CN114545394A - Satellite-borne GNSS-S radar system and ship target detection and tracking method thereof - Google Patents
Satellite-borne GNSS-S radar system and ship target detection and tracking method thereof Download PDFInfo
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Abstract
The invention relates to a satellite-borne GNSS-S radar system and a ship target detection and tracking method thereof, wherein the satellite-borne GNSS-S radar system comprises: the system comprises a navigation satellite direct signal processing subsystem, a target signal detection and tracking subsystem, a target track forming subsystem and an echo signal storage subsystem. The navigation satellite direct signal processing subsystem is used for receiving and processing a direct signal of a navigation satellite to obtain a pseudo code and Doppler frequency shift information of the direct signal; the target signal detection and tracking subsystem is used for receiving a target scattering signal of a navigation satellite, scanning and searching a target sea area and tracking a target; the target track forming subsystem is used for comprehensively processing the speed and the position of the target to obtain the motion track of the target and eliminating false targets; and the echo signal storage subsystem is used for storing the comprehensive processing result of the target scattering signal, the target detection result and the motion trail of the target. The invention can simultaneously realize the search detection and tracking monitoring of a large number of ship targets on the sea surface.
Description
Technical Field
The invention relates to the technical field of radar detection and tracking, in particular to a satellite-borne GNSS-S radar system based on a full-digital array antenna and a ship target detection and tracking method thereof.
Background
The GNSS (Global Navigation Satellite System-Scatter) radar detects the ship target on the sea surface by using the scattered signal of the GNSS Navigation Satellite, and has the advantages of abundant signal sources, all-weather detection all day long, radio silence and radar stealth resistance, low load power consumption, Satellite carrying easiness and the like. The technology can be complemented with electronic reconnaissance, radar, optical reconnaissance and other means, improves the sensing capability of the battlefield of our army, and is an important means for marine reconnaissance and monitoring. In recent years, development of sea surface target detection based on GNSS-S signals has become a hot spot of scientific research.
However, the GNSS navigation satellite has a high height from the ground, the signal transmission power is small, the signal power reaching the ground is usually about-130 dBm, and the scattered satellite signal is weaker, so that the satellite-borne GNSS-S radar has high difficulty in realizing the target detection of the ship on the sea surface. In addition, multiple targets of the sea surface ships usually appear simultaneously in the form of a fleet, the positions and the tracks of all the ships are different, and the GNSS-S signal is limited by the bandwidth, so that the spatial resolution is low, and the simultaneous tracking of multiple ship targets is difficult. Therefore, the method realizes high-quality reception of GNSS scattering signals on low-earth orbit satellites and respectively tracks multiple ship targets on the sea surface, and is a key technology to be urgently solved for developing GNSS-S radar sea surface target detection.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a satellite-borne GNSS-S radar system and a ship target detection and tracking method thereof, which can simultaneously realize search detection and tracking monitoring of a large number of ship targets on the sea surface.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention provides a satellite-borne GNSS-S radar system, which comprises: a navigation satellite direct signal processing subsystem, a target signal detection and tracking subsystem, a target track forming subsystem and an echo signal storage subsystem,
the navigation satellite direct signal processing subsystem is used for receiving and processing a direct signal of a navigation satellite to obtain a pseudo code and Doppler frequency shift information of the direct signal;
the target signal detection and tracking subsystem is used for receiving a target scattering signal of a navigation satellite, scanning and searching a target sea area and tracking a target;
the target track forming subsystem is used for comprehensively processing the speed and the position of the target to obtain the motion track of the target and eliminating false targets;
and the echo signal storage subsystem is used for storing the comprehensive processing result of the target scattering signal, the target detection result and the motion trail of the target.
The invention also provides a ship target detection and tracking method of the satellite-borne GNSS-S radar system, which comprises the following steps:
generating a search beam to scan a target area in a large range, and receiving a direct signal and a scattered signal of a navigation satellite;
comprehensively processing the direct signals and the scattered signals, analyzing and calculating the result after comprehensive processing, detecting the sea surface target, tracking the target when the target is detected, and extracting the position information of the target according to the echo signal position of the search beam;
generating tracking beams by using a digital beam forming technology according to the position information of the target, forming digital beams aiming at the target, adaptively adjusting the number, the direction and the azimuth of the tracking beams, and performing gaze tracking on a plurality of targets;
and extracting the motion trail information of the target, and removing the false target according to the motion trail information.
