CN114994626B - Non-linear time shift STCA-MIMO radar non-fuzzy parameter estimation method and device thereof - Google Patents
Non-linear time shift STCA-MIMO radar non-fuzzy parameter estimation method and device thereof Download PDFInfo
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Abstract
The invention relates to a non-linear time shift STCA-MIMO radar non-fuzzy parameter estimation method and a device thereof, wherein the method comprises the following steps: establishing an STCA-MIMO radar signal model; selecting proper nonlinear time shifting for the STCA-MIMO radar, and calculating a radar echo signal of a target by using a radar signal model; carrying out digital mixing and matched filtering processing on the radar echo signals to obtain radar echo preprocessing signals; calculating a covariance matrix of the radar echo preprocessing signal; performing eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the radar echo preprocessing signal; calculating a receiving-transmitting joint steering vector of the STCA-MIMO radar at any point in space; and constructing a MUSIC spatial spectrum function according to the noise subspace and the receiving-transmitting joint guide vector, and carrying out spectrum peak search on the MUSIC spatial spectrum function to estimate the angle and the distance of the target. The invention improves the detection performance of radar targets.
Description
Technical Field
The invention belongs to the technical field of radar signal processing, and particularly relates to a non-linear time-shifting STCA-MIMO radar non-fuzzy parameter estimation method.
Background
Conventional phased array radars employ a single transmit waveform such that the energy of the transmit signal is concentrated in certain specific directions in the airspace, with the transmit beam steering vector being related only to angle. With the gradual transition of modern war modes to informationized war, phased array radars face increasingly complex detection environments, and due to the fact that the transmitted waveforms are fixed, the transmitted waveforms cannot be actively optimized along with the change of environment and target information to improve the detection performance of the radars, so that in order to achieve the detection of targets in complex environments, research on new radar systems and signal processing technologies is very necessary.
Space-time coding array (STCA) is used as an emerging radar system, and a small time shift amount is introduced between each transmitting array element, so that the transmitting direction diagram of the space-time coding array radar has three-dimensional change characteristics of distance, angle and time, and has coverage characteristics of a full airspace. Multiple-input Multiple-output antenna system (MIMO) radar transmits signals orthogonal to each other among all transmitting array elements, and then the signals of all transmitting array elements are separated at a receiving end through a matching algorithm, so that the MIMO radar can provide higher degree of freedom, and the defect of the phased array radar is overcome to a certain extent. Compared with a phased array radar, the MIMO radar has higher degree of freedom, higher parameter estimation precision, stronger interference suppression capability and lower interception probability, and in sum, the MIMO radar has stronger environment adaptation capability. It can be seen that combining both STCA and MIMO radar would have a very large application prospect. At present, an algorithm combining STCA and MIMO radar introduces a linearly-increased time shift amount between array elements, and a multi-signal classification algorithm (Multiple Signal Classification, MUSIC for short) is adopted to search spectrum peaks so as to realize estimation of the angle and distance of a target. The MUSIC algorithm is a high-resolution direction of arrival (Direction Of Arrival, DOA for short) estimation algorithm, and overcomes the defect of low resolution of common beam forming.
However, the transmission directional diagram of the STCA-MIMO radar shows periodicity in the distance dimension under the linear time shift, so that grating lobes can appear in the transmission directional diagram in the distance dimension, the problem of distance ambiguity can appear in the STCA-MIMO radar during ranging, and the detection performance of the STCA-MIMO radar target is affected.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a non-linear time shift STCA-MIMO radar non-fuzzy parameter estimation method and a device thereof. The technical problems to be solved by the invention are realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a non-linear time-shift STCA-MIMO radar non-ambiguity parameter estimation method, including:
establishing an STCA-MIMO radar signal model; the STCA-MIMO radar signal model is a co-location MIMO radar system with M transmitting array elements and N receiving array elements;
selecting proper nonlinear time shifting for the STCA-MIMO radar, and calculating an STCA-MIMO radar echo signal of a target by using the STCA-MIMO radar signal model;
Carrying out digital mixing and matched filtering processing on the STCA-MIMO radar echo signals to obtain STCA-MIMO radar echo preprocessing signals;
calculating a covariance matrix of the STCA-MIMO radar echo preprocessing signal;
Performing eigenvalue decomposition on the covariance matrix to obtain a noise subspace of an STCA-MIMO radar echo preprocessing signal;
Calculating a receiving-transmitting joint steering vector of the STCA-MIMO radar at any point in space;
And constructing a MUSIC spatial spectrum function according to the noise subspace and the receiving-transmitting joint guide vector, and carrying out spectral peak search on the MUSIC spatial spectrum function to estimate the angle and the distance of the target.
