CN110501685B - Multiframe phase-coherent accumulation method based on radar signal phase compensation - Google Patents
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Abstract
The invention provides a multi-frame coherent accumulation method based on radar signal phase compensation, which comprises the following steps: s1, equally dividing the area obtained by scanning the radar for one circle; s2, detecting the target in each subarea, when a target appears in the q frame of the k frame0When the area is divided, establishing a Dechirp signal model of the area; s3, when the object is detected to appear in the k frame q0When P subareas are crossed clockwise or anticlockwise within 1 frame time after the subareas, the q of the k frame is used0Taking the domain-divided Dechirp signals as reference, and performing phase compensation on the Dechirp signals of 2P +1 domains of the (k +1) th frame; s4, accumulating the Dechirp signals of the first k +1 frames and then carrying out CFAR detection: if the peak value of the Dechirp signal exceeds a preset threshold, determining the region sequence number of the (k +1) th frame corresponding to the maximum peak value; if the peak value is lower than a preset threshold, the area is indicated to have no target; s5, repeating the steps S2, S3 and S4, and carrying out all the Q sub-areasAnd searching the targets to obtain the motion track of each target and the corresponding motion parameter search value.
Description
Technical Field
The invention relates to a radar weak target detection method, in particular to a multi-frame coherent accumulation method based on radar signal phase compensation.
Background
In recent years, unmanned aerial vehicles are continuously developing towards microminiaturization, civil unmanned aerial vehicles are widely applied due to low cost and excellent performance of the unmanned aerial vehicles, and low observable targets (or called weak targets) with small size, slow movement speed and low visibility provide new challenges for safety management in flight airspaces such as civil airports.
In order to effectively detect small objects in the air, two approaches can be generally adopted: firstly, selecting a new radar system and proper radar system parameters according to different observed objects, and realizing the detection of weak and small targets by increasing collectable target echo energy, such as adopting a multi-base radar or an external radiation source radar; and secondly, on the basis of the existing radar system, by effectively combining a more effective radar signal processing technology (a common technology independent of a specific certain type of radar system) with a radar waveform design method, the detection performance of the weak and small target is improved.
In order to cope with the low signal-to-noise ratio environment, researchers have proposed a Track-Before-Detect (TBD) technique, which is an effective method for improving the performance of detecting a weak and small target by changing the signal processing mode. The existing literature mainly researches a TBD algorithm based on Hough transformation, a TBD algorithm based on dynamic programming, a TBD algorithm based on particle filtering and the like, but the algorithms only realize non-coherent accumulation of energy among multiple frames, and are difficult to fully utilize all information to realize reliable target detection. In order to realize Multi-Frame Coherent Integration (MFCI), improve energy accumulation efficiency, and improve detection performance of a target, MFCI algorithm based on radial velocity estimation is proposed by fan, and MFCI algorithm based on Keystone transformation is proposed by wann et al. The proposal of the multi-frame coherent accumulation technology provides a new idea for detecting weak and small targets in the radar system, but the research of the technology is still in the beginning stage, and the MFCI algorithm for the LFMCW radar system is yet to be researched.
Aiming at a Sawtooth Linear Frequency Modulation Continuous Wave (SLFMCW) signal, a multi-frame coherent accumulation method based on phase compensation is provided, coherent accumulation of energy is carried out along a target track, a weak target can be accurately detected under relatively less calculation amount, and the effectiveness of an algorithm is verified.
