CN114236489A - Hovering gyroplane detection method under motion platform - Google Patents

Hovering gyroplane detection method under motion platform Download PDF

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CN114236489A
CN114236489A CN202111427825.8A CN202111427825A CN114236489A CN 114236489 A CN114236489 A CN 114236489A CN 202111427825 A CN202111427825 A CN 202111427825A CN 114236489 A CN114236489 A CN 114236489A
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detection
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CN114236489B (en
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王勇
雷刚
张开生
张军
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Xian Electronic Engineering Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • 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

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  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention relates to a hovering rotorcraft detection method under a motion platform, which is used for detecting hovering rotorcrafts by airborne and missile-borne radars in flight. The invention solves the detection problem of hovering gyroplanes under a motion platform: the range unit pulse walk caused by platform motion is eliminated through range migration compensation, clutter components in echo are eliminated through CLEAN time domain clutter suppression, the signal to noise ratio of rotor Doppler is improved through MTD and non-coherent accumulation, and detection along Doppler dimensional straight lines is completed through low-threshold CFAR detection and Hough transformation detection. Compared with a detection algorithm of a hovering gyroplane of a static platform on the ground, the detection algorithm of the hovering gyroplane of the static platform considers the influence of the platform motion on the detection of the hovering gyroplane, and is suitable for airborne and missile-borne radars in a flight state.

Description

Hovering gyroplane detection method under motion platform
Technical Field
The invention belongs to the technical field of radar processing, and relates to a novel hovering gyroplane detection method under a moving platform.
Background
Hovering rotorcraft mainly refers to helicopters and rotorcraft with hovering capability, and the typical operation mode of the hovering rotorcraft is to shield by using terrain, raise a low altitude penetration to a position close to a war zone, and then hover for reconnaissance or attack. The fighting mode has the advantages of high concealment and suddenness, and has important significance for detecting the fighting mode. For airborne and missile-borne radars in flight, echoes of the hovering gyroplane and ground clutter are mixed, the hovering gyroplane is difficult to detect in a traditional detection mode, and the detection of the hovering gyroplane under a motion platform becomes a difficult problem.
Currently, traditional hovering rotorcraft detection methods are primarily directed to ground-based radars where the platform is stationary. Compared with a static platform, clutter distribution under a moving platform is completely different. Due to the fact that the platform moves, the ground clutter spectrum is greatly expanded, the target is submerged in clutter, and compared with a static platform, detection of the rotary-wing aircraft hovering on the moving platform is affected more seriously. While the width of the clutter spectrum varies with the beam pointing direction, the clutter suppression method with fixed notch width (employed by ground stationary radar) is not suitable for moving platforms. Therefore, the stationary platform hovering rotorcraft detection method is not applicable to airborne and missile-borne radars under flight conditions.
Disclosure of Invention
Technical problem to be solved
Aiming at the defect that the hovering gyroplane detection method under a ground static platform is not suitable for a moving platform, the invention provides the hovering gyroplane detection method under the moving platform, which is used for specially processing ground clutter under airborne and missile-borne radars in the looking process and then detecting the gyroplane by detecting a straight line along a Doppler dimension.