In one embodiment of the invention, where the selected nonlinear time shift is a logarithmic time shift, the amount of time shift for the M (m=1, 2,) th transmit array element of the corresponding STCA-MIMO radar is formulated as:
Δtm＝log(m)Δt；
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
In one embodiment of the invention, where the selected nonlinear time shift is a square time shift, the amount of time shift for the M (m=1, 2,) th transmit array element of the corresponding STCA-MIMO radar is formulated as:
Δtm＝(m-1)2Δt；
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
In one embodiment of the invention, when the selected nonlinear time shift is a sinc time shift, the amount of time shift for the M (m=1, 2,) th transmit array element of the corresponding STCA-MIMO radar is formulated as:
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
In one embodiment of the invention, the STCA-MIMO radar echo signal equation for calculating the target using the STCA-MIMO radar signal model is expressed as:
Where (θ 0,R0) denotes the angle and distance of the target to the transmit array formed by M transmit elements, y n (·) denotes the N (n=1, 2,.,..n) th STCA-MIMO radar echo signal of the target for the receive element, d denotes the transmit element spacing, λ=c/f 0 denotes the wavelength, c denotes the propagation speed of electromagnetic waves, f 0 denotes the carrier frequency, s (·) denotes the transmit signal of the STCA-MIMO radar, Τ 0＝2R0/c represents the two-way propagation delay between the STCA-MIMO radar and the target, g (·) represents the quadrature chirp signal, i.e. the reference transmit signal of the transmit array,/>Rect (·) represents a rectangular function, μ=b/T p represents a chirp rate of the chirp signal, T p represents a radar pulse width, B represents a signal bandwidth, c m represents a coding coefficient of an mth transmitting array element, Δt m represents a time shift amount of the mth transmitting array element of the STCA-MIMO radar.
In one embodiment of the invention, the STCA-MIMO radar echo signal obtained by performing digital mixing and matched filtering processing on the STCA-MIMO radar echo signal is formulated as follows:
Wherein y represents an STCA-MIMO radar echo preprocessing signal, y n(t,θ0) represents a signal obtained by performing digital mixing and matched filtering processing on an STCA-MIMO radar echo signal received by an N-th (n=1, 2.,) receiving array element, (·) T represents a transpose operation, β represents a complex scattering coefficient, Representing the kronecker product operation, b (θ 0) represents the received steering vector of the STCA-MIMO radar at the target in the selected nonlinear time shift, a (R 0,θ0) represents the transmitted steering vector of the STCA-MIMO radar at the target in the selected nonlinear time shift, and n represents the noise vector.
In one embodiment of the present invention, the eigenvalue decomposition of the covariance matrix results in a noise subspace formulation expressed as:
Wherein R represents a covariance matrix, r=e { yy H }, y represents an STCA-MIMO radar echo preprocessing signal, E { · } represents a desired operation, V s represents a matrix composed of eigenvectors corresponding to large eigenvalues, that is, a signal subspace of the STCA-MIMO radar echo preprocessing signal, Λ s represents a diagonal matrix composed of large eigenvalues, V n represents a matrix composed of eigenvectors corresponding to small eigenvalues, that is, a noise subspace of the STCA-MIMO radar echo preprocessing signal, Λ n represents a diagonal matrix composed of small eigenvalues, and (-) H represents a conjugate transpose operation.
In one embodiment of the invention, the calculation of the receive-transmit joint steering vector of the STCA-MIMO radar at any point in space is formulated as:
Where u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, b (θ) represents a reception steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, a (R, θ) represents a transmission steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, Representing the kronecker product operation.
In one embodiment of the present invention, constructing a MUSIC spatial spectrum function from the noise subspace and the receive-transmit joint steering vector is formulated as:
Where P (R, θ) represents a MUSIC spatial spectrum function, u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space, V n represents a noise subspace of the STCA-MIMO radar echo preprocessing signal, and (-) H represents a conjugate transpose operation.
In a second aspect, an embodiment of the present invention provides a non-linear time-shift STCA-MIMO radar non-ambiguity parameter estimation apparatus, including:
The model building module is used for building an STCA-MIMO radar signal model; the STCA-MIMO radar signal model is a co-location MIMO radar system with M transmitting array elements and N receiving array elements;
The first data calculation module is used for selecting proper nonlinear time shift for the STCA-MIMO radar and calculating an STCA-MIMO radar echo signal of a target by using the STCA-MIMO radar signal model;
The data processing module is used for carrying out digital mixing and matched filtering processing on the STCA-MIMO radar echo signals to obtain STCA-MIMO radar echo preprocessing signals;
The second data calculation module is used for calculating a covariance matrix of the STCA-MIMO radar echo preprocessing signal;
The data decomposition module is used for decomposing the eigenvalue of the covariance matrix to obtain a noise subspace of the STCA-MIMO radar echo preprocessing signal;
A third data calculation module, configured to calculate a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space;
And the data estimation module is used for constructing a MUSIC spatial spectrum function according to the noise subspace and the receiving-transmitting joint guide vector, and carrying out spectral peak search on the MUSIC spatial spectrum function to estimate the angle and the distance of the target.