Disclosure of Invention
In order to achieve the above object, the present invention provides a multi-frame coherent accumulation method based on radar signal phase compensation, comprising the following steps:
s1, establishing an LFMCW radar multi-frame signal model;
the LFMCW radar performs space scanning in a mode of half-overlapping wave beams, radar echo data obtained by scanning for one circle is defined as radar echo data of 1 frame, and an area obtained by scanning for one circle by the radar is equally divided into Q subareas;
s2, detecting the target in each subarea, when a target appears in the q frame of the k frame0When the area is divided, establishing a Dechirp signal model of the area;
s3, when the object is detected to appear at the q of the k frame0When P subareas are crossed clockwise or anticlockwise within 1 frame time after the subareas, the q of the k frame is used0Taking the domain-divided Dechirp signals as reference, and performing phase compensation on the Dechirp signals of 2P +1 domains of the (k +1) th frame;
s4, accumulating the Dechirp signals of the first k +1 frames and then carrying out CFAR detection: if the peak value of the Dechirp signal exceeds a preset threshold, determining the region sequence number of the (k +1) th frame corresponding to the maximum peak value; if the peak value is lower than a preset threshold, the area is indicated to have no target;
and S5, repeatedly executing the steps S2, S3 and S4, and searching the targets of all the Q sub-areas to obtain the motion track of each target and the corresponding motion parameter search value.
Preferably, q of the k-th frame0The Dechirp signal expression of the region is:
wherein, TrPulse of qiThe impulse repetition period, t represents the total time, m is the number of pulses transmitted by the radar, tm＝mTrIs the slow time of the m-th transmit pulse,
is the fast time, k, of the m-th transmitted pulsekIs a proportional parameter, fdkIs the Doppler frequency, τ0kIs the target initial distance delay, and a is the target acceleration.
Preferably, the ratio parameter
Wherein v iskIs the initial velocity of the target at the k frame, c represents the speed of light; the Doppler frequency
Wherein λ is a constant; the target initial distance delay
Wherein R iskIs the initial distance of the object at the k frame.
Preferably, the step S3 further includes:
initial distance R corresponding to target in k +1 th framek+1pInitial radial velocity vk+1pAnd at the kth frame qth0Initial distance R corresponding to each regionkInitial radial velocity vkA phase difference of
Δvkp＝arMkpTr
Wherein v isrIs the initial radial velocity of the target, arIs the radial acceleration of the target, MkpIs to represent the number of radar transmission pulses corresponding to the p-th area after k-1 frame time, TrIf the pulse repetition period is "k + 1", the phase compensation signal of the p-th region of the (k +1) -th frame is:
for the kth frame q0Phase compensation is carried out on the Dechirp signals of the regions, and the expression is as follows:
the reconstructed Dechirp signal of the previous k +1 frame is
Preferably, CFAR detection is performed on the reconstructed Dechirp signal of the previous k +1 frame, and when the peak value exceeds the threshold, the target is located in the region when the target is at the k +1 frame
If the peak value is lower than the threshold, the area q is indicated0There is no target.
The invention has the following beneficial effects:
the invention aims to provide an effective radar weak target detection method for technicians, which can obtain higher target discovery probability by using less data and solve the contradiction between precise estimation of weak target motion parameters and large calculation amount.
Drawings
FIG. 1 is a flow chart of a multi-frame coherent accumulation method based on radar signal phase compensation according to the present invention;
FIG. 2 shows a schematic diagram of the radar beam scanning operation of the present invention;
FIG. 3 shows a graphical representation of the area within which the object of the present invention is located;
FIG. 4(a) shows a one-dimensional range profile prior to range-corrected ambulation of the present invention;
FIG. 4(b) shows a one-dimensional range profile after a range correction walk of the present invention;
FIG. 5 is a graph showing the detection probability after accumulation of a single frame and two frames according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
As shown in fig. 1, a multi-frame coherent accumulation method based on radar signal phase compensation specifically includes the following steps:
step 1: and establishing an LFMCW radar multi-frame signal model.
As shown in FIG. 2, consider a mechanically scanned LFMCW radar with an antenna rotating at a speed, where one frame is defined as radar echo data obtained by scanning one circle, the radar transmits SLFMCW signals in continuous K frame time, and the beam dwell time is tR。
Because the position of the target in the monitoring area is unknown (N in total)aEach azimuth unit) performs spatial scanning by adopting a beam half-overlapping mode, and each frame data is divided into Q areas.