Technical scheme
A hovering rotorcraft detection method under a moving platform is characterized by comprising the following steps:
step 1: echo pre-processing
1a) Performing pulse compression and range migration compensation treatment on the radar echo:
1a1) performing FFT on the echo x (n) and transforming the echo x (n) to a frequency domain to obtain X (f);
1a2) multiplying the frequency domain pulse pressure coefficient and the range migration compensation coefficient by the X (f) to obtain Y (f);
1a3) performing IFFT on Y (f) to obtain pulse pressure echo y (n);
1b) calculating clutter spectral widthΔfd：
Figure BDA0003375980400000021
Where Δ θaWhich represents the width of the azimuth beam,
Figure BDA0003375980400000022
represents a wavelength;
1c) performing CLEAN time domain clutter suppression on echoes y (n) after pulse pressure, and eliminating the influence of clutter on hovering gyroplane detection:
1c1) determining a maximum number of iterations
From pulse repetition frequency frPulse number M and clutter spectral width Δ fdDetermining the maximum iteration number N:
Figure BDA0003375980400000023
1c2) searching for the maximum in the clutter range, recording the amplitude A, phase theta and Doppler frequency f of the maximumc；
1c3) Reconstructing clutter time domain signals corresponding to the maximum value:
sc＝(A/K)exp[j(2πfct+0)]
k represents the pulse accumulation number, and a clutter signal is subtracted from an original signal to obtain a new time domain signal;
1c4) repeating steps 1c2) to 1c3) up to a maximum number of iterations;
1d) pulse extraction and grouping:
1d1) determining the number of groups of a packet
Figure BDA0003375980400000024
Wherein the symbols
Figure BDA0003375980400000025
Represents rounding down;
1d2) extracting at equal intervals to obtain NgGroup echoes, extracted at intervals of Ng；
1e) Respectively carrying out MTD processing on each group of echoes;
1f) performing intergroup non-coherent accumulation on the MTD processed echo:
Figure BDA0003375980400000031
wherein the content of the first and second substances,
Figure BDA0003375980400000032
denotes the n-thgGrouping MTD back echoes, and representing absolute value operation by the symbol | DEG | in the MTD back echoes;
the further technical scheme of the invention is as follows: step 2: low threshold CFAR and binarization processing:
2a) sending the Z into a CA-CFAR detector for constant false alarm detection;
2b) carrying out binarization processing on the detection result, namely setting all nonzero values of the detection result as 1;
and step 3: hough transformation and peak detection:
3a) hough transformation is carried out on the binarization result;
3b) carrying out maximum value solving processing on the plane after Hough transformation;
3c) finding out the abscissa and the ordinate of a point set on the original plane before Hough transformation corresponding to the maximum value;
3d) and judging whether the difference between the maximum value and the minimum value of the abscissa corresponding to Doppler is greater than a threshold 1 or not, and whether the difference between the maximum value and the minimum value of the ordinate corresponding to distance is less than a threshold 2 or not, and if the difference and the threshold are met, judging that the hovering gyroplane is detected.
The further technical scheme of the invention is as follows: step 1a2) is specifically as follows:
Y(f)＝X(f)*S(f)*ejΦ(f)
wherein, the frequency domain pulse pressure coefficient s (f) (FFT { s (n) × w (n) }), where s (n) represents the time domain echo, w (n) represents the hamming window function, the symbol FFT {. represents the fourier transform operation, and (·) represents the conjugation operation; the range migration compensation phase Φ (f) of the kth pulse is calculated by:
Figure BDA0003375980400000033
wherein V is [ V ]n Ve Vu]*[cos(θa)cos(θe) sin(θa)cos(θe) sin(θe)]TRepresents the projection of the platform velocity in the beam direction, where Vn，VeAnd VuRespectively representing north, east and sky speeds of the platform, thetaaAnd thetaeRespectively representing the azimuth angle and the pitch angle of the wave beam under the geodetic coordinate system, and is in accordance with [ ·]TRepresenting a matrix transposition operation; t isrRepresenting the pulse repetition period, f0And c represents the carrier frequency and the speed of light, respectively.
Step 1e) is specifically as follows:
Figure BDA0003375980400000041
wherein
Figure BDA0003375980400000042
Denotes the n-thgMTD processing results of group echoes, w ∈ C8×1An 8-point hamming window function is represented,
Figure BDA0003375980400000043
ng＝1,2,…,Ngis an echo.
The further technical scheme of the invention is as follows: the detection threshold of the detector in step 2a) is set as follows:
criteria for protection unit number setting: one-sided protection units N are usually used for airborne radarsp1-2, normally, a single-side protection unit N is adopted for the missile-borne radarp＝3～4；
Reference cell set criteria: taking a single-sided reference unit N for airborne radarrTaking a single-side reference unit N for the missile-borne radar (4-16)r＝10～20；
False alarm probability setting criteria: for machineFalse alarm probability P of loading and missile-borne radarfa＝1e-2。
Advantageous effects
According to the hovering gyroplane detection method under the moving platform, the range migration caused by the movement of the platform is eliminated through echo preprocessing, clutter components in the echo are eliminated through CLEAN time domain clutter suppression, the signal to noise ratio of the Doppler of the rotor is improved through MTD and non-coherent accumulation, the Doppler of the rotor can be reliably detected through low-threshold CFAR detection, and the detection of the gyroplane is completed along a straight line of a Doppler dimension through Hough transformation detection. Compared with a detection algorithm of a hovering gyroplane of a static platform on the ground, the detection algorithm of the hovering gyroplane of the static platform considers the influence of the platform motion on the detection of the hovering gyroplane, and is suitable for airborne and missile-borne radars in a flight state.