The invention has the beneficial effects that:
According to the non-linear time shift STCA-MIMO radar non-fuzzy parameter estimation method, the non-linear increasing time shift quantity is introduced between the transmitting/receiving array elements of the STCA-MIMO radar, so that the periodicity of the existing STCA-MIMO radar in the transmission direction diagram distance dimension can be destroyed, the problem of fuzzy distance when the existing STCA-MIMO radar performs parameter estimation is solved, and the detection performance of an STCA-MIMO radar target is improved; the method provided by the invention can estimate the angle and the distance of the target at the same time, and ensures that the STCA-MIMO radar has better distance resolution and angle resolution.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic flow chart of a non-linear time-shifting STCA-MIMO radar non-fuzzy parameter estimation method provided by the embodiment of the invention;
FIGS. 2 (a) -2 (d) are schematic diagrams of spatial spectrum of STCA-MIMO radar with linear time shifting and different nonlinear time shifting provided by embodiments of the present invention;
Fig. 3 (a) -3 (b) are schematic diagrams of parameter estimation results of the angle dimension and the distance dimension of the STCA-MIMO radar under the linear time shift and different nonlinear time shifts of a single target provided by the embodiment of the invention;
fig. 4 (a) to fig. 4 (b) are schematic diagrams of parameter estimation results of the angle dimension and the distance dimension of the STCA-MIMO radar under the linear time shift and different nonlinear time shifts of the multi-target provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of a non-linear time-shifting STCA-MIMO radar non-ambiguity parameter estimation device according to an embodiment of the present invention;
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
Example 1
In order to improve the detection performance of an STCA-MIMO radar target, the embodiment of the invention provides a non-linear time-shifting STCA-MIMO radar non-fuzzy parameter estimation method and a device thereof.
In a first aspect, referring to fig. 1, an embodiment of the present invention provides a non-linear time-shift STCA-MIMO radar non-ambiguity parameter estimation method, which specifically includes the following steps:
s10, establishing an STCA-MIMO radar signal model; the STCA-MIMO radar signal model is a co-location MIMO radar system with M transmitting array elements and N receiving array elements.
Specifically, the STCA-MIMO radar signal model established by the embodiment of the invention is a co-location MIMO radar system with M transmitting array elements and N receiving array elements. The device comprises M transmitting array elements, N receiving array elements, a transmitting array and a receiving array, wherein the M transmitting array elements form a transmitting array, the N receiving array elements form a receiving array, the transmitting array and the receiving array are both uniform equidistant linear arrays, the array element spacing is half wavelength, and a reference transmitting signal of the array is a quadrature linear frequency modulation signal.
S20, selecting proper nonlinear time shifting for the STCA-MIMO radar, and calculating an STCA-MIMO radar echo signal of the target by using an STCA-MIMO radar signal model.
In particular, the inventor researches that the current linear time-shifting STCA-MIMO radar can generate a distance ambiguity problem during distance measurement, because the linear time-shifting STCA-MIMO radar has periodicity in a transmission pattern, the transmission pattern can generate grating lobes in a distance dimension. And the periodicity of the STCA-MIMO radar can be destroyed by adopting nonlinear time shifting, so that the problem of distance ambiguity of the linear time shifting STCA-MIMO radar is solved. However, not all nonlinear time shifts can solve the problem of distance ambiguity caused by the linear time shift, for example, if a common cubic time shift and a power function time shift are adopted, higher side lobes still can be formed in a transmitting direction diagram, which is unfavorable for signal detection, so that an appropriate nonlinear function must be selected to solve the problem of distance ambiguity caused by the linear time shift.
The inventor researches find that when logarithmic time shift, square time shift and sinc time shift are adopted, the periodicity of a transmitting directional diagram can be destroyed while high side lobe is avoided, so that the problem of distance ambiguity of the STCA-MIMO radar in distance measurement is solved. Specifically:
The embodiment of the invention provides an alternative scheme, when the nonlinear time shift is selected as logarithmic time shift, the time shift amount of M (m=1, 2, the number of M) transmitting array elements corresponding to the STCA-MIMO radar can be expressed as:
Δtm＝log(m)Δt (1)
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
The embodiment of the present invention provides another alternative, where the nonlinear time shift selected is a square time shift, the time shift amount of the M (m=1, 2,) th transmitting array element corresponding to the STCA-MIMO radar may be expressed as:
Δtm＝(m-1)2Δt (2)
Where Δt m denotes the mth (m=1, 2, M) the amount of time shift of the transmitting array elements, Δt represents the reference time shift amount, Δt=1/B, and B represents the signal bandwidth.
The embodiment of the present invention provides still another alternative, where when the selected nonlinear time shift is a sinc time shift, the time shift amount of the M (m=1, 2,) th transmitting array element of the corresponding STCA-MIMO radar may be expressed as:
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
Under any nonlinear time shift of the formulas (1), (2) and (3), for the mth transmitting array element of the STCA-MIMO radar, the transmitting signal can be expressed as:
wherein f 0 represents carrier frequency, Δt m represents time shift amount of mth transmitting array element of STCA-MIMO radar, c m represents coding coefficient of mth transmitting array element, g (-) represents orthogonal linear frequency modulation signal, namely reference transmitting signal of transmitting array, and the specific form is:
Wherein T p represents radar pulse width, μ=b/T p represents frequency modulation slope of the chirp signal, rect (·) represents a rectangular function, which is specifically formed as follows:
And the coding coefficient c m of the m-th transmitting array element and the coding coefficient c n of the n-th transmitting array element satisfy the following conditions:
then, the spatial signal combining formula of the STCA-MIMO radar is expressed as:
Where d represents the transmission array element spacing, λ=c/f 0 represents the wavelength, and c represents the propagation speed of electromagnetic waves. Since Deltat m 2 is approximately 0, the effect of this term can be ignored.
