CN117471449B - Single group PD tracking method suitable for maneuvering target - Google Patents
Single group PD tracking method suitable for maneuvering target Download PDFInfo
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- CN117471449B CN117471449B CN202311820831.9A CN202311820831A CN117471449B CN 117471449 B CN117471449 B CN 117471449B CN 202311820831 A CN202311820831 A CN 202311820831A CN 117471449 B CN117471449 B CN 117471449B
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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
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Abstract
The invention relates to a single group PD tracking method suitable for a maneuvering target, which comprises the following steps: step 1, initializing radar parameters: step 2, searching the optimal pulse repetition periodP t+1 The method comprises the steps of carrying out a first treatment on the surface of the Step 3, radar single group PD detection: step 4, solving distance and radial velocity blurring: step 5, radial velocity filtering and prediction; and 6, filtering the target track, outputting a tracking target track, and returning to the step 2. According to the method, the target radial velocity prediction is stripped from the track filtering, the distance dimension filtering is independently carried out, the PD measured radial velocity is used as one of the filtering measurement values, the prediction accuracy of the radial velocity of a large maneuvering target is effectively improved, and the single-group PD stable tracking requirement is met.
Description
Technical Field
The invention relates to the field of radar tracking, in particular to a single-group PD tracking method suitable for a maneuvering target.
Background
The Pulse Doppler (PD) signal processing mode improves the target echo signal to noise ratio through pulse coherent accumulation, can inhibit clutter in a frequency domain, and is widely applied to the field of radar signal processing. The medium-to-heavy frequency PD has a double ambiguity in distance and velocity, and in the case of an unknown target distance and radial velocity, it is generally necessary to transmit multiple pulse sets of different pulse repetition Periods (PRTs) to resolve the ambiguity. When tracking a target, knowing the distance and the radial speed of the target, in order to save radar resources, a single PD tracking method can be adopted, and a proper PRT is selected by utilizing the predicted target distance and the radial speed, so that a target echo falls in a preset distance wave gate and a preset speed wave gate, and ambiguity can be resolved, but certain difficulties exist in accurately predicting the target radial speed and selecting the proper PRT.
The prior art provides an improved moving target detection tracking target design, and the method calculates pulse repetition period in real time according to a target speed predicted value, so that target echo is always positioned in a non-turn-off filter, clutter is effectively inhibited, and stable tracking of a target is maintained. However, the method solves the target speed ambiguity by the ratio of the distance to the time, takes the calculated value as the target speed predicted value at the next moment, has larger hysteresis, and has the possibility of losing target tracking caused by target speed prediction errors when the target is maneuvering.
Disclosure of Invention
The invention provides a single-group PD tracking method suitable for a maneuvering target, which aims to solve the problem of target radial speed prediction during single-group PD tracking and simultaneously give consideration to high-precision target track filtering.
The invention comprises the following specific contents: a single set PD tracking method for a maneuver target, comprising the steps of:
step 1, initializing radar parameters;
step 2, searching the optimal pulse repetition periodP t+1 ；
Step 3, detecting a radar single group PD;
step 4, resolving the distance and radial velocity ambiguity;
step 5, radial velocity filtering and prediction;
and 6, filtering the target track, outputting a tracking target track, and returning to the step 2.
