CN117420526A - Method for realizing real-time processing of large-scale radar signals - Google Patents
Method for realizing real-time processing of large-scale radar signals Download PDFInfo
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- CN117420526A CN117420526A CN202311473863.6A CN202311473863A CN117420526A CN 117420526 A CN117420526 A CN 117420526A CN 202311473863 A CN202311473863 A CN 202311473863A CN 117420526 A CN117420526 A CN 117420526A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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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
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
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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
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
Abstract
The invention discloses a method for realizing real-time processing of large-scale radar signals, which is used for generating a transmission wave based on the transmission signal and outputting the transmission wave at each of a plurality of preset angles; receiving a reflected wave of the transmission wave from the target, generating a reception signal based on the reflected wave, and receiving the reflected wave of the target from the reflected transmission wave as the reception signal; and the radar receiver automatically detects and records target data in a large scale, automatically tracks, automatically calculates target parameters, judges whether collision danger exists according to the peak signal, and adopts a threshold detection method to facilitate the subsequent processes of parameter estimation, detection imaging and the like by adjusting signal data. Typically including some beamforming, pulse compression, clutter filtering, some doppler processing, etc.
Description
Technical Field
The invention belongs to the technical field of radar signal real-time processing, and particularly relates to a method for realizing large-scale radar signal real-time processing.
Background
Radar data processing refers herein to operations performed by the radar on target measurement data after the radar obtains the position and motion parameters (such as radial distance, radial velocity, azimuth, etc.) of the target from the data logger, such as interconnection, tracking, filtering, smoothing prediction, etc. The processing can effectively restrain random errors introduced in the measuring process, accurately estimate the position of the target and related motion parameters (such as heading, navigational speed and the like), predict the position of the target at the next moment, and continuously track the target to form a stable target track. Meanwhile, various data processing such as the determination of the Budweiser and the alarm between ships are also carried out, so that various functions corresponding to the ARPA system for ships are formed, and the functions can be controlled and displayed on a terminal display screen.
In the related art, a radar emits an emission signal outwards, then receives an echo signal reflected by a flying target, processes the echo signal by utilizing the pulse compression technology, the coherent accumulation technology and the like to obtain information of the target, and then performs early warning according to the information of the target, wherein the class target has the characteristics of low height, small volume and low speed, is easy to conceal in ground clutter, and the radar cross-Section (RCS) is small, so that the flying target is not easy to be found by the radar, and the detection omission rate and the false alarm probability are high during monitoring, and the large-scale radar signal processing is lacked.
A radar signal recognition algorithm (application number: 202011574266.9) comprises a radar signal recognition algorithm design stage, a signal membership calculation stage, a signal reliability calculation stage and an unknown signal threat level calculation stage; the invention provides a radar signal identification algorithm, which takes carrier frequency parameters of input signals as basic values, sequentially matches and compares carrier frequency, repetition period and pulse width parameters in a database, improves radar signal identification rate through a signal matching threshold, and calculates signal credibility and threat level through judging frequency, pulse width and repetition period of unmatched signals; thereby providing credibility and threat level for each identification signal, and further improving working efficiency
The above patent performs early warning according to the information of the target, but the class target has the characteristics of low height, small volume and low speed, is easy to hide in ground clutter, and the small RCS (radar cross-Section) also makes the class of flying targets not easy to be found by radar, so that the detection omission rate and false alarm probability are high during monitoring, and large-scale radar signal processing is lacking, so that a method for realizing large-scale radar signal real-time processing is needed.
Disclosure of Invention
An object of the present invention is to provide a method of realizing real-time processing of a large-scale radar signal, generating a transmission wave based on the transmission signal, and outputting the transmission wave at each of a plurality of predetermined angles; receiving a reflected wave of the transmission wave from the target, generating a reception signal based on the reflected wave, and receiving the reflected wave of the target from the reflected transmission wave as the reception signal; the method is characterized in that the method comprises the steps of receiving a signal, acquiring a target signal, and acquiring a radar signal, wherein the radar signal is used for acquiring the target signal, acquiring target data, automatically detecting and tracking the target signal, automatically calculating target parameters, judging whether collision danger exists according to the peak signal, adjusting the target signal, and adopting a threshold detection method to facilitate subsequent parameter estimation.