Assuming that there is a point target in the far field, its angle is θ 0, and its distance is R 0, the transmitted signal of the STCA-MIMO radar reaching the target can be expressed as:
Wherein, Τ' 0＝R0/c denotes the one-way propagation delay between the target and the transmit array of M transmit array elements, R 0 denotes the distance from the target to the transmit array, and θ 0 denotes the angle of the target to the transmit array.
The STCA-MIMO radar transmit signal is reflected by the target (θ 0,R0) to the N (n=1, 2.,) th receive element, the STCA-MIMO radar return signal can be formulated as:
Where (θ 0,R0) denotes the angle and distance of the target to the transmit array formed by M transmit elements, y n (·) denotes the N (n=1, 2,.,..n) th STCA-MIMO radar echo signal of the target for the receive element, d denotes the transmit element spacing, λ=c/f 0 denotes the wavelength, c denotes the propagation speed of electromagnetic waves, f 0 denotes the carrier frequency, s (·) denotes the transmit signal of the STCA-MIMO radar, Τ 0＝2R0/c represents the two-way propagation delay between STCA-MIMO radar and target, g (·) represents the chirp signal,/>Rect (·) represents a rectangular function, μ=b/T p represents a chirp rate of the chirp signal, T p represents a radar pulse width, B represents a signal bandwidth, c m represents a coding coefficient of an mth transmitting array element, Δt m represents a time shift amount of the mth transmitting array element of the STCA-MIMO radar.
S30, carrying out digital mixing and matched filtering processing on the STCA-MIMO radar echo signals to obtain STCA-MIMO radar echo preprocessing signals.
Specifically, the mixing of the STCA-MIMO radar echo signals obtained by the formula (10) can be expressed as:
Wherein, Representing the complex scattering coefficient.
The signal of each receiving channel of the STCA-MIMO radar needs to be filtered by an M-dimensional matched filter, and then the signal of each receiving channel is subjected to digital mixing with the signal related to Deltat m, and the formula is as follows:
Wherein c l represents the coding coefficient of the first transmitting array element, Δt l represents the time shift amount of the first transmitting array element, and the calculation mode is referred to Δt m.
Designing a matched filter for the mth transmit waveform of the STCA-MIMO radar can be formulated as:
the output signal of the STCA-MIMO radar after the signal after the n-th receiving channel is subjected to digital mixing and then the signal after the signal passes through the m-th dimension matched filter can be expressed as:
Where, (-) * denotes the convolution operation, R m,m denotes the autocorrelation function of the reference transmit signal.
Similarly, the coding coefficient c m of the mth transmitting array element and the coding coefficient c l of the first transmitting array element satisfy:
Then, the output of the signal after the digital mixing of the STCA-MIMO radar echo signal received by the nth receiving array element of the STCA-MIMO radar is processed by the M-dimensional matched filter can be expressed as:
Wherein (-) T represents a transpose operation.
Finally, the output signals of the N receiving channels of the STCA-MIMO radar after passing through the M-dimensional matched filter are expressed as a MN x 1-dimensional column vector, and the specific form can be expressed as follows:
wherein y represents an STCA-MIMO radar echo preprocessing signal, y n(t,θ0) represents an N (n=1, 2,.,) N-th signal of an STCA-MIMO radar echo signal received by N receiving array elements after digital mixing is processed by an M-dimensional matched filter, (·) T represents a transpose operation, β represents a complex scattering coefficient, Representing the kronecker product operation, b (θ 0) represents the received steering vector of the STCA-MIMO radar at the target in the selected nonlinear time shift, a (R 0,θ0) represents the transmitted steering vector of the STCA-MIMO radar at the target in the selected nonlinear time shift, and n represents the noise vector. Specifically:
For different nonlinear time shifts, the corresponding receive vector b (θ 0) can be formulated as:
whereas for different nonlinear time shifts the corresponding emission steering vector a (R 0,θ0) is different, in particular:
For logarithmic time shifting, the corresponding transmit steering vector a (R 0,θ0) can be represented as:
For square time shifting, the corresponding transmit steering vector a (R 0,θ0) can be represented as:
For sinc time shift, the corresponding transmit steering vector a (R 0,θ0) can be represented as:
Wherein a (θ 0) in the formulas (19), (20), (21) represents an STCA-MIMO radar transmission dimension airspace steering vector, a (R 0) represents an STCA-MIMO radar transmission dimension distance steering vector, and ". Alpha.represents Hadamard product operation.
S40, calculating a covariance matrix of the STCA-MIMO radar echo preprocessing signal.
Specifically, the covariance matrix of the STCA-MIMO radar echo preprocessing signal calculated by the embodiment of the invention can be expressed as follows:
R＝E{yyH} (22)
Wherein R represents a covariance matrix, y represents an STCA-MIMO radar echo preprocessing signal, E {. Cndot. } represents a desired operation, and (-) H represents a conjugate transpose operation.
S50, performing eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the STCA-MIMO radar echo preprocessing signal.
Specifically, the method for decomposing the eigenvalue of the covariance matrix to obtain the noise subspace can be expressed as follows:
Wherein R represents a covariance matrix, V s represents a matrix composed of eigenvectors corresponding to large eigenvalues, i.e., a signal subspace of the STCA-MIMO radar echo preprocessing signal, Λ s represents a diagonal matrix composed of large eigenvalues, V n represents a matrix composed of eigenvectors corresponding to small eigenvalues, i.e., a noise subspace of the STCA-MIMO radar echo preprocessing signal, Λ n represents a diagonal matrix composed of small eigenvalues, and (-) H represents conjugate transpose operation.