Has the advantages that:
according to the scheme of the invention, a satellite-borne GNSS-S radar system is designed based on an all-digital array antenna and consists of two single-band all-digital phased array antennas, wherein one large-caliber single-band all-digital phased array antenna receives a target scattering signal of a navigation satellite, one small-caliber single-band all-digital phased array antenna receives a direct signal of the navigation satellite, and a beam forming technology is adopted to synchronously realize large-range scanning reception and long-time staring reception of the GNSS-S signal so as to realize large-range search and long-time tracking of a sea surface ship target. The satellite-borne GNSS-S radar system is compact in structure, small in size, flexible in configuration of the radio frequency front end and convenient for low-earth-orbit satellite carrying.
The invention adopts a multi-target self-adaptive tracking strategy to realize simultaneous tracking of a large number of targets. When a plurality of tracking targets are found, distinguishing high dynamic targets and low dynamic targets according to the dynamic characteristics of the targets, and allocating tracking beams according to the motion characteristics of the targets to realize simultaneous tracking of the plurality of targets; and according to the multidimensional parameters of the target, eliminating the false target.
Drawings
FIG. 1 is a block diagram schematically illustrating an on-board GNSS-S radar system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a detection scenario of a satellite-borne GNSS-S radar system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a structure of a large-aperture all-digital phased array antenna in a satellite-borne GNSS-S radar system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a small-aperture phased array antenna structure in a satellite-borne GNSS-S radar system according to an embodiment of the present invention;
FIG. 5 is a block diagram of a digital array receiver in a GNSS-S radar system on board a satellite according to an embodiment of the present invention;
fig. 6 schematically shows a flowchart of a ship target detection and tracking method provided by an embodiment of the invention;
FIG. 7 is a block diagram that schematically illustrates search beam pointing calculations, in accordance with an embodiment of the present invention;
FIG. 8 is a block diagram that schematically illustrates a search beam sweep provided by an embodiment of the present invention;
FIG. 9 is a flow chart of tracking beam generation provided by an embodiment of the present invention;
fig. 10 schematically shows a flow chart of multi-ship target tracking provided by an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
In one embodiment of the invention, a satellite-borne GNSS-S radar system based on a full-digital array antenna and a ship target detection and tracking method thereof are provided.
Referring to fig. 1, the satellite-borne GNSS-S radar system includes: the system comprises a navigation satellite direct signal processing subsystem 10, a target signal detection and tracking subsystem 20, a target track forming subsystem 30 and an echo signal storage subsystem 40. And the navigation satellite direct signal processing subsystem 10 is used for receiving and processing the direct signal of the navigation satellite to obtain information such as pseudo codes, Doppler frequency shift and the like of the direct signal. And the target signal detection and tracking subsystem 20 is used for receiving a ship target scattering signal (namely a GNSS-S signal) of a navigation satellite, forming a search beam to carry out large-scale scanning search on a target sea area by adopting a large-caliber all-digital phased array antenna, forming a tracking beam to be aligned to a ship target, and carrying out locking tracking along with the movement of the ship target. And the target track forming subsystem 30 is used for comprehensively processing the speed and the position of the found ship target to obtain the motion track of the ship target and eliminate false targets. And the echo signal storage subsystem 40 is used for storing the comprehensive processing result of the target scattering signal, the target detection result and the ship target track.
Referring to fig. 1, a navigation satellite direct signal processing subsystem 10 includes: a small-aperture (small-scale) all-digital phased-array antenna 101 for receiving a direct signal of a navigation satellite; the first array signal receiver 102 is configured to process the received array direct signal, and perform amplification, filtering, frequency conversion, and ADC sampling processing; the direct beam DBF processing module 103 generates a receiving beam pointing to a navigation satellite through a digital beam forming technology according to the position of the direct beam DBF processing module and the position information of the navigation satellite; the satellite information extraction module 104 decodes the currently visible navigation satellite text to obtain information such as carrier doppler, pseudo code phase, and the like of the satellite.
