dechirp processing and orthogonal down-conversion to obtain FFT processing results.
4. The method for rejecting the multi-reflection outliers in the landing measurement radar height direction according to claim 3, wherein the step of performing CFAR detection to determine whether a radar echo exists comprises: opening a detection window with the width of N sampling points near the maximum amplitude of the FFT processing result, and judging that the sampling points pass the CFAR detection if M sampling points can pass the detection threshold in the detection window and N is more than or equal to M and more than or equal to 1; and if no M sampling points can pass the detection threshold in the detection window, judging that the CFAR detection is not passed.
5. The method for rejecting the multi-reflection outliers in the landing measurement radar height direction according to claim 4, wherein the radar echo signal gravity center estimation processing is performed by using the amplitude-frequency characteristics of the radar echo, and comprises the following steps:
firstly, acquiring a wave gate center, a near beam width and a far beam width;
then, a beam with a near-side width W is opened near the center of the wave gatenearA sampling point and a beam far side width of WfarAnd carrying out gravity center estimation processing on the detection windows of the sampling points to obtain the gravity center of the echo signal.
6. The method for rejecting multi-reflection outliers in landing measurement radar height direction according to claim 5, wherein the step of measuring the frequency center of gravity of the radar echo of the corresponding beam in a time-sharing manner through a plurality of beams with different included angles from the normal direction of the radar antenna comprises: and judging the effectiveness of the radial distance values of at least three beams with the largest included angle between the beam direction and the normal direction of the radar antenna.
7. The method for rejecting the multi-reflection outliers in the landing measurement radar height direction according to claim 6, wherein the step of judging the effectiveness of the radial distance values of at least three beams with the largest included angle between the beam direction and the radar antenna normal direction comprises the following steps:
firstly, at least three wave beams with the largest included angle between the wave beam direction and the normal direction of the radar antenna are measured in a time-sharing mode, and the radial distance to the ground is obtained respectively;
then, measuring the wave beam with the minimum included angle between the wave beam direction and the normal direction of the radar antenna to obtain the radial distance to the ground, finishing the measurement of four wave beams to be a complete current measurement period, and starting to judge the distance validity when the next measurement period is reached;
and finally, calculating to obtain the absolute value of the distance difference between the front measurement period and the rear measurement period of the same beam.
8. The utility model provides a landing measurement radar height is to many times reflection outlier rejection system which characterized in that includes:
the acquisition unit is used for acquiring a radar echo baseband signal of an intermediate frequency signal after digital down conversion, performing FFT processing on the baseband signal, performing CFAR detection based on the FFT processing result, judging whether a radar echo exists, and if not, ending, otherwise, giving an identifier of the radar echo;
the analysis unit is used for analyzing the amplitude-frequency characteristics of the radar echo according to the identification of the radar echo, and performing radar echo signal gravity center estimation processing by using the amplitude-frequency characteristics of the radar echo to obtain the gravity center of the frequency characteristics of the radar echo;
the resolving unit is used for measuring the frequency center of the radar echo of the corresponding wave beam in a time-sharing manner through a plurality of wave beams with different included angles with the normal direction of the radar antenna to obtain the radial distance value of each wave beam to the landing ground, and selecting the pointing vectors of at least three wave beams with the largest included angles between the wave beam direction and the normal direction of the radar antenna to resolve the radial distance value of the landing ground to obtain the plane characteristic of the landing ground;
the estimating unit is used for analyzing the plane characteristics of the landing ground and calculating the estimated value of the distance from a landing intersection point intersected with the landing ground to the radar according to the pointing unit vector of the beam with the minimum included angle between the beam direction and the normal direction of the radar antenna;
and the determining unit is used for calculating an absolute value of a difference value between an estimated distance value from the landing intersection point intersected with the landing ground to the radar and a radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground, when the absolute value of the difference value is larger than a certain threshold, judging that the radial distance value of the beam with the minimum normal included angle to the landing ground is a reflection field value, and replacing the radial distance value of the beam with the minimum normal included angle of the radar antenna to the landing ground with the distance from the landing intersection point intersected with the landing ground to the radar to obtain an actual measurement value of the distance from the landing intersection point intersected with the landing ground to the radar.
9. The system of claim 8, wherein the determining unit comprises a outlier rejection module configured to perform an outlier rejection process on the measurement result of the beam with the smallest normal angle with respect to the radar antenna according to the estimated distance of the beam with the smallest normal angle with respect to the radar antenna in the measurement period.
10. The system for multi-reflection outlier rejection of radar height measurement according to claim 8, further comprising an iteration unit configured to calculate a width of a radar echo signal at a current time according to an actual measurement value of a distance from a landing intersection intersecting the landing ground to the radar and an incident angle of each beam to the landing ground, and calculate an amplitude-frequency characteristic of a radar echo in a next measurement period.
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