CN113740820B - Mathematical modeling method for pulse Doppler processing of radar signal processor - Google Patents
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Abstract
The invention relates to a mathematical modeling method for pulse Doppler processing of a radar signal processor, and belongs to the technical field of radar digital modeling and simulation. The method fully considers pulse compression parameters of targets, clutter and electronic interference signals, realizes the pulse Doppler processing function of the radar signal processor in a digital mode, and converts the sum, azimuth difference and elevation difference pulse compression parameters of the targets, clutter and electronic interference signals into signal parameters after pulse Doppler processing. The method is suitable for digital modeling and simulation of the radar, and is used for digital modeling of pulse Doppler processing of the radar signal processor.
Description
Technical Field
The invention belongs to the technical field of radar digital modeling and simulation, and particularly relates to a mathematical modeling method for realizing a pulse Doppler function of a radar signal processor.
Background
The radar digital modeling and simulation belongs to the field of digital modeling and simulation, a radar, a target, clutter, electronic interference and an electromagnetic environment are modeled through a digital means, a simulation system of the digital model taking the radar digital model as a core and comprising the target, the clutter, the electronic war and the electromagnetic environment is constructed, a time-space scene of radar physical entity and radar use is simulated, a mathematical simulation method is adopted, interaction of the radar model with the target, the clutter, the electronic interference and the electromagnetic environment model under a set radar work flow and use environment is simulated, an evaluation result of radar function and performance is obtained, and the evaluation result is fed back to the design of the radar, so that the radar design level, the function applicability and the development efficiency are effectively improved. The radar digital modeling and simulation construct a model of a physical entity and a time-space scene used by the physical entity, and based on the interaction between the digital means simulation entity and the scene model, the radar digital modeling and simulation model is an effective implementation mode of the key technology of the physical information system in the industry 4.0 and the China manufacturing 2025 at present, and has become the focus of development and competition of the current radar manufacturing industry.
The radar model is the core of radar digital modeling and simulation, and is based on radar physical entity function to carry out mathematical modeling, directly decides radar function and performance simulation evaluation level. The radar mainly comprises an antenna, a transmitter, a receiver and a signal processor, along with the development of information technology and the increasing complexity of an electromagnetic environment used by the radar, the design level of the radar mainly depends on the functions and performances of the signal processor for completing target detection, measurement and tracking functions, the technical system, the method and the specific algorithm adopted by the signal processor become important points of research in the radar field, and correspondingly, the digital modeling and simulation of the radar signal processor become the most valuable technical means in the design, development and even use of the radar signal processor.
The Doppler processing frequency domain signal processing mode based on Doppler transformation can effectively improve signal processing efficiency, is a signal processing mode commonly adopted by a radar signal processor at present, is used for extracting relevant parameters of a target, doppler processing of a typical radar signal processor is mainly divided into a moving target detection type and a pulse Doppler processing type, wherein the pulse Doppler processing can be used for completing target detection and Doppler frequency measurement in a clutter environment, and the moving target detection is used for completing target detection in the clutter environment, so that the application of pulse Doppler processing is wider, a mathematical modeling method of the pulse Doppler processing of the radar signal processor is researched, a mathematical method for radar target measurement and relevant parameter tracking acquisition is provided, and the Doppler processing method can be used as a reference for realizing and deeply researching a radar pulse compression signal processing mathematical model.
Disclosure of Invention
Technical problem to be solved
In order to solve the mathematical modeling problem of the pulse Doppler processing of the radar signal processor in the radar digital modeling and simulation technology, the invention provides a mathematical modeling method of the pulse Doppler processing of the radar signal processor.
Technical proposal
The mathematical modeling method for the pulse Doppler processing of the radar signal processor is characterized by comprising a frequency domain transformation module and comprises the following steps:
step 1: the frequency domain transformation module calculates the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitch difference signal frequency domain parameter of the target according to the received sum signal parameter, the azimuth difference signal parameter and the pitch difference signal parameter of the target, the clutter sum signal parameter, the azimuth difference signal parameter and the pitch difference signal parameter, and the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitch difference signal frequency domain parameter of the electronic interference;
step 2: the RD index module calculates a distance index and a Doppler index according to the target and the signal frequency domain parameters input by the frequency domain transformation module;
step 3: the Doppler extraction module calculates and generates the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the pitch difference signal Doppler parameter of the target according to the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitch difference signal frequency domain parameter of the target, the clutter sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitch difference signal frequency domain parameter of the electronic interference, and the distance index and the Doppler index input by the RD index module, and the clutter sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the pitch difference signal Doppler parameter of the target, and the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the pitch difference signal Doppler parameter of the electronic interference.