Referring to fig. 1, the target signal detection tracking subsystem 20 includes: the large-aperture (large-scale) all-digital phased-array antenna 201 is used for forming a search beam and a tracking beam of a GNSS scattered signal and receiving a navigation signal scattered by a sea surface target; the second array signal receiver 202 is configured to receive a GNSS-S signal received by the mxn phased array antenna, and amplify, filter, frequency convert, and ADC convert the signal; the search beam DBF processing module 203 generates a search beam by adopting a digital beam DBF technology, and rapidly scans back and forth in the vertical direction of the flight trajectory of the low-orbit satellite to search sea surface ship targets; the first scattering signal comprehensive processing module 204 is configured to perform comprehensive processing on the satellite information output by the scattering signal and direct signal subsystem 10, and analyze different characteristics of the scattering signal and the direct signal in the aspects of doppler frequency shift, code phase, signal energy, and the like to obtain ship target characteristic information; the target detection module 205 receives the direct and scattered signal processing results output by the scattered signal comprehensive processing and calculates the position information of the ship target; a tracking beam forming module 206, which forms a plurality of tracking beams respectively pointing to the target according to the target position information obtained by the target detection 205; the second scattered signal comprehensive processing module 207 performs comprehensive information processing according to the target scattered signals received by the direct signal processing subsystem and the tracking beam to obtain more accurate target position information; the target tracking module 208 adjusts the position of the tracking beam pointing to the target in real time, so that the tracking beam is always aligned with the target.
Referring to fig. 2, the satellite-borne GNSS-S radar is mounted on a low earth orbit and moves at a high speed with the satellite on a near earth orbit. And in the flight process, detecting the ship target in the sea surface area near the subsatellite point track. The large-aperture all-digital phased-array antenna adopts DBF technology to generate search beams, and rapidly scans sea surface areas near the subsatellite point back and forth, and meanwhile, the scanning areas are pushed forward along with the movement of the satellite. The navigation satellite signals reach the sea surface and meet ship targets to form backward scattering, and the scattered GNSS navigation signals are captured by the search beams, processed by the ship target signal detection and tracking subsystem, and comprehensively processed with information of the navigation satellite direct signal processing subsystem to obtain characteristic information of the ship targets. Then, the large-aperture all-digital phased-array antenna generates tracking beams, stares at the found sea surface ship target, adjusts the direction of the tracking beams in real time along with the movement of the ship target, and keeps tracking the ship target.
Referring to fig. 3, the large-aperture all-digital phased array antenna 201 is composed of M rows × N columns of microstrip antenna array elements 2011, and the azimuth direction and the distance direction of the large-aperture all-digital phased array antenna are respectively composed of M rows of microstrip antennas and N columns of microstrip antennas. Each microstrip antenna unit 2011 is designed identically, and a single-band signal (e.g., 1.575GHz) of a navigation satellite is used as an operating band. The phased array antenna adopts a full-digital design, M multiplied by N radio frequency signals output by an array element are output and are subjected to digitization and DBF processing, digitized sampling information is formed after radio frequency sampling, signals are subjected to capturing and tracking processing, and digital beam forming is controlled.
Referring to fig. 4, the small-caliber all-digital phased array antenna 101 is composed of P rows × Q columns of microstrip antenna array elements, and adopts a microstrip antenna identical to the microstrip antenna array element 2011. The array scale is small, the radio frequency signal output by each array element is digitized and DBF processed, the signal is captured and tracked after the radio frequency ADC is sampled, and digital beam forming is controlled.
Referring to fig. 5, the array signal receiver 202 is composed of rf signal preprocessing 2021 and ADC module 2022. The array signal preprocessing is used for respectively carrying out amplification filtering and frequency conversion processing on the MXN array signals to form single-frequency high-gain signals, and the single-frequency high-gain signals are converted into digital signals through the ADC module.