S60, calculating a receiving-transmitting joint steering vector of the STCA-MIMO radar at any point in space.
Specifically, the formula for calculating the receiving-transmitting joint steering vector of the STCA-MIMO radar at any point in space is expressed as follows:
Where u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, b (θ) represents a reception steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, a (R, θ) represents a transmission steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, Representing the kronecker product operation.
In the formula (24): b (θ) is calculated as in equation (18), and a (R, θ) is calculated as in equations (19), (20), (21), depending on the nonlinear time shift currently selected.
S70, constructing a MUSIC spatial spectrum function according to the noise subspace and the receiving-transmitting joint guide vector, and carrying out spectral peak search on the MUSIC spatial spectrum function to estimate the angle and distance of the target.
Specifically, at any point (R, θ) of the space, the embodiment of the present invention constructs a MUSIC spatial spectrum function according to the noise subspace and the receive-transmit joint steering vector, which can be expressed as:
Where P (R, θ) represents a MUSIC spatial spectrum function, u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space, V n represents a noise subspace of the STCA-MIMO radar echo preprocessing signal, and (-) H represents a conjugate transpose operation.
The angle and distance formula of the target estimated by carrying out spectral peak search on the MUSIC spatial spectrum is expressed as follows:
Finally, the radar non-fuzzy parameter estimation is completed through formulas (25) and (26), and the estimated angle and the estimated distance of the target are obtained.
In order to verify the effectiveness of the non-linear time-shifting STCA-MIMO radar non-fuzzy parameter estimation method provided by the embodiment of the invention, the following experiment is carried out for verification.
The simulation experiment adopts equidistant linear arrays, the number of transmitting array elements and the number of receiving array elements are 16, the array element distance d is half wavelength lambda, the specific value is 0.015m, the carrier frequency f 0 is 10GHz, the reference time shift quantity delta T is 0.15us, the pulse repetition period is 50us, the signal bandwidth B is 20MHz, the signal pulse width T p is 10us, the distance scanning range is 0-10 km, and the angle scanning range is-90 degrees.
Simulation experiment one: parameter estimation in a single target scenario
Given 1 target in simulation, its distance is 6km and angle is 0 °.
Fig. 2 (a) to fig. 2 (d) are respectively spatial spectrums of the STCA-MIMO radar under the linear time shift, the logarithmic time shift, the square time shift and the sine time shift, it can be seen from fig. 2 (a) that the spatial spectrums of the STCA-MIMO radar corresponding to the linear time shift have two peaks, and blur occurs in a distance dimension, and fig. 2 (b) to fig. 2 (d), the spatial spectrums of the STCA-MIMO radar corresponding to the logarithmic time shift, the square time shift and the sine time shift have only one peak at a target, so that the problem of distance blur of parameter estimation of the STCA-MIMO radar under the traditional linear time shift is effectively solved.
Fig. 3 (a) to 3 (b) are the results of estimating parameters of the angle dimension and the distance dimension of the STCA-MIMO radar under the linear time shift and the different nonlinear time shifts of the single target respectively. As seen from fig. 3 (a), the linear time shift, the logarithmic time shift, the square time shift and the sinc time shift proposed by the present invention can all estimate the angle of the target to be 0 ° and the same as the angle of the real target, but as seen from fig. 3 (b), the linear time shift estimates the distance of the target to be 1.5km, and the logarithmic time shift, the square time shift and the sinc time shift can all estimate the distance of the target to be 6km, which is the same as the distance of the real target.
Simulation experiment II: and (3) estimating parameters in a multi-target scene, performing simulation analysis aiming at the condition that a plurality of targets exist at different angles and at different distances, and analyzing the distance resolution of the STCA-MIMO radar which is not shifted simultaneously through the simulation experiment.
The simulation gives 3 targets, target 1 position (6 km,0 °), target 2 position (7 km,10 °) and target 3 position (8 km,20 °).
Fig. 4 (a) shows the estimation results of the angular dimension parameters of the spatial spectrum of the STCA-MIMO radar under the linear time shift, the logarithmic time shift, the square time shift and the sine time shift, as can be seen from fig. 4 (a), the linear time shift, the logarithmic time shift, the square time shift and the sine time shift provided by the invention have peaks at 0 °, 10 ° and 20 °, respectively corresponding to 3 targets, so that the STCA-MIMO radar has better angular resolution under the linear time shift, the logarithmic time shift, the square time shift and the sine time shift. Wherein the angular dimension parameter estimates under linear, logarithmic, squared and sinc time shifts overlap as shown in fig. 4 (a).
Fig. 4 (b) shows the distance dimension parameter estimation results of the spatial spectrum of the STCA-MIMO radar under the linear time shift, the logarithmic time shift, the square time shift and the sine time shift, and as can be seen from fig. 4 (b), the distance dimension of the MUSIC spatial spectrum of the STCA-MIMO radar under the linear time shift has two groups of peaks, and blurring occurs in the distance dimension, while the MUSIC spatial spectrum of the STCA-MIMO radar under the logarithmic time shift, the square time shift and the sine time shift has peaks at 6km, 7km and 8km respectively, so that a plurality of targets under different angles and different distances can be accurately estimated. Wherein the distance dimensions at linear time shift, logarithmic time shift, square time shift and sine time shift overlap in peak values at 6km, 7km and 8km as shown in fig. 4 (b), and the distance dimension at linear time shift has another set of peak values at 1.5km, 2.5km and 3.5km, so that blurring of the distance dimension occurs.