In order to achieve the above purpose, the invention adopts the following technical scheme: a method for realizing large-scale radar signal real-time processing comprises the following steps:
step 1: generating a transmission wave based on the transmission signal, and outputting the transmission wave at each of a plurality of predetermined angles; receiving a reflected wave of the transmitted wave from the target and generating a received signal based on the reflected wave;
step 2: receiving a reflected wave from a target that reflects the transmitted wave as a received signal; and deriving target information including at least a lateral distance of the target from a peak signal based on the received signal;
step 3: the radar receiver automatically detects and records target data in a large scale, automatically tracks, automatically calculates target parameters, and judges whether collision danger exists according to peak signals;
step 4: and the signal data is regulated, and a threshold detection method is adopted, so that subsequent parameter estimation, detection imaging and other processes are facilitated. Typically including some beamforming, pulse compression, clutter filtering, some doppler processing, etc.;
step 5: and obtaining a target signal after detection processing, and estimating corresponding parameters according to the obtained target signal.
Preferably, in step 1, information about the target is determined based on the received signal, wherein the information includes at least one of a speed of the target and a distance to the target.
Preferably, in step 2, the signal processing method includes: the present-time determined lateral distance, which is the lateral distance of the present-time processed target, is derived by filtering the present lateral distance, which is the lateral distance of the present-time processed paired data obtained by pairing the peak signals, and the predicted lateral distance, which is obtained by predicting the lateral distance of the present-time processed target from the previously-determined lateral distance, which is the lateral distance of the previous-time processed target, by using a predetermined filter constant.
Preferably, when the lateral distance of the moving object and the lateral distance of a specific object that is an object other than the object moving object satisfy a predetermined relationship, a filter constant for filtering the present lateral distance and the predicted lateral distance of the object moving object is changed such that a reflection amount of the present lateral distance is reduced as compared with before the change; the present determined lateral distance is derived by filtering the present lateral distance and the predicted lateral distance with a predetermined filter constant.
Preferably, the present lateral distance is a lateral distance of paired data of the present process obtained by pairing peak signals, and the predicted lateral distance is obtained by predicting a lateral distance of a target of the present process from a previously determined lateral distance which is a lateral distance of a target of the previous process, and the currently determined lateral distance is a lateral distance of the target of the present process.
Preferably, in the step 3, a useful target echo is detected in a clutter interference background such as sea wave, rain and snow, and internal noise of the receiver, which are present in the echo video signal output by the radar receiver, and the existence of the target is determined; the coordinate data of the target and other parameters of the target are recorded.
Preferably, the parameters thereof are as follows: the size and the type of the target, and numbering the target; according to the information provided by one-time processing, a track of movement is established, storage and transportation parameters are calculated and stored, and R-0/X-Y coordinate transformation is carried out on a target; tracking the target and judging whether the echo signals scanned by the antenna are the same target or not; predicting and judging the future state of the moving object, calculating the closest distance (DCPA, abbreviated as the closest point CPA), the Time (TCPA) for reaching the closest point CPA, judging whether collision danger exists, calculating a safe sailing scheme and the like.
Preferably, in step 4, it is determined whether the target exists in the echo by comparing the amplitude of the signal with a threshold. Of course, the processing method also has a certain error probability, and the possible interference is stronger than the target signal considered by us, so that a false target is detected, the false target is defined as 'false alarm' in the radar signal processing, and in practice, we often perform threshold calculation by estimating the statistical characteristics of the received echo data, and the process is 'constant false alarm rate CFAR' detection.
Preferably, in step 5, corresponding parameters, such as distance, speed, angle, etc., are estimated according to the obtained target signal. These parameters of the target are given, mainly for the following data processing, in which tracking trajectories are generally mainly implemented.
Preferably, the wireless scanning period decorrelation processing is used for reducing sea clutter interference, the display scanning pulse repetition period decorrelation processing is used for eliminating interference among radars with the same frequency, and a high-speed high-capacity special CPU and an FPGA are adopted for comprehensive processing, so that the application range is enlarged.