In this embodiment, an exemplary method for detecting and tracking a ship target implemented by the satellite-borne GNSS-S radar system includes: generating a search beam to scan a target area in a large range, and receiving a direct signal and a scattered signal of a navigation satellite; comprehensively processing the direct signals and the scattered signals, analyzing and calculating the result after comprehensive processing, detecting the sea surface target, tracking the target when the target is detected, and extracting the position information of the target according to the echo signal position of the search beam; generating tracking beams by using a digital beam forming technology according to the position information of the target, forming digital beams aiming at the target, adaptively adjusting the number, the direction and the azimuth of the tracking beams, and performing gaze tracking on a plurality of targets; and extracting the motion trail information of the target, and removing the false target according to the motion trail information. Through a large-aperture all-digital phased array antenna of a satellite-borne GNSS-S radar system, a search beam is formed to perform reciprocating scanning near a low-orbit satellite flight track sub-satellite point, and the detection of a large-range sea surface target is realized; after a ship target on the sea surface is found, a tracking beam is derived through an on-orbit antenna real-time digital beam forming technology, and the ship target is aligned to realize high-precision tracking monitoring of the ship; when the number of the sea surface ship targets is larger than the maximum tracking beam number, the tracking and monitoring of all a large number of sea surface targets are realized through an intelligent optimization strategy.
Referring to fig. 6, a flow chart of a GNSS-S ship target detection and tracking method is divided into three sub-flows of target search, target identification and target tracking. The process begins, firstly, target searching is carried out, a searching beam is generated to scan a target area 100, then navigation satellite information 101 of a direct subsystem is received, direct and scattered signals 102 are processed in a fusion mode to carry out comprehensive processing according to the scattered signals and the direct signals, and sea surface targets are detected; whether a ship target is found or not is judged, the result after the fusion processing is analyzed and calculated, and whether the ship target exists in the target sea area or not is judged; if the target is found, starting a target tracking sub-process; calculating a ship target position 104, and obtaining the position of a target according to the echo signal position found by searching the wave beam; a tracking beam forming unit 105 for generating a tracking beam according to the target position information to form a digital beam aiming at the target; and (6) intelligently tracking the ship target, adaptively adjusting the number, the direction and the direction of the tracking beams, and keeping continuous tracking on all the discovered sea surface ship targets.
Referring to fig. 7, in the detection process, the navigation satellite direct subsystem obtains the position (Xs, Ys, Zs) of the navigation satellite, and after receiving more than four navigation satellites, the position (Xu, Yu, Zu) of the low earth orbit satellite GNSS-S radar can be calculated. The coordinates of the target search area are (Xd, Yd, Zd), the pointing direction information of the scanning beam is calculated according to the geometrical relation,
the target slope distance R is:
the pitch angle θ is:
the azimuth angle phi is:
referring to fig. 8, after the search beam is generated, the large-aperture all-digital phased-array antenna performs left-right scanning on the azimuth of one side of the low-orbit satellite sub-satellite point track by using a digital beam forming technology while keeping the search beam angle α unchanged, so as to realize detection search of a large-range sea area, and records azimuth information (Ri, θ i, Φ i) of the search beam at the moment after searching the ith target.
Referring to fig. 9, after a ship target is searched, a tracking process is performed, a tracking beam is generated by taking (Ri, θ i, Φ i) as an initial azimuth, a scattering signal of the ship target is received, a track of the target is generated, information such as target continuous tracking time t, target motion speed v, and target one-dimensional image energy value e is obtained through the target track, whether the target is a false target is identified according to a preset real target duration threshold value tvave, a real target speed limit threshold value Vvalve and a one-dimensional image energy threshold value Evalve, if the target is a false target, tracking is stopped, if the target is a true target, a beam azimuth direction is finely adjusted, further, the ship target is finely tracked near the area, and the tracking beam is kept to be always aligned to the ship target.