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The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of an implementation of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The technical idea for realizing the invention is as follows: firstly, pulse compression and range migration compensation are carried out on radar echoes, the influence of platform motion on echo pulse pressure is eliminated, then clutter spectral width estimation is carried out, and the estimated spectral width is used for CLEAN clutter suppression. And finally, pulse extraction and grouping are carried out, the echoes are changed into a plurality of groups of low repetition frequency echoes, the signal to noise ratio of the rotor echo is improved by adding non-coherent accumulation between the MTD in each group and the MTD in each group, and then low threshold (high false alarm rate) CFAR detection and Hough transformation detection are carried out to detect a straight line along the Doppler dimension, so that the detection of the hovering gyroplane is completed.
Referring to fig. 1, the specific implementation steps of the present invention are as follows:
step 1, echo pretreatment
1a) Performing pulse compression and range migration compensation treatment on the radar echo:
1a1) for echo x (n) epsilon CK×LFFT is carried out to transform the frequency domain to obtain X (f) epsilon CK×LWhere K and L represent the number of pulses and the number of range cells, respectively;
1a2) multiplying the frequency domain pulse pressure coefficient and the range migration compensation coefficient to X (f):
Y(f)＝X(f)*S(f)*ejΦ(f)，
wherein the frequency domain pulse pressure coefficients S (f) - (FFT { s (n) } W (n) })*Wherein s (n) e C1×LDenotes the transmit waveform, W (n) e C1×LThe method comprises the steps of representing an L-point Hamming window function, representing Fourier transform operation by a symbol FFT {. and representing conjugation operation by (. cndot.). The range migration compensation phase Φ (f) of the kth pulse is calculated by:
Figure BDA0003375980400000051
wherein V is [ V ]n Ve Vu]*[cos(θa)cos(θe) sin(θa)cos(θe) sin(θe)]TRepresents the projection of the platform velocity in the beam direction, where Vn，VeAnd VuRespectively representing north, east and sky speeds of the platform, thetaaAnd thetaeRespectively representing the azimuth angle and the pitch angle of the wave beam under the geodetic coordinate system, and is in accordance with [ ·]TRepresenting a matrix transposition operation. T isrRepresenting the pulse repetition period, f0And c represents the transmission carrier frequency and the speed of light, respectively;
1a3) for Y (f) epsilon CK×LObtaining echo y (n) epsilon C after pulse pressure by IFFTK×L。
1b) Calculating clutter spectrum width Deltafd：
Figure BDA0003375980400000061
Where Δ θaWhich represents the width of the azimuth beam,
Figure BDA0003375980400000062
represents a wavelength;
1c) performing CLEAN time domain clutter suppression on echoes y (n) after pulse pressure, and eliminating the influence of clutter on hovering gyroplane detection:
1c1) determining a maximum number of iterations
From pulse repetition frequency frPulse number M and clutter spectral width Δ fdDetermining the maximum iteration number N:
Figure BDA0003375980400000063
1c2) searching for the maximum in the clutter range, recording the amplitude A, phase theta and Doppler frequency f of the maximumc；
1c3) Reconstructing clutter time domain signals corresponding to the maximum value:
sc＝(A/K)exp[j(2πfct+θ)]，
k represents the pulse accumulation number, and a clutter signal is subtracted from an original signal to obtain a new time domain signal;
1c4) repeating steps 1c2) to 1c3) up to a maximum number of iterations.
1d) Pulse extraction and grouping:
1d1) determining the number of groups of a packet
Figure BDA0003375980400000064
Wherein the symbols
Figure BDA0003375980400000065
Represents rounding down;
1d2) extracting at equal intervals to obtain NgGroup echo
Figure BDA0003375980400000066
ng＝1,2,…,NgExtracting intervalIs Ng。
1e) And respectively carrying out MTD (maximum Transmission Difference) processing on each group of echoes:
Figure BDA0003375980400000067
wherein
Figure BDA0003375980400000071
Denotes the n-thgMTD processing results of group echoes, w ∈ C8×1An 8-point hamming window function is represented.