The invention has the technical effects and advantages that: compared with the prior art, the method for realizing the real-time processing of the large-scale radar signals has the following advantages:
the present invention generates a transmission wave based on a transmission signal and outputs the transmission wave at each of a plurality of predetermined angles; receiving a reflected wave of the transmission wave from the target, generating a reception signal based on the reflected wave, and receiving the reflected wave of the target from the reflected transmission wave as the reception signal; and deriving target information including at least a lateral distance of the target from a peak signal based on the received signal, the radar receiver automatically detects and captures target data on a large scale.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a method for realizing large-scale radar signal real-time processing as shown in fig. 1, which comprises the following steps:
step 1: generating a transmission wave based on the transmission signal, and outputting the transmission wave at each of a plurality of predetermined angles; receiving a reflected wave of the transmitted wave from the target, and generating a reception signal based on the reflected wave;
step 2: receiving a reflected wave from a target that reflects the transmitted wave as a received signal; and deriving target information including at least a lateral distance of the target from a peak signal based on the received signal;
step 3: the radar receiver automatically detects and records target data in a large scale, automatically tracks, automatically calculates target parameters, and judges whether collision danger exists according to peak signals;
step 4: and the signal data is regulated, and a threshold detection method is adopted, so that subsequent parameter estimation, detection imaging and other processes are facilitated. Typically including some beamforming, pulse compression, clutter filtering, some doppler processing, etc.;
step 5: and obtaining a target signal after detection processing, and estimating corresponding parameters according to the obtained target signal.
In step 1, information about the target is determined based on the received signal, wherein the information includes at least one of a speed of the target and a distance to the target.
In step 2, the signal processing method includes: the present determined lateral distance is derived by filtering the present lateral distance, which is the lateral distance of the present processing paired data obtained by pairing the peak signals, and the predicted lateral distance, which is obtained by predicting the lateral distance of the present processing target from the previously determined lateral distance, which is the lateral distance of the previous processing target, by a predetermined filter constant.
When the lateral distance of the moving object and the lateral distance of a specific object that is an object other than the object moving object satisfy a predetermined relationship, changing a filter constant for filtering the present lateral distance and the predicted lateral distance of the object moving object so that the reflection amount of the present lateral distance is reduced compared with before the change; the present determined lateral distance is derived by filtering the present lateral distance and the predicted lateral distance with a predetermined filter constant.
The present lateral distance is a lateral distance of paired data of the present process obtained by pairing peak signals, and the predicted lateral distance is obtained by predicting a lateral distance of the present process target from a previously determined lateral distance which is a lateral distance of the previous process target, the currently determined lateral distance being a lateral distance of the present process target.
In step 3, detecting useful target echoes in clutter interference backgrounds such as sea waves, rain and snow, receiver internal noise and the like in echo video signals output by a radar receiver, and judging the existence of targets; the coordinate data of the target and other parameters of the target are recorded.
Parameters thereof are for example: the size and the type of the target, and numbering the target; according to the information provided by one-time processing, a track of movement is established, storage and transportation parameters are calculated and stored, and R-0/X-Y coordinate transformation is carried out on a target; tracking the target and judging whether the echo signals scanned by the antenna are the same target or not; predicting and judging the future state of the moving object, calculating the closest distance (DCPA, abbreviated as the closest point CPA), the Time (TCPA) for reaching the closest point CPA, judging whether collision danger exists, calculating a safe sailing scheme and the like.
In step 4, it is determined whether a target is present in the echo by comparing the amplitude of the signal with a threshold. Of course, the processing method also has a certain error probability, and the possible interference is stronger than the target signal considered by us, so that a false target is detected, the false target is defined as 'false alarm' in the radar signal processing, and in practice, we often perform threshold calculation by estimating the statistical characteristics of the received echo data, and the process is 'constant false alarm rate CFAR' detection.
In step 5, corresponding parameters such as distance, speed, angle, etc. are estimated from the obtained target signal. These parameters of the target are given, mainly for the following data processing, in which tracking trajectories are generally mainly implemented.
The method uses the wireless scanning period de-correlation processing to reduce sea clutter interference, the display scanning pulse repetition period de-correlation processing is used for eliminating interference among radars with the same frequency, and a high-speed large-capacity special CPU and an FPGA are adopted for comprehensive processing, so that the application range is enlarged.