Referring to fig. 10, when a plurality of tracking targets are found, sorting is performed according to the moving speeds of the plurality of targets to distinguish a high dynamic target and a low dynamic target; when the number U of the targets is smaller than the maximum tracking beam number W of the phased array antenna, continuously tracking each target by adopting one beam; when the number U of the targets is larger than W, W/2 tracking beams are used for fixedly tracking W/2 high-dynamic targets with high moving speed, and the other W/2 tracking beams are used for tracking (U-W/2) low-dynamic targets in turn.
The invention relates to a satellite-borne GNSS-S radar based on an all-digital array antenna and a ship target detection tracking method thereof. The beam shape of the single-frequency-band full-digital phased-array antenna is formed and optimized by using a beam forming technology, a plurality of virtual digital beams are formed to stare at a plurality of ship targets, the ship targets are tracked, the motion track information of the ship targets is extracted, and false targets are removed according to the motion track information. Compared with the traditional satellite-borne radar system, the detection and tracking method of the satellite-borne GNSS-S radar does not need to actively transmit signals, can simultaneously realize search detection and tracking monitoring of multiple targets of the ships on the sea surface, and has the advantages of low power consumption, strong self-concealment and the like.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An on-board GNSS-S radar system, comprising: a navigation satellite direct signal processing subsystem, a target signal detection and tracking subsystem, a target track forming subsystem and an echo signal storage subsystem,
the navigation satellite direct signal processing subsystem is used for receiving and processing a direct signal of a navigation satellite to obtain a pseudo code and Doppler frequency shift information of the direct signal;
the target signal detection and tracking subsystem is used for receiving a target scattering signal of a navigation satellite, scanning and searching a target sea area, tracking a target and acquiring the speed and the position of the target;
the target track forming subsystem is used for comprehensively processing the speed and the position of the target to obtain the motion track of the target and eliminating false targets;
and the echo signal storage subsystem is used for storing the comprehensive processing result of the target scattering signal, the target detection result and the motion trail of the target.
2. The system of claim 1, wherein the navigation satellite direct signal processing subsystem comprises: a small-caliber all-digital phased-array antenna, a first array signal receiver, a direct beam DBF processing module and a satellite information extraction module,
the small-caliber all-digital phased array antenna is used for receiving a direct signal of a navigation satellite;
the first array signal receiver is used for amplifying, filtering, frequency converting and radio frequency ADC sampling processing of the received array direct signal;
the direct beam DBF processing module is used for generating a receiving beam pointing to a navigation satellite by utilizing a digital beam forming technology according to the position of the direct beam DBF processing module and the position of the navigation satellite;
the satellite information extraction module is used for decoding the current visible navigation satellite message to obtain the pseudo code phase and carrier Doppler frequency shift information of the satellite.
3. The system according to claim 2, wherein the small-bore all-digital phased array antenna is composed of microstrip antennas with P rows of array elements and Q columns of array elements in the azimuth direction and the range direction respectively, the working frequency band adopts a single-frequency-band signal of a navigation satellite, and the signal is received by adopting a digital multi-beam technology.
4. The system of claim 1, wherein the target signal detection tracking subsystem comprises: a large-caliber all-digital phased-array antenna, a second array signal receiver, a search beam DBF processing module, a first scattering signal comprehensive processing module, a target detection module, a tracking beam forming module, a second scattering signal comprehensive processing module and a target tracking module,
the large-aperture all-digital phased array antenna is used for forming search beams and tracking beams of the navigation satellite scattering signals and receiving target scattering signals of the navigation satellite;
the second array signal receiver is used for receiving the navigation satellite target scattering signal received by the large-aperture all-digital phased-array antenna, and performing amplification, filtering, frequency conversion and radio frequency ADC (analog to digital converter) conversion;
the search beam DBF processing module is used for generating a search beam by utilizing a digital beam forming technology, rapidly scanning back and forth in the vertical direction of the flight track of the navigation satellite and searching for a sea surface target;
the first scattering signal comprehensive processing module is used for comprehensively processing the scattering signals and the information output by the direct signal subsystem to obtain target characteristic information;
the target detection module is used for receiving direct and scattered signal processing results output by comprehensive processing of scattered signals and resolving position information of a target;
the tracking beam forming module is used for forming a plurality of tracking beams respectively pointing to a target according to target position information obtained by the target detection 205;
the second scattering signal comprehensive processing module is used for carrying out comprehensive information processing according to the target scattering signals received by the direct signal processing subsystem and the tracking beam to obtain more accurate target position information;
the target tracking module is used for adjusting the position of a tracking beam pointing to a target in real time, so that the tracking beam is always aligned to the target.
