KR101900008B1 - Moving target detecting apparatus and method thereof - Google Patents

Moving target detecting apparatus and method thereof Download PDF

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KR101900008B1
KR101900008B1 KR1020150058669A KR20150058669A KR101900008B1 KR 101900008 B1 KR101900008 B1 KR 101900008B1 KR 1020150058669 A KR1020150058669 A KR 1020150058669A KR 20150058669 A KR20150058669 A KR 20150058669A KR 101900008 B1 KR101900008 B1 KR 101900008B1
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range
target
work
estimating
value
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KR1020150058669A
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KR20160127372A (en
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윤재혁
정재훈
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엘아이지넥스원 주식회사
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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
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G01S13/5248—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi combining a coherent MTI processor with a zero Doppler processing channel and a clutter mapped memory, e.g. MTD (Moving target detector)
    • 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
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G01S13/53—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi performing filtering on a single spectral line and associated with one or more range gates with a phase detector or a frequency mixer to extract the Doppler information, e.g. pulse Doppler radar
    • 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
    • G01S7/40—Means for monitoring or calibrating

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Discloses a mobile target detection apparatus and method. The present invention can accurately estimate a Doppler frequency for a target even in an environment where a target moves at a high speed and a range work is generated in a received signal of a radar or in an environment where the SNR of a received signal is very low, The coherent detection performance can be remarkably improved.

Figure R1020150058669

Description

[0001] MOVING TARGET DETECTING APPARATUS AND METHOD THEREOF [0002]

The present invention relates to a moving target detection apparatus and method, and more particularly, to a moving target detection apparatus and method that moves at high speed.

A typical example of a detection device that searches for a target is a radar. The radar emits a transmission signal of a predetermined frequency, and the emitted transmission signal receives and analyzes the reflected signal reflected from the target as a received signal and detects the target. Radar is broadly divided into CW (continuous wave) radar and pulse radar depending on whether it emits a continuous wave or a pulsed wave as a transmission signal.

Typically, a radar transmits and receives a plurality of pulse signals in a coherent processing interval (CPI) to satisfy a signal to noise ratio (SNR) required for detection, and receives a plurality of pulse signals in a plurality of pulse repetition intervals And integrates the reflected signals of the target of the same range bin among the received signals to detect the target. If the velocity of the target is not fast, integration of the reflected signal is done in the same range bin, so that the target can be easily detected.

However, as the technology progresses, the movement speed of the targets is gradually increasing. Since the Doppler effect occurs when the target moves at a high speed, if a frequency shift of the received signal due to the Doppler effect is integrated without correction, a range walk occurs during the CPI period, There is a problem that the runout detection performance deteriorates.

Fig. 1 is a view for explaining the concept of a range bin and a cross-range in a radar. Fig. 2 shows a conventional Doppler processing concept for detecting a Doppler frequency, and Fig. 3 shows a range profile.

The radar is designed to operate between the minimum distance that can detect a target (R min) and the maximum range (R max), the distance resolution (ΔR) which can detect the change in distance of the target as shown in Figure 1 Is also predetermined at the time of designing. The range bin means a section between the minimum distance (R min ) and the maximum distance (R max ) divided by the distance resolution (ΔR). That is, the width of each of the range bins has a distance resolution (? R). The distance resolution (DELTA R), which is the distance direction resolution, can be determined by the bandwidth of the radar, which means that the radar can easily distinguish and detect a target existing in a different range bin, i.e., .

And the cross-range means the vertical direction of the distance as shown in Fig.

In the conventional Doppler processing (DP) shown in FIG. 2, the radar transmits and receives N pulse signals (where N is a natural number of 2 or more) during the CPI, and the number of range bins is M ).

As shown in FIG. 2, the DP divides the received signals PRI1 to PRIN received in the N pulse repeats (PRI) included in the CPI into M number of range bins, N received signals (PRI1 ~ PRIN) in cross-range direction Fourier transform (Fourier transform), i.e. performs a Doppler processing to derive the Doppler frequency (f d).

In the cross-range Doppler processing, the coherent detection scheme integration technique obtains the Doppler frequency f d by Doppler processing, i.e. Fourier transform, the data of the same range bin to detect peaks exceeding the threshold value in the frequency domain, Use the frequency to detect the target.

The range profile shown in FIG. 3 shows the size of the received signal corresponding to one pulse in the one-dimensional range domain. When N pulses are transmitted and received during the CPI, a total of N range profiles are obtained. Each of the range profiles is cross- A two-dimensional graph such as (a) and (b) is obtained.