The invention further adopts the technical scheme that: the step 1 specifically comprises the following steps:
the sum signal parameters, azimuth difference signal parameters and pitch difference signal parameters received by the frequency domain transformation module can be described by two-dimensional arrays, namely epsilon x [N,M]，δ Azx [N,M]And delta Elx [N,M]Wherein x=t, c and i respectively represent signal parameters of targets, clutter and electronic interference, N is the number of pulses in CPI time, M is the number of distance gates, the sum signal frequency domain parameters obtained by processing of the frequency domain transformation module are respectively described as E x [N,M]，Δ Azx [N,M]And delta Elx [N,M]Then E x [N,M]The method comprises the following steps:
Δ Azx [N,M]the method comprises the following steps:
Δ Elx [N,M]the method comprises the following steps:
where FFT () represents the fast fourier transform of N points and W (N) represents the window function of N points.
The invention further adopts the technical scheme that: the step 2 specifically comprises the following steps:
the frequency domain parameters of the target and the signal input by the module are E t [N,M]The output distance index and Doppler index are respectively I r And I f Then
I r ＝Col(max[E t [N,M]])，s.t.1≤I r ≤M (4)
Wherein max [ E ] t [N,M]]Representation E t [N,M]The maximum value of (c), col (max [ E ] t [N,M]]) Represent max [ E ] t [N,M]]Corresponding columns, then
Wherein B is n Representation E t [N，M]Whether the nth row maximum is equal to max [ E ] t [N，M]]Equal and
R n representation E t [N，M]The serial number of the corresponding column of the nth row maximum, i.e
R n ＝m，E t (n，m)＝max(E t (n，j))j＝1，2，...，M (7)
Similarly, I f Is that
I f ＝Row(max[E t [N，M]])，s.t.1≤I f ≤N (8)
Wherein Row (max [ E ] t [N，M]]) Representation E t [N，M]]Max [ E ] t [N，M]]Corresponding rows, i.e.
Wherein A is m Representation E t [N，M]Whether the maximum value of the m-th column in (b) is equal to max [ E ] t [N，M]]Equal, then
C m Representation E t [N，M]The serial number of the row corresponding to the maximum value in the m-th column, i.e
C m ＝n，E t (n，m)＝max(E t (i，m))i＝1，2，...，N (11)。
The invention further adopts the technical scheme that: the step 3 specifically comprises the following steps:
sum signal frequency domain parameters, azimuth difference signal frequency domain parameters and pitch difference signal frequency domain parameters, respectivelyDescribed as E x [N，M]，Δ Azx [N，M]And delta Elx [ N, MI, where x=t, c, I represent parameters of the target, clutter, electronic interference signal, respectively, and the range index and Doppler index are I, respectively r And I f Let the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the elevation difference signal Doppler parameter be respectively described as D Ex ，D ΔAzx And D ΔElx D is then Ex Is that
D Ex ＝E x (I f ，I r )，x＝t，c，i (12)
D ΔAzx Is that
D ΔAzx ＝Δ Azx (I f ，I r )，x＝t，c，i (13)
D ΔElx Is that
D ΔElx ＝Δ Elx (I f ，I r )，x＝t，c，i (14)。
A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the methods described above.
A computer readable storage medium, characterized by storing computer executable instructions that when executed are configured to implement the method described above.
A computer program comprising computer executable instructions which when executed are adapted to implement the method described above.
Advantageous effects
Aiming at the construction of a radar signal processor mathematical model for radar digital modeling and simulation, the invention provides a mathematical modeling method for radar signal processor pulse Doppler processing based on signal pulse compression parameters. The method fully considers pulse compression parameters of targets, clutter and electronic interference signals, realizes the pulse Doppler processing function of the radar signal processor in a digital mode, and converts the sum, azimuth difference and elevation difference pulse compression parameters of the targets, clutter and electronic interference signals into signal parameters after pulse Doppler processing. The method is suitable for digital modeling and simulation of the radar, and is used for digital modeling of pulse Doppler processing of the radar signal processor.