1f) Performing intergroup non-coherent accumulation on the echoes after MTD processing,
Figure BDA0003375980400000072
where the symbol | represents an absolute value operation.
Step 2, low threshold CFAR and binarization processing:
2a) low threshold CFAR detection
2a1) Setting detection parameters:
2a11) criteria for protection unit number setting: when a target detection unit is detected, a target cannot participate in estimation of a detection threshold, and a unilateral protection unit N is usually adopted for an airborne radarp1-2, normally, a single-side protection unit N is adopted for the missile-borne radarp＝3～4；
2a12) Reference cell set criteria: the reference unit is chosen so that the sample mean reflects the variation of the noise, for airborne radars usually a single-sided reference unit N is takenr4-16, a single-side reference unit N is usually adopted for the missile-borne radarr＝10～20；
2a13) False alarm probability setting criteria: in order to allow the rotor Doppler to pass the detection threshold more, the false alarm probability is set to be higher, and the false alarm probability P is usually taken for airborne and missile-borne radarsfa＝1e-2。
2a2) A threshold factor is calculated for each of the plurality of pixels,
Figure BDA0003375980400000073
2a3) and sending the Z into a CA-CFAR detector for constant false alarm detection.
2b) The detection result is subjected to binarization processing,
Figure BDA0003375980400000074
wherein Q and ZCFARRepresenting the binarized output and the CFAR detection output, respectively.
3) Hough transformation and peak detection:
3a) the result of the binarization processing is subjected to Hough transformation,
H＝Hough{Q}，
wherein H represents the result after Hough transformation, and symbol Hough {. is } represents Hough transformation operation.
3b) The maximum value of the result after Hough transformation is calculated,
HMAX＝max{H}，
wherein HMAXThe maximum value of H is represented, and the maximum value calculation is represented by the symbol max {. cndot.).
3c) Finding HMAXThe abscissa and ordinate of the corresponding set of points,
Figure BDA0003375980400000081
wherein x1And y1Each represents HMAXAbscissa and ordinate of the corresponding point set of Q, symbols
Figure BDA0003375980400000082
Indicating that the result after Hough transformation is equal to HMAXBefore transformation, the abscissa and ordinate of the echo.
3d) And judging whether the difference between the maximum value and the minimum value of the abscissa (corresponding to Doppler) is greater than a threshold 1 or not, and whether the difference between the maximum value and the minimum value of the ordinate (corresponding to distance) is less than a threshold 2 or not, and if the difference and the threshold are met, judging that the hovering gyroplane is detected. That is to say that the first and second electrodes,
Figure BDA0003375980400000083
where result represents hovering rotorcraft detection, 1 represents detected, 0 represents not detected, and threshold T1Represents the Doppler threshold, which is usually 4-8, threshold T2Representing the threshold of the distance unit, usually 1-2, the symbol min {. cndot.) represents the minimum value calculation,&representing a logical and operation.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure.