When the target is stationary or the moving speed of the target is slow, the received signals reflected from the target are all located in the same range bin as shown in (a). In this case, as described above, the accurate Doppler frequency f d can be estimated through the conventional DP, and the target can be easily detected by compensating the estimated Doppler frequency f d .

However, when the target moves at a high speed, as shown in (b), during the CPI period, the target moves beyond the range of a single range bin, so that the received signals reflected from the target are dispersed in a plurality of range bins A detected range work is generated. When the range work occurs, the target component received in each PRI appears over a plurality of range bins (five in FIG. 2B) as shown in (b), so DP is performed without range alignment It is difficult to estimate the accurate Doppler frequency. That is, coherent detection performance deteriorates.

Korean Registered Patent No. 10-1200747 (2012.11.07)

It is an object of the present invention to provide a moving target detection device that compensates for a range work for a target moving at high speed, thereby preventing deterioration of detection performance.

Another object of the present invention is to provide a mobile target detection method for achieving the above object.

According to an aspect of the present invention, there is provided a mobile target detection apparatus including N (N is an integer equal to or greater than 2) to which a transmission signal is reflected on a target according to a preset pulse repetition interval (PRI) during a coherent processing interval (M is a natural number equal to or greater than 2) range bin for each of the N received signals, and performs a DP (Doppler Processing) to estimate a range work range in which the range work occurred Range work range estimating unit; A position calculator for estimating a position of the target component included in the received signals within the range work range using the range work range and the range bin in which the target component is first detected in the received signal; An interpolation unit interpolating the distance value of the range bin corresponding to the difference of the target component to obtain an interpolation value; A Doppler processing unit performing SDP (Squint Doppler Processing) for Fourier transforming the interpolated values in a squint cross range direction and obtaining a Doppler frequency from a peak value of SDP resultant values; And a target detection unit for detecting the target by performing coherent detection by correcting the received signal using the obtained Doppler frequency and integrating the received signal in the squint cross range direction.

The range work range estimator may perform the DP for each of the M range bin and analyze the peak range where the maximum value of the DP result is equal to or greater than a predetermined reference maximum value to estimate the range work range.

The range work range estimating unit may set a range of a virtual range assuming the predetermined minimum Doppler velocity if the received signal includes noise and the maximum value is less than the reference maximum value.

The range work range estimator may generate a window corresponding to the virtual range Weekic range and compare the peak values obtained as a result of the SDP performance while moving the window to obtain a peak value And performing the SDP while increasing the size of the window based on the position of the window corresponding to the peak value that causes the difference to be greater than or equal to the reference peak value so that the size of the window in which the magnitude of the peak value is not further increased And the size is set to the range work range.

According to another aspect of the present invention, there is provided a method for detecting a moving target in a moving target detection apparatus including a range work estimating unit, a position calculating unit, an interpolating unit, a Doppler processing unit, and a target detecting unit , Wherein the range work range estimator receives N (N is a natural number equal to or greater than 2) number of received signals reflected by a target in response to a predetermined pulse repetition interval (PRI) during a coherent processing interval (CPI) ; Estimating a range work range in which the range work occurs in which the range work range estimating unit performs DP (Doppler Processing) with each of M (M is a natural number equal to or larger than 2) range beans for the N received signals received; Estimating a position of a target component included in the received signals within the range work range using the range work range and the range bin in which the target component is first detected in the received signal; Interpolating the distance value of the range bin corresponding to the difference of the target component to obtain an interpolated value; Performing Squid Doppler Processing (SDP) in which the Doppler processing unit Fourier-transforms the interpolation values in a squint cross range direction; Wherein the Doppler processing unit obtains a Doppler frequency from a peak value of the SDP resultant value; Correcting the received signal using the obtained Doppler frequency; And the target detection unit integrating the corrected received signal in the squint cross range direction to perform coherent detection to detect a target; .

Wherein estimating the range work range comprises: performing the DP for each of the M range bin; Searching for a peak area in which the maximum value of the DP results is equal to or greater than a predetermined reference maximum value; And estimating a peak area in which the maximum value is equal to or greater than a predetermined reference maximum value in the range work range; And a control unit.

Therefore, the moving target detection apparatus and method of the present invention can accurately estimate the Doppler frequency for a target even when the target travels at a high speed and a range work is generated in the received signal of the radar, or in an environment where the SNR of the received signal is very low, The coherent detection performance can be remarkably improved by compensating the received signal using the estimated Doppler frequency.

