CN115390061B - Two-dimensional point trace condensation method based on radar distance Doppler plane - Google Patents
Two-dimensional point trace condensation method based on radar distance Doppler plane Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005494 condensation Effects 0.000 title claims description 23
- 238000009833 condensation Methods 0.000 title claims description 23
- 230000002776 aggregation Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000004220 aggregation Methods 0.000 claims abstract description 7
- 230000005484 gravity Effects 0.000 claims description 4
- 238000005054 agglomeration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000035485 pulse pressure Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a two-dimensional point trace aggregation method based on a radar distance Doppler plane, and belongs to the technical field of radar target detection. Comprises the following steps: data arrangement and arrangement are carried out, and an ordered point trace array A [ N0] is obtained according to Doppler channels and distance units; merging the point trace array A [ N0] according to the distance in the Doppler channel to obtain B [ N1] [ M0]; merging the adjacent range Doppler between the two-dimensional array B [ N1] [ M0] targets into a two-dimensional array C [ N2] [ M1]; m1 targets in each row in the array C [ N2] [ M1] can be removed according to targets which do not meet the conditions in the one-dimensional aggregation algorithm, and the targets are changed into an array D [ N2] [ M2]; m2 targets in each row of the array D [ N2] [ M2] are aggregated into a point, and the array is changed into E [ N2] target points. Each target point obtains the amplitude, distance and Doppler information of the target.
Description
Technical Field
The invention belongs to the technical field of radar target detection, and particularly relates to a two-dimensional point trace condensation method based on a radar range Doppler plane.
Background
In the radar signal processing process, due to target splitting, the point trace condensation is required to be carried out in the point trace distance dimension and the Doppler dimension. The traditional method is to perform condensation in the distance dimension firstly, then perform condensation in the Doppler dimension, and perform condensation in a serial crisscross mode, which can cause the phenomenon that the condensation centers of gravity of the same target in different Doppler channel distances cannot be aligned, so that the condensation of the target is incomplete, and one target finally becomes 2 or more targets.
Disclosure of Invention
Technical problem to be solved
Aiming at the artificial target splitting in a serial crisscross mode, the invention provides a two-dimensional point trace condensation method based on a radar distance Doppler plane, which realizes radar target detection condensation treatment.
Technical proposal
A two-dimensional point trace condensation method based on a radar distance Doppler plane is characterized by comprising the following steps:
Step 1: firstly, arranging the point tracks obtained through the detection of the cross false alarm and the clutter map threshold according to the Doppler channel numbers from small to large, and then arranging the point tracks from small to large according to the distance unit numbers in the same Doppler channel number to obtain an ordered point track array A [ N0]; wherein N0 is the number of detected targets to be aggregated;
Step 2: finding adjacent points of the distance units for all the distance units in each Doppler channel, merging the adjacent points together, and calculating an integral point from the adjacent target points; at this time, the target point is arranged into a two-dimensional array B [ N1] [ M0]; wherein N1 is the number of integral points, and M0 is the number of targets in adjacent target points in each integral;
Step 3: doppler comparison is carried out on each target point of N1 rows and M0 columns in the two-dimensional array B [ N1] [ M0] and each target point of different rows and columns in the array, the target points with adjacent or same distances and Doppler adjacent distances are found, and the points are integrated together to calculate a whole; at this time, the target point is arranged into a two-dimensional array C [ N2] [ M1]; m1 targets in each row meet the condition that distance units are adjacent, doppler is the same or adjacent; the N2 row represents the number of the non-mergeable targets;
Step 4: m1 targets in each row in the array C [ N2] [ M1] are removed according to targets which do not meet the conditions in the one-dimensional condensation algorithm, and the targets are changed into an array D [ N2] [ M2];
Step 5: condensing M2 targets in each row of the array D [ N2] [ M2] into a point, and changing the array into E [ N2] target points; and obtaining the amplitude, the distance and the Doppler information of the target for each target point.
The principle of M1 target elimination in the step 4 is as follows: judging whether the amplitude difference value of the original point trace data adjacent to the distance unit is smaller than a threshold value; when the amplitude difference value is larger than the threshold value, eliminating the target with small amplitude; when the amplitude difference is smaller than the threshold value, judging whether the distance continuation unit exceeds the pulse width of the target, if the distance continuation unit is smaller than or equal to the pulse width of the target, the original trace data belong to the same target, and retaining the trace information.
And 5, obtaining the amplitude, the distance and the Doppler information of the target by adopting a large selection method.
And 5, the method for calculating the center of gravity calculates the amplitude, the distance and the Doppler information of the target.
And 5, obtaining the amplitude, the distance and the Doppler information of the target by adopting a parabolic fitting method.
A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the methods described above.
A computer readable storage medium, characterized by storing computer executable instructions that when executed are configured to implement the method described above.