Experiments show that the STCA-MIMO radar adopting logarithmic time shift, square time shift and sinc time shift can well realize target non-fuzzy parameter estimation under single-target and multi-target scenes, and has better distance resolution and angle resolution. The method provided by the embodiment of the invention can effectively solve the problem of distance ambiguity existing in the parameter estimation of the STCA-MIMO radar.
In summary, according to the non-linear time shift STCA-MIMO radar non-fuzzy parameter estimation method provided by the embodiment of the invention, a non-linear increasing time shift amount is introduced between transmitting/receiving array elements of the STCA-MIMO radar, which can destroy the periodicity of the existing STCA-MIMO radar in the transmission pattern distance dimension, so that the problem of fuzzy distance when the existing STCA-MIMO radar performs parameter estimation is solved, and the detection performance of the STCA-MIMO radar target is further improved; the method provided by the embodiment of the invention can simultaneously estimate the angle and the distance of the target, and ensure that the STCA-MIMO radar has better distance resolution and angle resolution.
In a second aspect, referring to fig. 5, an embodiment of the present invention provides a non-linear time-shifting STCA-MIMO radar non-ambiguity parameter estimation apparatus, including:
the model building module 501 is used for building an STCA-MIMO radar signal model; the STCA-MIMO radar signal model is a co-location MIMO radar system with M transmitting array elements and N receiving array elements;
A first data calculation module 502, configured to select a suitable nonlinear time shift for the STCA-MIMO radar, and calculate an STCA-MIMO radar echo signal of the target using the STCA-MIMO radar signal model;
The data processing module 503 is configured to perform digital mixing and matched filtering processing on the STCA-MIMO radar echo signal to obtain an STCA-MIMO radar echo preprocessing signal;
a second data calculation module 504, configured to calculate a covariance matrix of the STCA-MIMO radar echo preprocessing signal;
The data decomposition module 505 is configured to decompose eigenvalues of the covariance matrix to obtain a noise subspace of the STCA-MIMO radar echo preprocessing signal;
A third data calculation module 506, configured to calculate a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space;
The data estimation module 507 is configured to construct a MUSIC spatial spectrum function according to the noise subspace and the receiving-transmitting joint steering vector, and perform a spectral peak search on the MUSIC spatial spectrum function to estimate an angle and a distance of the target.
Further, in the first data calculation module 502 of the embodiment of the present invention, when the selected nonlinear time shift is a logarithmic time shift, the time shift amount formula of the M (m=1, 2,) th transmitting array element of the corresponding STCA-MIMO radar is expressed as:
Δtm＝log(m)Δt；
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
Further, in the first data calculation module 502 of the embodiment of the present invention, when the selected nonlinear time shift is a square time shift, the time shift amount formula of the M (m=1, 2,) th transmitting array element of the corresponding STCA-MIMO radar is expressed as:
Δtm＝(m-1)2Δt；
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
Further, in the first data calculation module 502 of the embodiment of the present invention, when the selected nonlinear time shift is a sine time shift, the time shift amount formula of the M (m=1, 2, i.e., M) th transmitting array elements of the corresponding STCA-MIMO radar is expressed as:
Wherein Δt m represents a time shift amount of an mth transmitting array element of the STCA-MIMO radar, Δt represents a reference time shift amount, Δt=1/B, and B represents a signal bandwidth.
Further, in the first data calculation module 502 of the embodiment of the present invention, the STCA-MIMO radar echo signal formula for calculating the target using the STCA-MIMO radar signal model is expressed as:
Wherein (θ 0,R0) represents the angle and distance of the target to the transmitting array formed by M transmitting array elements, y n (·) represents the STCA-MIMO radar echo signal of the target corresponding to the N (n=1, 2, …, N) th receiving array element, d represents the transmitting array element spacing, λ=c/f 0 represents the wavelength, c represents the propagation speed of electromagnetic waves, f 0 represents the carrier frequency, s (·) represents the transmitting signal of the STCA-MIMO radar, Τ 0＝2R0/c represents the two-way propagation delay between the STCA-MIMO radar and the target, g (·) represents the quadrature chirp signal, i.e. the reference transmit signal of the transmit array,/>Rect (·) represents a rectangular function, μ=b/T p represents a chirp rate of the chirp signal, T p represents a radar pulse width, B represents a signal bandwidth, c m represents a coding coefficient of an mth transmitting array element, Δt m represents a time shift amount of the mth transmitting array element of the STCA-MIMO radar. /(I)
Further, in the data processing module 503 of the embodiment of the present invention, the formula of the STCA-MIMO radar echo preprocessing signal obtained by performing digital mixing and matched filtering processing on the STCA-MIMO radar echo signal is expressed as:
Wherein y represents an STCA-MIMO radar echo preprocessing signal, y n(t,θ0) represents a signal obtained by performing digital mixing and matched filtering processing on an STCA-MIMO radar echo signal received by an N-th (n=1, 2.,) receiving array element, β represents a complex scattering coefficient, Representing the kronecker product operation, b (θ 0) represents the receive steering vector of the STCA-MIMO radar at the target for the selected nonlinear time shift, a (R 0,θ0) represents the transmit steering vector of the STCA-MIMO radar at the target for the selected nonlinear time shift, (·) T represents the transpose operation, and n represents the noise vector.