1 is a view for explaining the concept of a range bin and a cross range in a radar;
Figure 2 shows a conventional Doppler processing concept for detecting Doppler frequency.
Figure 3 shows the range profile.
4 shows a mobile target detection apparatus according to an embodiment of the present invention.
5 is a graph simulating the maximum value of Fourier transform by range bin.
FIG. 6 is a view showing a comparison between the SDP of the present invention and a conventional DP performance result.
7 illustrates a method of detecting a moving target according to an embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.

Throughout the specification, when an element is referred to as "including" an element, it does not exclude other elements unless specifically stated to the contrary. The terms "part", "unit", "module", "block", and the like described in the specification mean units for processing at least one function or operation, And a combination of software.

Before describing the mobile target detection apparatus and method according to the present invention, it is necessary to accurately ascertain the cause of deterioration of coherent detection performance. The cause of deterioration of the coherent detection performance is analyzed below.

In the bistatic radar system for transmitting and receiving a linear frequency modulation (LFM) signal, a reception signal r (t), which is scattered after a transmission signal transmitted by a transmission unit reaches a target and is received by a reception unit, Appears together.

Figure 112015040564391-pat00001

Here, t represents the time, c represents the propagation speed (c = 3 ㅧ 108 ㎧), fc represents the frequency of the carrier wave, and τ0 represents the pulse width of the transmission signal. α represents the chirp rate. R (t) is the distance from the lighter to the target

Figure 112015040564391-pat00002
to be. R 0 is the distance from the radar to the initial target, and v is the relative velocity of the target observed by the radar. In the present invention, it is assumed that v is constant during CPI.

The received signal r (t) of Equation (1) passes through a quadrature receiver and is converted to a baseband signal and is pulse-compressed by passing through a matched filter. The pulse impulse response h (t) of the matched filter is

Figure 112015040564391-pat00003
, The output (s (t)) of the matched filter is calculated as shown in Equation (2).

Figure 112015040564391-pat00004

Where A is

Figure 112015040564391-pat00005
And f d is a complex constant of
Figure 112015040564391-pat00006
Is the Doppler frequency.

2 (a), the peak value of the pulse-compressed signal is located in the same range bin in each PRI, and the amplitude component of the signal in the range bin, that is,

Figure 112015040564391-pat00007
Can be assumed to be a constant.

Therefore, when the received signal having passed through the matched filter is subjected to Fourier transform, i.e., Doppler processing, in the cross-range direction as shown in FIG. 1,

Figure 112015040564391-pat00008
So that the Doppler frequency f d can be estimated. Here, β is a constant defined according to the coherent processing interval. Assuming that the coherent processing interval is infinitely long, the Doppler processing result is (constant) δ (f-fd). Where δ is the Dirac delta function.

However, when a range work occurs in the received signal, the amplitude component of the signal of the same range bin is not constant, and since there is a range frequency that does not include the target component, the Doppler frequency f d obtained through Doppler processing can be neglected Included is an error. The detection performance is deteriorated when the received signal is corrected and the coherent integration is performed using the Doppler frequency (f d ) including the error.

4 shows a mobile target detection apparatus according to an embodiment of the present invention.

Also in the present invention, it is assumed that during the CPI, N (where N is a natural number equal to or greater than two) pulse signals are transmitted and received, and the number of range bins is M (where M is a natural number of 2 or more).

4, the moving target detection apparatus of the present invention includes a range work range estimating unit 10, a position calculating unit 20, an interpolating unit 30, a Doppler processing unit 40, and a target detecting unit 50 do.

First, the range work range estimating unit 10 estimates the range of the range work by performing Doppler processing on each of M range bins for N received signals received during the CPI. As described above, the received signal is a reflected signal that is reflected on a target and is processed by the receiving unit of the radar, such as amplification and filtering, as described above.

The range work range estimating unit 10 performs Fourier transform, which is Doppler processing, in each of the M range bin in the cross-range direction, and determines a region (peak region) having a large energy from the maximum value among the transformed values. This is because, in the case of a range bin with a target component, energy is concentrated at a position corresponding to the Doppler frequency component of the target, and thus energy is large in a specific range bin. In the case of a range bin with noise only, So that it is possible to easily judge whether or not the target components are contained in each of the range bins. The range work range estimating unit 10 may determine whether the maximum value of the transformed values is equal to or greater than a predetermined reference value to determine a peak area.