Compared with the prior art, the invention has the following advantages:
1) The digital modeling of the pulse Doppler processing of the radar signal processor carries out the pulse Doppler processing aiming at the parameterized pulse compression signal, and the method is simple, convenient and practical, has small calculated amount and is easy to realize programming;
2) The digital model of the pulse Doppler processing of the radar signal processor fully considers the processing method of the target, clutter and electronic interference signal parameters, and has comprehensive functions and strong practicability and expansibility.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
Figure 1 is a block diagram of a mathematical model implementation of the pulse doppler processing of the radar signal processor of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
After the radar signal processor receives radar returns from the radar receiver, pulse compression processing is performed first, then pulse Doppler processing is performed on the pulse compression result, and the pulse Doppler processing result is used for target detection and tracking. The mathematical modeling method of the pulse Doppler processing of the radar signal processor comprehensively considers the sum, the azimuth difference and the pitching difference signal parameters of the target, the clutter and the electronic interference signals generated by the pulse compression processing, and generates parameters meeting the signal required by the target detection and tracking of the radar signal processor through the transformation of the target, the clutter and the electronic interference signal parameters, thereby completing the mathematical modeling of the pulse Doppler processing of the radar signal processor. The mathematical model of the radar signal processor pulse Doppler processing firstly carries out Doppler conversion processing on the sum signal parameter, the azimuth difference signal parameter and the pitching difference signal parameter of the target generated by pulse compression, the clutter sum signal parameter, the azimuth difference signal parameter and the pitching difference signal parameter as well as the electronic interference sum signal parameter, the azimuth difference signal parameter and the pitching difference signal parameter in a frequency domain conversion module to obtain the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitching difference signal frequency domain parameter of the target, the clutter sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitching difference signal frequency domain parameter as well as the electronic interference sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitching difference signal frequency domain parameter, then inputs the target and the signal frequency domain parameter into an RD index module to calculate and obtain the distance and the Doppler index parameter, finally, inputting the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the elevation difference signal frequency domain parameter of the target, the clutter sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter, the elevation difference signal frequency domain parameter, the electronic interference sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the elevation difference signal frequency domain parameter, and the distance and Doppler index parameter into a Doppler extraction module to obtain the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the elevation difference signal Doppler parameter of the target, the clutter sum signal Doppler parameter, the azimuth difference signal Doppler parameter, the elevation difference signal Doppler parameter, the electronic interference sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the elevation difference signal Doppler parameter of the target, and the target generated, doppler parameters of clutter and electronic interference are used for subsequent target detection and tracking processing of the signal processor.
Referring to fig. 1, it is a digital modeling implementation block diagram of pulse doppler processing of the radar signal processor of the present invention, and the implementation process is as follows:
the first step, the frequency domain transformation module of the pulse Doppler processing of the radar signal processor receives the sum signal parameter epsilon of the target t [N,M]Parameter delta of azimuth difference signal Azt [N,M]And pitch difference signal parameter delta Elt [N,M]Sum signal parameter epsilon of clutter c [N,M]Parameter delta of azimuth difference signal Azc [N,M]And pitch difference signal parameter delta Elc [N,M]Sum signal parameter epsilon of electronic interference i [N,M]Parameter delta of azimuth difference signal Azi [N,M]And pitch difference signal parameter delta Eli [N,M]N is the number of pulses in CPI time, M is the number of distance gates, doppler conversion is carried out on the parameters to obtain the target sum signal frequency domain parameters E t [N,M]Frequency domain parameters delta of azimuth difference signal Azt [N,M]And pitch difference signal frequency domain parameter delta Elt [N,M]Clutter sum signal frequency domain parameter E c [N,M]Frequency domain parameters delta of azimuth difference signal Azc [N,M]And pitch difference signal frequency domain parameter delta Elc [N,M]Sum signal frequency domain parameters E of electronic interference i [N,M]Frequency domain parameters delta of azimuth difference signal Azi [N,M]And pitch difference signal frequency domain parameter delta Eli [N,M]And E is combined with t [N,M]Parameters are sent to RD index module, E t [N,M]，Δ Azt [N,M]，Δ Elt [N,M]，E c [N,M]，Δ Azc [N,M]，Δ Elc [N,M]，E i [N,M]，Δ Azi [N,M]And delta Eli [N,M]The parameters are sent to a Doppler processing module;