Further, in the data decomposition module 505 of the embodiment of the present invention, eigenvalue decomposition is performed on the covariance matrix to obtain a noise subspace formula expressed as:
Wherein R represents a covariance matrix, r=e { yy H }, y represents an STCA-MIMO radar echo preprocessing signal, E { · } represents a desired operation, V s represents a matrix composed of eigenvectors corresponding to large eigenvalues, that is, a signal subspace of the STCA-MIMO radar echo preprocessing signal, Λ s represents a diagonal matrix composed of large eigenvalues, V n represents a matrix composed of eigenvectors corresponding to small eigenvalues, that is, a noise subspace of the STCA-MIMO radar echo preprocessing signal, Λ n represents a diagonal matrix composed of small eigenvalues, and (-) H represents a conjugate transpose operation.
Further, in the third data calculation module 506 of the embodiment of the present invention, the formula for calculating the receiving-transmitting joint steering vector of the STCA-MIMO radar at any point in space is expressed as:
Where u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, b (θ) represents a reception steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, a (R, θ) represents a transmission steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, Representing the kronecker product operation.
Further, in the data estimation module 507 according to the embodiment of the present invention, the MUSIC spatial spectrum function is constructed according to the noise subspace and the receiving-transmitting joint steering vector, and is expressed as:
Where P (R, θ) represents a MUSIC spatial spectrum function, u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space, V n represents a noise subspace of the STCA-MIMO radar echo preprocessing signal, and (-) H represents a conjugate transpose operation.
In a third aspect, referring to fig. 6, an embodiment of the present invention provides an electronic device, including a processor 601, a communication interface 602, a memory 603, and a communication bus 604, where the processor 601, the communication interface 602, and the memory 603 complete communication with each other through the communication bus 604;
The memory 603 is used for storing a computer program;
The processor 601 is configured to implement the above-mentioned non-linear time-shifting STCA-MIMO radar non-ambiguity parameter estimation method when executing the program stored in the memory 603.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, in which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the non-linear time-shift STCA-MIMO radar non-ambiguity parameter estimation method described above.
For the apparatus/electronic device/storage medium embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference should be made to the description of the method embodiments for relevant points.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Although the application is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (10)
1. A non-linear time shift STCA-MIMO radar non-fuzzy parameter estimation method is characterized by comprising the following steps:
establishing an STCA-MIMO radar signal model; the STCA-MIMO radar signal model is a co-location MIMO radar system with M transmitting array elements and N receiving array elements;
Selecting nonlinear time shifting for the STCA-MIMO radar, and calculating an STCA-MIMO radar echo signal of a target by using the STCA-MIMO radar signal model; wherein the selected nonlinear time shift is one of logarithmic time shift, square time shift and sine time shift;
Carrying out digital mixing and matched filtering processing on the STCA-MIMO radar echo signals to obtain STCA-MIMO radar echo preprocessing signals;
calculating a covariance matrix of the STCA-MIMO radar echo preprocessing signal;
Performing eigenvalue decomposition on the covariance matrix to obtain a noise subspace of an STCA-MIMO radar echo preprocessing signal;
calculating a receiving-transmitting joint steering vector of the STCA-MIMO radar at any point in space;
And constructing a MUSIC spatial spectrum function according to the noise subspace and the receiving-transmitting joint guide vector, and carrying out spectral peak search on the MUSIC spatial spectrum function to estimate the angle and the distance of the target.
2. The non-ambiguity parameter estimation method of non-linear time shift STCA-MIMO radar according to claim 1, wherein when the selected non-linear time shift is logarithmic time shift, the time shift amount corresponding to the mth transmitting array element of the STCA-MIMO radar is expressed as:
Δtm＝log(m)Δt；
Wherein Δt m represents the time shift amount of the mth transmitting array element of the STCA-MIMO radar, M takes a value of 1-M, M represents the number of transmitting array elements, Δt represents the reference time shift amount, Δt=1/B, and B represents the signal bandwidth.
3. The non-ambiguity parameter estimation method of non-linear time shift STCA-MIMO radar according to claim 1, wherein when the selected non-linear time shift is a square time shift, the time shift amount corresponding to the mth transmitting array element of the STCA-MIMO radar is expressed as:
Δtm＝(m-1)2Δt；
Wherein Δt m represents the time shift amount of the mth transmitting array element of the STCA-MIMO radar, M takes a value of 1-M, M represents the number of transmitting array elements, Δt represents the reference time shift amount, Δt=1/B, and B represents the signal bandwidth.
4. The non-ambiguity parameter estimation method of non-linear time shift STCA-MIMO radar according to claim 1, wherein when the selected non-linear time shift is sinc time shift, the time shift amount formula of the mth transmitting array element of the corresponding STCA-MIMO radar is expressed as:
Wherein Δt m represents the time shift amount of the mth transmitting array element of the STCA-MIMO radar, M takes a value of 1-M, M represents the number of transmitting array elements, Δt represents the reference time shift amount, Δt=1/B, and B represents the signal bandwidth.