Advantageous effects
The two-dimensional point trace aggregation method based on the radar distance Doppler plane provided by the invention realizes radar target detection aggregation treatment, the target point of the two-dimensional distance Doppler plane is aggregated into a final target point, and no target splitting occurs.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
Figure 1 is a flow chart of a two-dimensional agglomeration method for range-doppler planes.
Figure 2 is a schematic of a range-doppler plan view before trace condensation.
Figure 3 is a schematic diagram of a range-doppler plane after trace condensation.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The two-dimensional agglomeration process flow for the range-doppler plane is shown in figure 1 below.
The invention provides a two-dimensional point trace condensation method based on a radar distance Doppler plane aiming at the artificial target splitting in a serial crisscross mode, which realizes radar target detection condensation treatment and specifically comprises the following five steps.
Step one:
the method comprises the steps of firstly arranging the points obtained through the detection of the cross false alarm and the clutter map threshold according to the Doppler channel number from small to large, and then arranging the points in the same Doppler channel number according to the distance unit number from small to large to obtain an ordered point array A [ N0], wherein N0 is the number of detected targets to be aggregated.
Step two:
Finding the adjacent points of the distance units for all the distance units in each Doppler channel, merging the adjacent points together, and calculating an integral point from the adjacent target points, so that after the data of all the Doppler channels are sorted, the target is divided into N1 integers, N1 is less than or equal to N0, and the N1 is related to the size of the target occupying a plurality of distance units. The number of targets in each adjacent target point in the whole is recorded as M0, and M0 is less than or equal to N0. At this time, the target points are arranged into a two-dimensional array B [ N1] [ M0].
Step three:
Doppler comparison is carried out on each target point of N1 rows and M0 columns in the two-dimensional array B [ N1] [ M0] and each target point of different rows and columns in the array, target points with adjacent or same distances and Doppler adjacent directions are found, the points are integrated together to form a whole, the targets are divided into N2 whole points, the number of the targets in each whole point is M1, N2 is less than or equal to N1, and M0 is less than or equal to M1 and less than or equal to N0. At this time, the target point is arranged into a two-dimensional array C [ N2] [ M1]. M1 targets in each row satisfy the condition that the distance units are adjacent, and the doppler is the same or adjacent. The N2 line represents the number of non-mergeable targets.
Step four:
M1 targets in each row of the array C [ N2] [ M1] can be removed according to targets which do not meet the conditions in the one-dimensional condensation algorithm, and the targets are changed into the array D [ N2] [ M2], N2 is less than or equal to N1, M1 is less than or equal to M2 and less than or equal to N0.
The principle of M1 target elimination is as follows: and judging whether the amplitude difference value of the original point trace data adjacent to the distance unit is smaller than a threshold value. The value of the threshold depends on the pulse width and the intra-pulse sampling point. Adjacent points exceeding the pulse width can be introduced by pulse pressure side lobes, and whether the adjacent targets are adjacent targets is determined according to the amplitude ratio of the main side lobes; when the amplitude difference value is larger than the threshold value, the target with small amplitude can be eliminated; when the amplitude difference is smaller than the threshold value, judging whether the distance continuation unit exceeds the pulse width of the target, if the distance continuation unit is smaller than or equal to the pulse width of the target, the original trace data belong to the same target, and retaining the trace information. The Doppler difference of the adjacent trace data should also be less than a threshold, the choice of which is determined by the FIR filter or FFT accuracy of the radar pulse accumulation.
Step five:
M2 targets in each row of the array D [ N2] [ M2] are aggregated into a point, and the array is changed into E [ N2] target points. Each target point can be condensed by several methods: (a) And selecting a distance unit of the trace with the largest amplitude, and taking the Doppler channel and the amplitude value as the amplitude, the distance and Doppler information of the condensed target. (b) The amplitude amp new, the distance dis new, and the doppler information duopl new of the target are obtained by calculating the center of gravity by the expression (1) and the expression (2) and the expression (3). (c) And obtaining the amplitude, the distance and the Doppler information of the target by adopting a parabolic fitting method.
Wherein M 2 is the number of the tracks of the current target in the current row, amp (M) is the amplitude of the mth track, dis (M) is the distance of the mth track, duopl (M) is the Doppler information of the mth track.
For example, there is a two-dimensional detection plane, the number of distance units is 8, the number of doppler channels is 6, the number of detected targets n0=12, and the distance, doppler and amplitude of each target point are shown in the shaded portion in fig. 2.
According to step one, the target points are first sorted into an array A12, and each target in the array is distinguished by Doppler and distance. The array A12 is obtained by arranging the distance units in each Doppler from small to large according to Doppler from small to large.
A[12]＝[a03,a12,a30,a34,a40,a42,a43,a44,a45,a47,a53,a54]。
And step two, merging the Doppler channel data to form an array B [8] [4].