Further, in step 1, the initialization parameters include: radar transmitting pulse width tau, pulse repetition period search range PRT min , PRT max ]The number of pulses and the number of FFT points are bothNTransmitting radio frequency wavelengthλMaximum speed required to suppress clutterV clutter Gated radial speed rangeV gate Range of gated distanceR gate 。
Further, in step 2, the optimal pulse repetition periodP t+1 The searching method comprises the following steps:
for arbitrary pulse repetition periodPRTAccording to the distance predicted value of the targetThe apparent time delay of the target in the echo is as follows:
，
where mod (a, b) is the remainder of a divided by b, c is the propagation velocity of the electromagnetic wave, and the pulse repetition period is selectedPRTThe criteria that do not lead to the target falling into the distance blind zone are:
，
for arbitrary pulse repetition periodPRTAccording to the predicted value of the radial velocity of the targetThe apparent value of the Doppler shift of the target echo is obtained as follows:
，
selectedPRTThe criteria that do not lead to the target falling into the speed blind zone are:
and (2) and
wherein round () is a rounding operation;
target echo will deviate from PD filter channel peak positionResulting in filtering losses for any pulse repetition periodPRTThe filtering loss can be characterized as:
，
Lresults between 0 and 0.5, with larger values representing larger losses;
in [ PRT ] min , PRT max ]Searching for a value which causes neither the target to fall into the distance blind zone nor the target to fall into the speed blind zone and minimizes the filter loss as an optimal pulse repetition period, and recording asP t+1 。
Further, in step 3, the radar single group PD detection includes:
radar stationtThe repetition period of the emission pulse at +1 moment isP t+1 Pulse width ofτA kind of electronic deviceNThe equal repetition frequency PD detection is carried out on the pulses, and the sampling time range corresponding to the range gating is as follows:
，
each distance unit is respectively processedNPoint FFT transform to obtainNThe PD filter channels are recorded as 0-N-1, gating filter channel range:
，
CFAR detection is carried out on the gated PD filtering channel echo, and a filter channel where the target is located is obtainedN s And apparent distanceR s 。
Further, in step 4, the solving the distance and radial velocity ambiguity includes:
by means oftDistance prediction value at +1 timeAnd radial velocity prediction value +.>Solving the distance and radial velocity ambiguity to obtaintDistance measurement at +1R t+1 And radial velocity measurementsV t+1 The calculation method comprises the following steps:
。
further, in step 5, the radial velocity filtering and prediction includes:
to be used fortDistance measurement at +1R t+1 And radial velocity measurementsV t+1 Forming a Kalman filtering measurement matrix:
，
at the distance of the targetRRadial velocityVRadial accelerationaAs the state of the object, a state matrix of the kalman filter is formed:
，
the state transition matrix of the Kalman filter is:
，
wherein,Tselecting a Kalman filtering Q value as a criterion for adapting to a large maneuvering target for a target tracking period; radial velocity filtering generationtPredicted value of target distance at +2 timeAnd radial velocity prediction value +.>。
Further, the filtering of the target track in step 6 includes:
will bet+1 time measurement of targetThe radial speed, distance, azimuth and elevation angle are used as Kalman filtering measurement values to filter and output tracking tracks, and the high precision is used as a criterion when the Kalman filtering Q value is selected.
According to the method, the target radial velocity prediction is stripped from the track filtering, the distance dimension filtering is independently carried out, the PD measured radial velocity is used as one of the filtering measurement values, the prediction accuracy of the radial velocity of a large maneuvering target is effectively improved, and the single-group PD stable tracking requirement is met.
Drawings
The following description of the embodiments of the invention is further defined by reference to the accompanying drawings.
FIG. 1 is a block diagram of a single group PD tracking method in the present invention;
FIG. 2 is a graph of simulated target distance, radial velocity, and radial acceleration;
FIG. 3 is a radial velocity estimation primary difference of the distance dimension filtering output;
fig. 4 is a radial velocity prediction primary difference of the distance dimension filtering output.
Description of the embodiments
The invention is mainly verified by adopting a computer simulation method, and all steps and conclusions are verified to be correct on MATLAB-R2014 a. The implementation process of the present invention is described in detail below with reference to fig. 1 to 4. It should be noted that the drawings are in a very simplified form and are merely intended to facilitate a clear and concise description of embodiments of the present inventions.
Step 1, initializing system parameters (simulation of radar and target)
The radar simulation parameters are as follows, working frequencyfWavelength of =6 GHzλ=0.05, pulse width of emissionτ=10μs, the number of PD pulses per group and FFT point number are 32. Range gating rangeR gate =3 km, speed gating rangeV gate =60 m/s, maximum speed to suppress clutterV clutter Pulse repetition period search range PRT =20m/s min =40μs, PRT max =200 μs. Tracking cyclesT=0.05s。
The true value of the target radial track is shown in fig. 2, and the target distance is changed from 3km to 40km; radial acceleration at 20s toGreatly changes between 40s and is constant at-150 m/s between 40s and 50s 2 Rapid change between 70s to 80 s; the target speed is at maximum 1573m/s and at minimum 73m/s.