Working principle: generating a transmission wave based on the transmission signal, and outputting the transmission wave at each of a plurality of predetermined angles; receiving a reflected wave of the transmission wave from the target, and generating a reception signal based on the reflected wave, receiving the reflected wave of the target from the reflected transmission wave as the reception signal; and the radar receiver automatically detects and records target data in a large scale, automatically tracks, automatically calculates target parameters, judges whether collision danger exists according to the peak signal, and adopts a threshold detection method to facilitate the subsequent processes of parameter estimation, detection imaging and the like by adjusting signal data. The method generally comprises the steps of beam forming, pulse compression, clutter filtering, doppler processing and the like, wherein a target signal is obtained through detection processing, and corresponding parameters are estimated according to the obtained target signal.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. A method for realizing large-scale radar signal real-time processing is characterized in that: the method comprises the following steps:
step 1: generating a transmission wave based on the transmission signal, and outputting the transmission wave at each of a plurality of predetermined angles; receiving a reflected wave of the transmitted wave from the target and generating a received signal based on the reflected wave;
step 2: receiving a reflected wave from a target that reflects the transmitted wave as a received signal; and deriving target information including at least a lateral distance of the target from a peak signal based on the received signal;
step 3: the radar receiver automatically detects and records target data in a large scale, automatically tracks, automatically calculates target parameters, and judges whether collision danger exists according to peak signals;
step 4: and the signal data is regulated, and a threshold detection method is adopted, so that subsequent parameter estimation, detection imaging and other processes are facilitated. Typically including some beamforming, pulse compression, clutter filtering, some doppler processing, etc.;
step 5: and obtaining a target signal after detection processing, and estimating corresponding parameters according to the obtained target signal.
2. A method for implementing large-scale radar signal real-time processing according to claim 1, wherein: the step 1 of determining information about the target based on the received signal, wherein the information comprises at least one of a speed of the target and a distance to the target.
3. A method for implementing large-scale radar signal real-time processing according to claim 1, wherein: the signal processing method in step 2 includes: the present-time determined lateral distance, which is the lateral distance of the present-time processed target, is derived by filtering the present lateral distance, which is the lateral distance of the present-time processed paired data obtained by pairing the peak signals, and the predicted lateral distance, which is obtained by predicting the lateral distance of the present-time processed target from the previously-determined lateral distance, which is the lateral distance of the previous-time processed target, by using a predetermined filter constant.
4. A method for implementing large-scale radar signal real-time processing according to claim 3, wherein: when the lateral distance of the moving object and the lateral distance of a specific object which is an object other than the object moving object satisfy a predetermined relationship, changing a filter constant for filtering the present lateral distance and the predicted lateral distance of the object moving object so that the reflection amount of the present lateral distance is reduced compared with before the change; the present determined lateral distance is derived by filtering the present lateral distance and the predicted lateral distance with a predetermined filter constant.
5. The method for realizing the real-time processing of the large-scale radar signals according to claim 4, wherein the method comprises the following steps: the present lateral distance is a lateral distance of paired data of the present process obtained by pairing peak signals, and the predicted lateral distance is obtained by predicting a lateral distance of a target of the present process from a previously determined lateral distance which is a lateral distance of the target of the previous process.
6. A method for implementing large-scale radar signal real-time processing according to claim 1, wherein: in the step 3, useful target echoes are detected in clutter interference backgrounds such as sea waves, rain and snow, receiver internal noise and the like in echo video signals output by a radar receiver, and the existence of targets is judged; the coordinate data of the target and other parameters of the target are recorded.
7. The method for realizing the real-time processing of the large-scale radar signals according to claim 6, wherein the method comprises the following steps: the parameters are as follows: the size and the type of the target, and numbering the target; according to the information provided by one-time processing, a track of movement is established, storage and transportation parameters are calculated and stored, and R-0/X-Y coordinate transformation is carried out on a target; tracking the target and judging whether the echo signals scanned by the antenna are the same target or not; predicting and judging the future state of the moving object, calculating the closest distance (DCPA, abbreviated as the closest point CPA), the Time (TCPA) for reaching the closest point CPA, judging whether collision danger exists, calculating a safe sailing scheme and the like.
8. A method for implementing large-scale radar signal real-time processing according to claim 1, wherein: in step 4, it is determined whether the target exists in the echo by comparing the amplitude of the signal with a threshold. Of course, the processing method also has a certain error probability, and the possible interference is stronger than the target signal considered by us, so that a false target is detected, the false target is defined as 'false alarm' in the radar signal processing, and in practice, we often perform threshold calculation by estimating the statistical characteristics of the received echo data, and the process is 'constant false alarm rate CFAR' detection.
9. A method for implementing large-scale radar signal real-time processing according to claim 1, wherein: in step 5, corresponding parameters such as distance, speed, angle, etc. are estimated according to the obtained target signal. These parameters of the target are given, mainly for the following data processing, in which tracking trajectories are generally mainly implemented.
10. A method for implementing large-scale radar signal real-time processing according to claim 9, wherein: the method uses the wireless scanning period de-correlation processing to reduce sea clutter interference, the display scanning pulse repetition period de-correlation processing is used for eliminating interference among radars with the same frequency, and a high-speed high-capacity special CPU and an FPGA are adopted for comprehensive processing, so that the application range is enlarged.
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