Claims (4)

1. A hovering rotorcraft detection method under a moving platform is characterized by comprising the following steps:
step 1: echo pre-processing
1a) Performing pulse compression and range migration compensation treatment on the radar echo:
1a1) performing FFT on the echo x (n) and transforming the echo x (n) to a frequency domain to obtain X (f);
1a2) multiplying the frequency domain pulse pressure coefficient and the range migration compensation coefficient by the X (f) to obtain Y (f);
1a3) performing IFFT on Y (f) to obtain pulse pressure echo y (n);
1b) calculating clutter spectrum width Deltafd：
Figure FDA0003375980390000011
Where Δ θaWhich represents the width of the azimuth beam,
Figure FDA0003375980390000012
display waveLength;
1c) performing CLEAN time domain clutter suppression on echoes y (n) after pulse pressure, and eliminating the influence of clutter on hovering gyroplane detection:
1c1) determining a maximum number of iterations
From pulse repetition frequency frPulse number M and clutter spectral width Δ fdDetermining the maximum iteration number N:
Figure FDA0003375980390000013
1c2) searching for the maximum in the clutter range, recording the amplitude A, phase theta and Doppler frequency f of the maximumc；
1c3) Reconstructing clutter time domain signals corresponding to the maximum value:
sc＝(A/K)exp[j(2πfct+θ)]
k represents the pulse accumulation number, and a clutter signal is subtracted from an original signal to obtain a new time domain signal;
1c4) repeating steps 1c2) to 1c3) up to a maximum number of iterations;
1d) pulse extraction and grouping:
1d1) determining the number of groups of a packet
Figure FDA0003375980390000014
Wherein the symbols
Figure FDA0003375980390000015
Represents rounding down;
1d2) extracting at equal intervals to obtain NgGroup echoes, extracted at intervals of Ng；
1e) Respectively carrying out MTD processing on each group of echoes;
1f) performing intergroup non-coherent accumulation on the MTD processed echo:
Figure FDA0003375980390000021
wherein the content of the first and second substances,
Figure FDA0003375980390000022
denotes the n-thgGrouping MTD back echoes, and representing absolute value operation by the symbol | DEG | in the MTD back echoes;
step 2: low threshold CFAR and binarization processing:
2a) sending the Z into a CA-CFAR detector for constant false alarm detection;
2b) carrying out binarization processing on the detection result, namely setting all nonzero values of the detection result as 1;
and step 3: hough transformation and peak detection:
3a) hough transformation is carried out on the binarization result;
3b) carrying out maximum value solving processing on the plane after Hough transformation;
3c) finding out the abscissa and the ordinate of a point set on the original plane before Hough transformation corresponding to the maximum value;
3d) and judging whether the difference between the maximum value and the minimum value of the abscissa corresponding to Doppler is greater than a threshold 1 or not, and whether the difference between the maximum value and the minimum value of the ordinate corresponding to distance is less than a threshold 2 or not, and if the difference and the threshold are met, judging that the hovering gyroplane is detected.
2. The method for detecting hovering rotorcraft under a moving platform according to claim 1, wherein step 1a2) is as follows:
Y(f)＝X(f)*S(f)*ejΦ(f)
wherein, the frequency domain pulse pressure coefficient s (f) (FFT { s (n) × w (n) })*Where s (n) represents the time domain echo, W (n) represents the Hamming window function, and the symbol FFT {. denotes the Fourier transform operation (.)*Representing a conjugate operation; the range migration compensation phase Φ (f) of the kth pulse is calculated by:
Figure FDA0003375980390000023
wherein V is [ V ]n Ve Vu]*[cos(θa)cos(θe) sin(θa)cos(θe) sin(θe)]TRepresents the projection of the platform velocity in the beam direction, where Vn，VeAnd VuRespectively representing north, east and sky speeds of the platform, thetaaAnd thetaeRespectively representing the azimuth angle and the pitch angle of the wave beam under the geodetic coordinate system, and is in accordance with [ ·]TRepresenting a matrix transposition operation; t isrRepresenting the pulse repetition period, f0And c represents the carrier frequency and the speed of light, respectively.
3. The method for detecting hovering rotorcraft under a moving platform according to claim 1, wherein step 1e) is as follows:
Figure FDA0003375980390000031
wherein
Figure FDA0003375980390000032
Denotes the n-thgMTD processing results of group echoes, w ∈ C8×1An 8-point hamming window function is represented,
Figure FDA0003375980390000033
is an echo.
4. The method for hovering rotorcraft under a moving platform according to claim 1, wherein the detection thresholds of the detectors in step 2a) are set as follows:
criteria for protection unit number setting: one-sided protection units N are usually used for airborne radarsp1-2, normally, a single-side protection unit N is adopted for the missile-borne radarp＝3～4；
Reference cell set criteria: taking a single-sided reference unit N for airborne radarrTaking a single-side reference unit N for the missile-borne radar (4-16)r＝10～20；
False alarm probability setting criteria: false alarm probability P for airborne and missile-borne radarfa＝1e-2。
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CN115453521B (en) * 2022-09-05 2024-05-24 西安电子工程研究所 Two-dimensional phase scanning radar terrain detection method

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