5. The non-linear time-shifted STCA-MIMO radar non-ambiguity parameter estimation method of claim 2 or 3 or 4, wherein calculating the STCA-MIMO radar echo signal for the target using the STCA-MIMO radar signal model is formulated as:
wherein (theta 0,R0) represents the angle and distance from the target to a transmitting array formed by M transmitting array elements, y n (DEG) represents the STCA-MIMO radar echo signal of the target corresponding to the nth receiving array element, N has a value of 1-N, N represents the number of receiving array elements, d represents the interval between transmitting array elements, lambda=c/f 0 represents the wavelength, c represents the propagation speed of electromagnetic waves, f 0 represents the carrier frequency, s (DEG) represents the transmitting signal of the STCA-MIMO radar, Τ 0＝2R0/c represents the two-way propagation delay between the STCA-MIMO radar and the target, g (·) represents the quadrature chirp signal, i.e. the reference transmit signal of the transmit array,Rect (·) represents a rectangular function, μ=b/Tp represents a chirp rate of the chirp signal, tp represents a radar pulse width, B represents a signal bandwidth, c m represents a coding coefficient of an mth transmitting array element, and Δt m represents a time shift amount of the mth transmitting array element of the STCA-MIMO radar.
6. The non-linear time-shifting STCA-MIMO radar non-ambiguity parameter estimation method of claim 5, wherein the STCA-MIMO radar echo signal is digitally mixed and matched filtered to obtain an STCA-MIMO radar echo preprocessing signal formulated as:
Wherein y represents an STCA-MIMO radar echo preprocessing signal, y n(t,θ0) represents a signal obtained by performing digital mixing and matched filtering processing on an STCA-MIMO radar echo signal received by an nth receiving array element, (·) T represents a transposition operation, β represents a complex scattering coefficient, Representing the kronecker product operation, b (θ 0) represents the received steering vector of the STCA-MIMO radar at the target in the selected nonlinear time shift, a (R 0,θ0) represents the transmitted steering vector of the STCA-MIMO radar at the target in the selected nonlinear time shift, and n represents the noise vector.
7. The non-linear time-shifting STCA-MIMO radar non-ambiguity parameter estimation method of claim 6, wherein performing eigenvalue decomposition on the covariance matrix yields a noise subspace formulation expressed as:
wherein R represents a covariance matrix, r=e { yy H }, y represents an STCA-MIMO radar echo preprocessing signal, E { · } represents a desired operation, V s represents a matrix composed of eigenvectors corresponding to large eigenvalues, that is, a signal subspace of the STCA-MIMO radar echo preprocessing signal, Λ s represents a diagonal matrix composed of large eigenvalues, V n represents a matrix composed of eigenvectors corresponding to small eigenvalues, that is, a noise subspace of the STCA-MIMO radar echo preprocessing signal, Λn represents a diagonal matrix composed of small eigenvalues, and (-) H represents a conjugate transpose operation.
8. The non-linear time-shifted STCA-MIMO radar non-ambiguity parameter estimation method of claim 7, wherein calculating the receive-transmit joint steering vector formula for the STCA-MIMO radar at any point in space is expressed as:
Where u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, b (θ) represents a reception steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, a (R, θ) represents a transmission steering vector of the STCA-MIMO radar at any point in space in the selected nonlinear time shift, Representing the kronecker product operation.
9. The non-linear time-shifted STCA-MIMO radar non-ambiguity parameter estimation method of claim 8, wherein constructing a MUSIC spatial spectrum function from the noise subspace and the receive-transmit joint steering vector is formulated as:
Where P (R, θ) represents a MUSIC spatial spectrum function, u (R, θ) represents a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space, V n represents a noise subspace of the STCA-MIMO radar echo preprocessing signal, and (-) H represents a conjugate transpose operation.
10. A non-linear time-shifted STCA-MIMO radar non-ambiguity parameter estimation apparatus, comprising:
The model building module is used for building an STCA-MIMO radar signal model; the STCA-MIMO radar signal model is a co-location MIMO radar system with M transmitting array elements and N receiving array elements;
The first data calculation module is used for selecting nonlinear time shifting for the STCA-MIMO radar and calculating an STCA-MIMO radar echo signal of a target by using the STCA-MIMO radar signal model; wherein the selected nonlinear time shift is one of logarithmic time shift, square time shift and sine time shift;
The data processing module is used for carrying out digital mixing and matched filtering processing on the STCA-MIMO radar echo signals to obtain STCA-MIMO radar echo preprocessing signals;
The second data calculation module is used for calculating a covariance matrix of the STCA-MIMO radar echo preprocessing signal;
The data decomposition module is used for decomposing the eigenvalue of the covariance matrix to obtain a noise subspace of the STCA-MIMO radar echo preprocessing signal;
A third data calculation module, configured to calculate a reception-transmission joint steering vector of the STCA-MIMO radar at any point in space;
And the data estimation module is used for constructing a MUSIC spatial spectrum function according to the noise subspace and the receiving-transmitting joint guide vector, and carrying out spectral peak search on the MUSIC spatial spectrum function to estimate the angle and the distance of the target.
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