And thirdly, merging targets of different lines of Doppler channels into an array C4 7 by finding adjacent or same points of the distance units.
And step four, removing targets which do not meet the condition of distance condensation and Doppler condensation in a one-dimensional condensation algorithm, for example, removing targets with the amplitude of 1, and removing the targets into an array D4 5.
And fifthly, condensing the targets of each row into one point, condensing the targets into an array E4 in a large selection mode.
E[4]＝[a12,a40,a44,a47]。
The final condensed target point is shown in the schematic diagram 3 below.
It can be seen that after five steps of processing, the target points of the two-dimensional range-doppler plane aggregate into final target points, and no target splitting occurs.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A two-dimensional point trace condensation method based on a radar distance Doppler plane is characterized by comprising the following steps:
Step 1: firstly, arranging the point tracks obtained through the detection of the cross false alarm and the clutter map threshold according to the Doppler channel numbers from small to large, and then arranging the point tracks from small to large according to the distance unit numbers in the same Doppler channel number to obtain an ordered point track array A [ N0]; wherein N0 is the number of detected targets to be aggregated;
Step 2: finding adjacent points of the distance units for all the distance units in each Doppler channel, merging the adjacent points together, and calculating an integral point from the adjacent target points; at this time, the target point is arranged into a two-dimensional array B [ N1] [ M0]; wherein N1 is the number of integral points, and M0 is the number of targets in adjacent target points in each integral;
Step 3: doppler comparison is carried out on each target point of N1 rows and M0 columns in the two-dimensional array B [ N1] [ M0] and each target point of different rows and columns in the array, the target points with adjacent or same distances and Doppler adjacent distances are found, and the points are integrated together to calculate a whole; at this time, the target point is arranged into a two-dimensional array C [ N2] [ M1]; m1 targets in each row meet the condition that distance units are adjacent, doppler is the same or adjacent; the N2 row represents the number of the non-mergeable targets;
Step 4: m1 targets in each row in the array C [ N2] [ M1] are removed according to targets which do not meet the conditions in the one-dimensional condensation algorithm, and the targets are changed into an array D [ N2] [ M2];
Step 5: condensing M2 targets in each row of the array D [ N2] [ M2] into a point, and changing the array into E [ N2] target points; and obtaining the amplitude, the distance and the Doppler information of the target for each target point.
2. The method for two-dimensional point trace aggregation based on radar range-doppler planes according to claim 1, wherein the principle of M1 target rejection in step 4 is as follows: judging whether the amplitude difference value of the original point trace data adjacent to the distance unit is smaller than a threshold value; when the amplitude difference value is larger than the threshold value, eliminating the target with small amplitude; when the amplitude difference is smaller than the threshold value, judging whether the distance continuation unit exceeds the pulse width of the target, if the distance continuation unit is smaller than or equal to the pulse width of the target, the original trace data belong to the same target, and retaining the trace information.
3. The method for two-dimensional point trace aggregation based on radar range-Doppler planes according to claim 1, wherein in step 5, the amplitude, range and Doppler information of the target are obtained by a method of selecting a large scale.
4. The method for two-dimensional trace aggregation based on radar range-doppler planes according to claim 1, wherein the method for calculating the center of gravity in step 5 calculates the amplitude, range and doppler information of the target.
5. The method for condensing two-dimensional point traces based on radar range-doppler planes according to claim 1, wherein in step 5, the amplitude, range and doppler information of the target are obtained by adopting a parabolic fitting method.
6. A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of claim 1.
7. A computer readable storage medium, characterized by storing computer executable instructions that, when executed, are adapted to implement the method of claim 1.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5465095A (en) * | 1994-08-05 | 1995-11-07 | The United States Of America As Represented By The Secretary Of The Air Force | Time efficient method for processing adaptive target detection thresholds in doppler radar systems |
| CN110879390A (en) * | 2019-12-02 | 2020-03-13 | 西安电子工程研究所 | Distance Doppler plane point trace agglomeration method based on parent-child node traversal |
| CN114152939A (en) * | 2021-10-27 | 2022-03-08 | 西安电子工程研究所 | Simultaneous multi-beam radar point trace condensation method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5465095A (en) * | 1994-08-05 | 1995-11-07 | The United States Of America As Represented By The Secretary Of The Air Force | Time efficient method for processing adaptive target detection thresholds in doppler radar systems |
| CN110879390A (en) * | 2019-12-02 | 2020-03-13 | 西安电子工程研究所 | Distance Doppler plane point trace agglomeration method based on parent-child node traversal |
| CN114152939A (en) * | 2021-10-27 | 2022-03-08 | 西安电子工程研究所 | Simultaneous multi-beam radar point trace condensation method |
Non-Patent Citations (1)
| Title |
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| 一种机载脉冲多普勒雷达目标点迹处理方法;彭祥龙;电讯技术;20050831(第04期);全文 * |
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