step two, the RD index module of the pulse Doppler processing of the radar signal processor receives the target and the signal frequency domain parameter E t [N,M]Calculating and generating a distance index I r And Doppler index I f And will I r And I f Transmitting to a Doppler processing module;
third step, doppler processing module of radar signal processor pulse Doppler processing receives target sum signal frequency domain parameter E t [N,M]Frequency domain parameters delta of azimuth difference signal Azt [N,M]And pitch difference signal frequency domain parameter delta Elt [N,M]Clutter sum signal frequency domain parameter E c [N,M]Frequency domain parameters delta of azimuth difference signal Azc [N,M]And pitch difference signal frequency domain parameter delta Elc [N,M]Sum signal frequency domain parameters E of electronic interference i [N,M]Frequency domain parameters delta of azimuth difference signal Azi [N,M]And pitch difference signal frequency domain parameter delta Eli [N,M]Distance index I r And Doppler index I f Calculating the sum signal Doppler parameter D of the generated target Et Doppler parameter D of azimuth difference signal ΔAzt And pitch difference signal Doppler parameter D ΔElt Clutter and signal Doppler parameter D Ec Doppler parameter D of azimuth difference signal ΔAzc And pitch difference signal Doppler parameter D ΔElc Sum signal Doppler parameter D of sum electronic interference Ei Doppler parameter D of azimuth difference signal ΔAzi And pitch difference signal Doppler parameter D ΔEli 。
Wherein Doppler transformation in the first step obtains the sum signal frequency domain parameter E of the target t [N,M]Frequency domain parameters delta of azimuth difference signal Azt [N,M]And pitch difference signal frequency domain parameter delta Elt [N,M]Clutter sum signal frequency domain parameter E c [N,M]Frequency domain parameters delta of azimuth difference signal Azc [N,M]And pitch difference signal frequency domain parameter delta Elc [N,M]Sum signal frequency domain parameters E of electronic interference i [N,M]Frequency domain parameters delta of azimuth difference signal Azi [N,M]And pitch difference signal frequency domain parameter delta Eli [N,M]The specific method comprises the following steps:
setting the sum signal frequency domain parameters processed by the frequency domain transformation module, and respectively describing the azimuth difference signal frequency domain parameters and the pitching difference signal frequency domain parameters as E x [N,M]，Δ Azx [N,M]And delta Elx [N,M]Where x=t, c, i represent the signal frequency domain parameters of the target, clutter, and electronic interference, respectively. Then E x [N,M]The method comprises the following steps:
Δ Azx [N,M]the method comprises the following steps:
Δ Elx [N,M]the method comprises the following steps:
where FFT () represents the fast fourier transform of N points and W (N) represents a window function of N points, the window function may be selected from typical window functions, such as rectangular window, hamming window, hanning window, chebyshev window.
In the second step, the distance index I is calculated r And Doppler index I f The specific method comprises the following steps:
I r is that
I r ＝Col(max[E t [N，M]])，s.t.1≤I r ≤M
Wherein max [ E ] t [N，M]]Representation E t [N，M]The maximum value of (c), col (max [ E ] t [N，M]]) Represent max [ E ] t [N，M]]Corresponding columns, then
Wherein B is n Representation E t [N，M]Whether the nth row maximum is equal to max [ E ] t [N，M]]Equal and
R n representation E t [N，M]The serial number of the corresponding column of the nth row maximum, i.e
R n ＝m，E t (n，m)＝max(E t (n，j))j＝1，2，...，M
Similarly, I f Is that
I f ＝Row(max[E t [N，M]])，s.t.1≤I f ≤N
Wherein Row (max [ E ] t [N，M]]) Representation E t [N，M]]Max [ E ] t [N，M]]Corresponding rows, i.e.
Wherein A is m Representation E t [N，M]Whether the maximum value of the m-th column in (b) is equal to max [ E ] t [N，M]]Equal, then
C m Representation E t [N，M]The serial number of the row corresponding to the maximum value in the m-th column, i.e
C m ＝n，E t (n，m)＝max(E t (i，m))i＝1，2，...，N
Third step, calculating the sum signal Doppler parameter D of the target Et Doppler parameter D of azimuth difference signal ΔAzt And pitch difference signal Doppler parameter D ΔElt Clutter and signal Doppler parameter D Ec Doppler parameter D of azimuth difference signal ΔAzc And pitch difference signal Doppler parameter D ΔElc Sum signal Doppler parameter D of sum electronic interference Ei Doppler parameter D of azimuth difference signal ΔAzi And pitch difference signal Doppler parameter D ΔEli The specific method comprises the following steps:
let the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the elevation difference signal Doppler parameter be respectively described as D Ex ，D ΔΔAzx And D ΔElx Where x=t, c, i denote the doppler parameters of the target, clutter, and electronic interference signals, respectively. Then D Ex Is that
D Ex ＝E x (I f ，I r )，x＝t，c，i
D ΔAzx Is that
D ΔAzx ＝Δ Azx (I f ，I r )，x＝t，c，i
D ΔElx Is that
D ΔElx ＝Δ Elx (I f ，I r )，x＝t，c，i
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made without departing from the spirit and scope of the invention.