5 is a graph simulating the maximum value of Fourier transform by range bin.

As shown in Fig. 5, when the Fourier transform is performed in the cross-range direction with respect to each of the range bins, in the case of the range bin with the target component, energy is concentrated at the position corresponding to the Doppler frequency component of the target, Can easily be extracted.

The position calculation unit 20 determines the position where the target component exists. It is assumed that the range of the range work is DELTA R (m is DELTA range gate interval) as shown in FIG. 3 (b) and PRI is present n times in CPI (n = N in FIG. 2) when, if the position of the target component in the received signal of the first PRI in the range work range t 1, t 2 position of the target component from a reception signal in a second PRI may be expressed as equation (3).

Figure 112015040564391-pat00009

Here, the position (t 1 ) of the target component in the received signal of the first PRI within the range work range can be obtained using the range bin detected first within the range work range. As described above, if the range bin is discriminated according to the distance resolution (R) of the radar and the range bin (the k-th range bin in FIG. 3 (b) The position (t 1 ) of the target component in the received signal can be determined.

The interpolator 30 interpolates the position of the target component estimated by the position calculator 20 and the distance value of the range bin to obtain the interpolated value. As described above, since the range value corresponding to the range bin is predetermined in the radar, the interpolator obtains the interpolated value by interpolating the position of the target component estimated by the position calculating unit 20 and the distance value of each range bin. Here, since the position of the target component has a complex value form by the DP, the complex interpolation value is obtained by separating the real part and the imaginary part, interpolating them, and then summing them again.

The Doppler processing unit 40 performs Fourier transform on the complex interpolation values obtained by the position calculation unit. In this case, the complex interpolation values are located in the squint cross range direction, not in the correct cross-range, unlike FIG. 3 (b), so that each of the complex interpolation values is separated by a uniform time interval by mΔ / n + PRI.

The process of performing Doppler processing on the complex interpolation values located in the squint cross range direction is referred to as Squint Doppler Processing (SDP) in the present invention.

If the range work range can not be determined by inserting a lot of noises in the course of estimating the range work range, the range work range estimating unit 10 sets a virtual range wick range assuming a minimum Doppler velocity, The SDP can be performed while moving the window of the corresponding size. If the position of the window where a peak value having a difference greater than or equal to the reference peak value is determined, the size of the window is increased until the magnitude of the peak value continues to increase, and a more accurate Doppler frequency estimation . And the size of the window at the moment when the magnitude of the peak value no longer increases corresponds to the range work range.

That is, the moving target detection apparatus arbitrarily sets a range work range corresponding to a minimum Doppler velocity, moves a window corresponding to a set range work range, performs SDP to determine the magnitude of a peak value, And the range of the window is varied to derive an optimum range work range.

Then, the target detection unit 50 corrects the target component received signal using the Doppler frequency detected through the SDP, and then performs coherent detection by integrating the received signal in the squint cross range direction. Here, the technique for performing coherent detection is a known technique and is not described in detail.

FIG. 6 is a view showing a comparison between the SDP of the present invention and a conventional DP performance result.

As shown in FIG. 6, when the SDP of the present invention is used, it is possible to derive a Doppler frequency f d which is more accurate than the conventional DP. The Doppler frequency f d may be selected as a frequency indicating a peak value in the DP and SDP performance results as shown in FIG.

7 illustrates a method of detecting a moving target according to an embodiment of the present invention.

Referring to FIG. 4, the moving target detection method of FIG. 7 will be described. First, the range work estimating unit 10 receives N received signals received during the CPI (S11). The range work range estimating unit 10 performs Fourier transform, which is Doppler processing, in the cross-range direction for each of the predetermined M number of range bins (S12).

Then, the range work range estimating unit 10 analyzes the Doppler processing result by range bin to determine the maximum energy range (S13). The range work range estimating unit 10 sets the range work range m DELTA based on the discriminated maximum energy range (S14).

When the range work range (m?) Is set, the position calculation unit 20 estimates the position of the target signal in the received signal according to Equation (3) (S15).

The interpolation unit 30 interpolates the distance value of the range bin and the position of the target component estimated by the position calculation unit 20 to obtain the interpolation value (S16). When the interpolation value is obtained, the Doppler processing unit 40 performs SDP on the interpolation values located in the squint cross range direction to acquire the Doppler frequency f d (S17).