Superposition on target distance truthσRandom error of 10m as measurement value, single group PD tracking simulation was performed. Initial initiationtTarget distance prediction value at time=0Set to 3km, radial speed predictor +.>Set to 3m/s.
Step 2, searching the optimal pulse repetition periodP t+1 ：
Traversing search Range [ PRT ] min , PRT max ]Searching pulse repetition period with minimum filtering loss and making target fall into distance blind area and speed blind area, and recording asP t+1 。
For arbitrary pulse repetition periodPRTThe criteria that will not cause the target to fall into the distance blind area are:
，
，
where mod (a, b) is the remainder of a divided by b,cis the propagation speed of electromagnetic waves.
For arbitrary pulse repetition periodPRTThe criteria that do not lead to the target falling into the speed blind zone are:
，
and (2) and
where round () is a rounding operation.
For arbitrary pulse repetition periodPRTThe filtering loss for the target is characterized by:
，
Lthe result is between 0 and 0.5, with larger values representing larger losses.
Step 3, radar single group PD detection:
radar stationtThe repetition period of the emission pulse at +1 moment isP t+1 Pulse width ofτA kind of electronic deviceNThe equal repetition frequency PD detection is performed on each pulse. The range of sampling time corresponding to the range gating is as follows:
，
each distance unit is respectively processedNPoint FFT transform to obtainNThe PD filter channels output echoes, and the gating filter channel range is as follows:
，
CFAR detection is carried out on the gated PD filtering channel echo to obtain the target apparent distanceR s And the filter channelsN s 。
Step 4, resolving distance and speed blurring:
by means oftDistance prediction value at +1 timeAnd radial velocity prediction value +.>Resolving speed and distance ambiguity to obtaintDistance measurement at +1 timeMagnitude of the valueR t+1 And radial velocity measurementsV t+1 ：
，
Where mod (a, b) is the remainder of a divided by b.
Step 5, radial velocity filtering and prediction:
to be used fortDistance measurement at +1R t+1 And radial velocity measurementsV t+1 Forming a Kalman filtering measurement matrix:
，
at the distance of the targetRRadial velocityVRadial accelerationaAs the state of the object, a state matrix of the kalman filter is formed:
，
the state transition matrix of the Kalman filter is:
，
the Kalman filtering Q value is selected based on the criterion of adapting to a large maneuvering target.
Radial velocity filtering generationtPredicted value of target distance at +2 timeAnd radial velocity prediction value +.>。
Step 6, target track filtering:
will betMeasuring radial speed, distance, azimuth and elevation angle of a target at +1 time, filtering the radial speed, distance, azimuth and elevation angle as Kalman filtering measurement values, outputting a tracking track, and selecting a Kalman filterThe Q value is subject to a high accuracy. Returning to step 2.
Fig. 3 and fig. 4 show distance dimension filtering output results, and it can be seen that the method can accurately estimate and predict the radial speed of the maneuvering target, the prediction error meets the PRT search requirement, and the method can stably track the maneuvering target.
The invention separates the target radial speed estimation from the target track filtering, and does not influence the track filtering precision while adapting to a large maneuvering target. PRT searching gives consideration to distance and radial speed prediction errors, and improves tolerance to prediction errors caused by target maneuver. The radial speed of the target is estimated by adopting a distance dimension filtering mode, the distance and the radial speed after deblurring are used as Kalman filtering measurement values, and the Q value suitable for large maneuver is selected, so that the estimation accuracy of the radial speed and the radial acceleration is improved, and the higher dynamic characteristic is ensured. The invention effectively avoids the loss of the target caused by the error selection of the PRT when the target is large maneuver, has easy engineering realization and low calculation amount, and has stronger practicability and popularization value.