Claims (3)
1. The mathematical modeling method for the pulse Doppler processing of the radar signal processor is characterized by comprising a frequency domain transformation module and comprises the following steps:
step 1: the frequency domain transformation module calculates the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitch difference signal frequency domain parameter of the target according to the received sum signal parameter, the azimuth difference signal parameter and the pitch difference signal parameter of the target, the clutter sum signal parameter, the azimuth difference signal parameter and the pitch difference signal parameter, and the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitch difference signal frequency domain parameter of the electronic interference;
the sum signal parameters, azimuth difference signal parameters and pitch difference signal parameters received by the frequency domain transformation module can be described by two-dimensional arrays, namely epsilon x [N,M]，δ Azx [N,M]And delta Elx [N,M]Wherein x=t, c and i respectively represent signal parameters of targets, clutter and electronic interference, N is the number of pulses in CPI time, M is the number of distance gates, the sum signal frequency domain parameters obtained by processing of the frequency domain transformation module, and the azimuth difference signal frequency domain parameters and the pitch difference signal frequency domain parameters are respectively described as E x [N,M]，Δ Azx [N,M]And delta Elx [N,M]E is then x [N,M]The method comprises the following steps:
Δ Azx [N,M]the method comprises the following steps:
Δ Elx [N,M]the method comprises the following steps:
wherein FFT () represents the fast fourier transform of N points, W (N) represents the window function of N points;
step 2: the RD index module calculates a distance index and a Doppler index according to the target and the signal frequency domain parameters input by the frequency domain transformation module;
the frequency domain parameters of the target and the signal input by the module are E t [N,M]The output distance index and Doppler index are respectively I r And I f Then
I r ＝Col(max[E t [N,M]])，s.t.1≤I r ≤M (4)
Wherein max [ E ] t [N,M]]Representing E t [N,M]The maximum value of (c), col (max [ E ] t [N,M]]) Represent max [ E ] t [N,M]]Corresponding columns, then
Wherein B is n Representing E t [N,M]Whether the nth row maximum is equal to max [ E ] t [N,M]]Equal and
R n representing E t [N,M]The serial number of the corresponding column of the nth row maximum, i.e
R n ＝m，E t (n,m)＝max(E t (n,j))j＝1,2,…,M (7)
Similarly，I f Is that
I f ＝Row(max[E t [N,M]])，s.t.1≤I f ≤N (8)
Wherein Row (max [ E ] t [N,M]]) Representation E t [N,M]]Max [ E ] t [N,M]]Corresponding rows, i.e.
Wherein A is m Representing E t [N,M]Whether the maximum value of the m-th column in (b) is equal to max [ E ] t [N,M]]Equal, then
C m Representing E t [N,M]The serial number of the row corresponding to the maximum value in the m-th column, i.e
C m ＝n，E t (n,m)＝max(E t (i,m))i＝1,2,…,N (11)
Step 3: the Doppler extraction module calculates and generates the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the pitch difference signal Doppler parameter of the target, the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the pitch difference signal Doppler parameter of clutter and the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the pitch difference signal Doppler parameter of electronic interference according to the sum signal frequency parameter, the azimuth difference signal frequency parameter and the pitch difference signal frequency parameter of the target input by the frequency domain transformation module, and the distance index and the Doppler index input by the RD index module;
the sum signal frequency domain parameter, the azimuth difference signal frequency domain parameter and the pitch difference signal frequency domain parameter are respectively described as E x [N,M]，Δ Azx [N,M]And delta Elx [N,M]Wherein x=t, c, I respectively represent parameters of the target, clutter, electronic interference signals, and the distance index and the Doppler index are respectively I r And I f Let the sum signal Doppler parameter, the azimuth difference signal Doppler parameter and the elevation difference signal Doppler parameter be respectively described as D Εx ，D ΔAzx And D ΔElx D is then Εx Is that
D Dx ＝E x (I f ,I r )，x＝t,c,i (12)
D ΔAzx Is that
D ΔAzx ＝Δ Azx (I f ,I r )，x＝t,c,i (13)
D ΔElx Is that
D ΔElx ＝Δ Elx (I f ,I r )，x＝t,c,i (14)。
2. A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of claim 1.
3. A computer readable storage medium, characterized by storing computer executable instructions that, when executed, are adapted to implement the method of claim 1.
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