When the Doppler frequency f d is obtained, the target detection unit 50 corrects the target component received signal using the Doppler frequency detected through the SDP (S 18). Then the target is detected by performing coherent detection by integrating the corrected received signal in the squint cross range direction.

The method according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and a carrier wave (for example, transmission via the Internet). The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims (8)

N (N is a natural number equal to or greater than 2) reception signals to which a transmission signal is reflected and applied to a target according to a predetermined pulse repetition interval (PRI) during a CPI (coherent processing interval) A range work range estimator for estimating a range work range in which the range work occurred by performing DP (Doppler Processing) with each of the set M (M is a natural number of 2 or more) range bin;
A position calculator for estimating a position of the target component included in the received signals within the range work range using the range work range and the range bin in which the target component is first detected in the received signal;
An interpolation unit interpolating the distance value of the range bin corresponding to the difference of the target component to obtain an interpolation value;
A Doppler processing unit performing SDP (Squint Doppler Processing) for Fourier transforming the interpolated values in a squint cross range direction and obtaining a Doppler frequency from a peak value of SDP resultant values; And
A target detection unit for detecting a target by performing coherent detection by correcting the received signal using the obtained Doppler frequency and integrating the received signal in a squint cross range direction; / RTI >
The range work range estimating unit
A window corresponding to the range of the range wok is generated and the peak value obtained as a result of the SDP execution is compared while moving the window to detect a peak value which causes a difference of more than a predetermined reference peak value, And performing the SDP while increasing the size of the window based on the position of the window corresponding to the peak value that causes a difference of at least a value of the window, Wherein the moving target detection unit detects the moving target. The apparatus of claim 1, wherein the range work range estimator
Performs the DP for each of the M range bins, and estimates the range work range by analyzing a peak area in which the maximum value of the DP results is equal to or greater than a predetermined reference maximum value. The apparatus of claim 2, wherein the range work range estimator
Wherein the mobile station sets a virtual range wake range based on the predetermined minimum Doppler velocity if the received signal includes noise and the maximum value is less than the reference maximum value. delete The apparatus of claim 1, wherein the position calculation unit
Equation
Figure 112015040564391-pat00010

(Where m is the number of range bins included in the range work range,? Is the range gap interval in the range gate interval, and n is the number of received signals received within the range work range).
And estimates the position of the target component in the received signal according to the received signal. A moving target detection method for a moving target detection apparatus including a range work range estimating unit, a position calculating unit, an interpolating unit, a Doppler processing unit, and a target detecting unit,
Receiving N (N is a natural number equal to or greater than 2) reception signals to which a transmission signal is reflected and applied in accordance with a preset pulse repetition interval (PRI) during a coherent processing interval (CPI);
Estimating a range work range in which the range work occurs in which the range work range estimating unit performs DP (Doppler Processing) with each of M (M is a natural number equal to or larger than 2) range beans for the N received signals received;
Estimating a position of a target component included in the received signals within the range work range using the range work range and the range bin in which the target component is first detected in the received signal;
Interpolating the distance value of the range bin corresponding to the difference of the target component to obtain an interpolated value;
Performing Squid Doppler Processing (SDP) in which the Doppler processing unit Fourier-transforms the interpolation values in a squint cross range direction;
Wherein the Doppler processing unit obtains a Doppler frequency from a peak value of the SDP resultant value;
Correcting the received signal using the obtained Doppler frequency; And
The target detection unit integrating the corrected received signal in the squint cross range direction to perform coherent detection to detect a target; / RTI >
Wherein the step of estimating the range work range in which the range work range estimating sub-
A window corresponding to the range of the range wok is generated and the peak value obtained as a result of the SDP execution is compared while moving the window to detect a peak value which causes a difference of more than a predetermined reference peak value, And performing the SDP while increasing the size of the window based on the position of the window corresponding to the peak value that causes a difference of at least a value of the window, Wherein the moving target detection method comprises the steps of: 7. The method of claim 6, wherein estimating the range work range
Performing the DP for each of the M range bin;
Searching for a peak area in which the maximum value of the DP results is equal to or greater than a predetermined reference maximum value; And
Estimating a peak area in which the maximum value is equal to or greater than a preset reference maximum value as the range work range; And detecting the moving target. 7. The method of claim 6, wherein estimating the location of the target component
Equation
Figure 112018054081494-pat00011

(Where m is the number of range bins included in the range work range,? Is the range gap interval in the range gate interval, and n is the number of received signals received within the range work range).
And estimating the location of the target component in the received signal according to the location of the target component.
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