5. The system according to claim 4, wherein the azimuth direction and the range direction of the large-aperture all-digital phased-array antenna are respectively composed of microstrip antennas with M rows of array elements and N columns of array elements, the working frequency band adopts a single-frequency-band signal of a navigation satellite, and the signal is received by adopting a digital multi-beam technology.
6. The system according to claim 4, wherein the second array signal receiver is composed of an array radio frequency signal preprocessing module and an ADC module, the array radio frequency signal preprocessing module performs amplification, filtering and frequency conversion processing on the MXN array signals respectively to form a single-frequency high-gain signal; the ADC module converts a single-frequency high-gain signal into a digital signal.
7. A ship target detection tracking method implemented with the on-board GNSS-S radar system according to any one of claims 1 to, comprising:
generating a search beam to scan a target area in a large range, and receiving a direct signal and a target scattering signal of a navigation satellite;
comprehensively processing the direct signals and the scattered signals, analyzing and calculating the result after comprehensive processing, detecting the sea surface target, tracking the target when the target is detected, and extracting the position information of the target according to the echo signal position of the search beam;
generating tracking beams by using a digital beam forming technology according to the position information of the target, forming digital beams aiming at the target, adaptively adjusting the number, the direction and the azimuth of the tracking beams, and performing gaze tracking on a plurality of targets;
and extracting the motion trail information of the target, and removing the false target according to the motion trail information.
8. The method according to claim 7, wherein during the scanning detection, the positions (Xs, Ys, Zs) of the navigation satellites are obtained, the position information of more than four navigation satellites is received, the self position (Xu, Yu, Zu) of the low-orbit satellite-borne GNSS-S radar is obtained through calculation, the coordinates of the target search area are (Xd, Yd, Zd), and the directional azimuth information of the search beam is calculated according to the following relationship:
the target slope distance R is:
the pitch angle θ is:
the azimuth angle phi is:
9. the method according to claim 7, wherein after the search wave beam is generated, the large-aperture all-digital phased array antenna performs left-right scanning on the azimuth on one side of the low-orbit satellite sub-satellite point track by a digital beam forming technology through keeping a wave beam angle alpha unchanged, a sea surface area is subjected to large-range detection search, and azimuth information (Ri, θ i, φ i) of the search wave beam at the moment is searched under the postscript of the ith target;
after a target is searched, generating a tracking beam by taking (Ri, theta i, phi i) as an initial azimuth, receiving a scattering signal of the target, generating a track of the target, obtaining information such as continuous tracking time t, target motion speed v, target one-dimensional image energy value e and the like of the target through the track of the target, judging whether the target is a false target or not according to a preset real target duration threshold Tvalve, a preset real target speed limit threshold Vvalve and a preset one-dimensional image energy threshold Evalve, judging the target according to the following formula, stopping tracking if the target is a false target, finely adjusting the azimuth direction of the beam if the target is a real target, finely tracking the target nearby the area, and keeping the tracking beam aligned with the target all the time,
10. the method according to claim 7, wherein in the process of gaze tracking for a plurality of targets, when a plurality of targets are found, sorting is performed according to the moving speeds of the plurality of targets, and the targets are distinguished into high dynamic targets and low dynamic targets; when the number U of the targets is smaller than the maximum tracking beam number W of the phased array antenna, continuously tracking each target by adopting one beam; when the number U of the targets is larger than W, W/2 tracking beams are used for fixedly tracking W/2 high-dynamic targets with high moving speed, and the other W/2 tracking beams are used for tracking (U-W/2) low-dynamic targets in turn.
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