In the above description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The foregoing description is only of a preferred embodiment of the invention, which can be practiced in many other ways than as described herein, so that the invention is not limited to the specific implementations disclosed above. While the foregoing disclosure has been described with reference to certain embodiments, it will be understood by those skilled in the art that various changes and modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention without departing from the technical solution of the present invention still falls within the scope of the technical solution of the present invention.
Claims (2)
1. A single group PD tracking method for a maneuver target, characterized by: the method comprises the following steps:
step 1, initializing radar parameters;
step 2, searchingOptimum pulse repetition periodP t+1 ；
Step 3, detecting a radar single group PD;
step 4, resolving the distance and radial velocity ambiguity;
step 5, radial velocity filtering and prediction;
step 6, filtering the target track, outputting a tracked target track, and returning to the step 2;
in step 1, the initialization parameters include: radar transmitting pulse width tau, pulse repetition period search range PRT min , PRT max ]The number of pulses and the number of FFT points are bothNTransmitting radio frequency wavelengthλMaximum speed required to suppress clutterV clutter Gated radial speed rangeV gate Range of gated distanceR gate；
In step 2, the optimal pulse repetition periodP t+1 The searching method comprises the following steps:
for arbitrary pulse repetition periodPRTAccording to the distance predicted value of the targetThe apparent time delay of the target in the echo is as follows:
，
where mod (a, b) is the remainder of a divided by b, c is the propagation velocity of the electromagnetic wave, and the pulse repetition period is selectedPRTThe criteria that do not lead to the target falling into the distance blind zone are:
，
for arbitrary pulse repetition periodPRTAccording to the predicted value of the radial velocity of the targetThe apparent value of the Doppler shift of the target echo is obtained as follows:
，
selectedPRTThe criteria that do not lead to the target falling into the speed blind zone are:
and (2) and
wherein round () is a rounding operation;
the deviation of the target echo from the PD filter channel peak position results in filtering loss for any pulse repetition periodPRTThe filtering loss can be characterized as:
，
Lresults between 0 and 0.5, with larger values representing larger losses;
in [ PRT ] min , PRT max ]Searching for a value which causes neither the target to fall into the distance blind zone nor the target to fall into the speed blind zone and minimizes the filter loss as an optimal pulse repetition period, and recording asP t+1；
In step 3, radar single group PD detection includes:
radar stationtThe repetition period of the emission pulse at +1 moment isP t+1 Pulse width ofτA kind of electronic deviceNThe equal repetition frequency PD detection is carried out on the pulses, and the sampling time range corresponding to the range gating is as follows:
，
each distance unit is respectively processedNPoint FFT transform to obtainNThe PD filter channels are recorded as 0-N-1, gating filter channel range:
，
CFAR detection is carried out on the gated PD filtering channel echo, and a filter channel where the target is located is obtainedN s And apparent distanceR s；
In step 4, solving the distance and radial velocity ambiguity includes:
by means oftDistance prediction value at +1 timeAnd radial velocity prediction value +.>Solving the distance and radial velocity ambiguity to obtaintDistance measurement at +1R t+1 And radial velocity measurementsV t+1 The calculation method comprises the following steps:
；
in step 5, the radial velocity filtering and prediction includes:
to be used fortDistance measurement at +1R t+1 And radial velocity measurementsV t+1 Forming a Kalman filtering measurement matrix:
，
at the distance of the targetRRadial velocityVRadial accelerationaAs the state of the object, a state matrix of the kalman filter is formed:
，
the state transition matrix of the Kalman filter is:
，
wherein,Tselecting a Kalman filtering Q value as a criterion for adapting to a large maneuvering target for a target tracking period; radial velocity filtering generationtPredicted value of target distance at +2 timeAnd radial velocity prediction value +.>。
2. A single set PD tracking method for a maneuver target as claimed in claim 1 wherein: the target track filtering in step 6 includes:
will betAnd measuring the radial speed, the distance, the azimuth and the elevation of the target at the moment +1, filtering the radial speed, the distance, the azimuth and the elevation as Kalman filtering measurement values, outputting a tracking track, and selecting a Kalman filtering Q value to obtain high precision as a criterion.
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