Step 2: suppose that at the kth frame, the qth frame0The target exists in the area, and when the target is accelerated by an acceleration a, the initial radial velocity v1When the motion is uniformly accelerated, the Dechirp signal of the area is expressed as
Wherein, TrIs the pulse repetition period, t represents the total time, tm＝mTrIs the slow time of the m-th transmit pulse,
is a fast time. The number of pulses in one scanning period is M, and the number of pulses containing target echo signals can be known from the beam width and the rotation speed of the antenna and is recorded as M0. Setting the initial distance of the target corresponding to the k frame as RkInitial velocity vkThen the corresponding proportional parameter
Doppler frequency
Target initial distance delay
As can be seen from the comparison of equation (1), the phase information of the echo signal includes the following five items:
first item
The additional phase shift of the signal has no effect on the coherent accumulation.
Second item
The fast time dimension distance frequency generated by the target at the initial distance corresponding to the k frame.
Item III
The target produces a slow time dimension doppler frequency at the initial radial velocity corresponding to the kth frame.
Item four
The distance frequency offset component brought by the uniform acceleration motion of the target, namely a fast and a slow time coupling term.
The fifth item
A second order modulation term of acceleration versus the slow time dimension.
The second term and the third term enable the phase of the signal to change linearly, and are necessary for realizing distance dimension and Doppler dimension resolution and coherent accumulation; the fourth term cannot be ignored for long-term coherent accumulation and must be compensated; the fifth item needs to decide whether compensation is needed according to the acceleration.
And step 3: k is 1, with the 1 st frame q0(q0The signal of Q) area is used as reference, and the phase compensation is performed on the corresponding (2P +1) area of the (k +1) th frame signal.
Due to the influence of acceleration, the speed changes constantly, the distance unit cannot be directly corrected, multi-frame signals need to be subjected to track association in a phase compensation mode, the initial distance and the initial speed corresponding to each frame signal are kept consistent, namely, the phases of the multi-frame signals are focused to the distance unit where the first frame target is located and the Doppler unit, and therefore coherent accumulation of the signals is achieved.
As shown in FIG. 3, assume that the q-th0(q0If a target of Q) regions spans P regions at most to the left or right within the K frame time, then the K (K2, K) frame signal of the (2P +1) region is required to be compared with the qth frame signal of the 1 st frame0The signals of the respective regions are phase-compensated.
At the 1 st frame q0Signals of a region
As a reference, Mkp(K2.. K.) denotes the number of radar transmission pulses corresponding to the P (P1.. 2P +1) th area after the (K-1) frame time, and then at a certain initial radial velocity vr＝[-vmax,vmax]And radial acceleration ar＝[0,amax]Within the range, the target is at the initial distance R corresponding to the k framekpInitial radial velocity vkpAt the qth frame of 10Initial distance R corresponding to each region1Initial radial velocity v1Phase difference
Thereby constructing a phase compensation signal of the p-th area of the k-th frame
Wherein,
for region q0(q 01, Q) at a certain initial radial velocity vrAnd acceleration arIn the range, the K (K1., K) th frame signal is phase compensated, i.e. the phase compensation is performed
The corresponding first two frames reconstruct the signal as
And (k +1) frame signal accumulation before step 4 and CFAR detection. If the peak value exceeds the threshold, determining the area sequence number p of the (k +1) th frame corresponding to the maximum peak valueK+1And K is K +1, and (K-1) is repeated for the next step 3. If the peak value is lower than the threshold, the target in the area is indicated.
Performing CFAR detection on the signals of the first two frames, and if the peak value exceeds the threshold, locating the target in the area when the target is in the 2 nd frame
And by analogy, K frame reconstruction signals can be obtained
And corresponding
If the peak value is lower than the threshold, the area q is indicated0There is no target.
And 5: and repeating the step 2, the step 3 and the step 4 for Q times, and searching the targets in all the areas to obtain the motion track of each target and the corresponding motion parameter search value.
Searching signals of all (Q) areas in the space to obtain the motion track { Q ] of each target0,p2,...,pKAnd the corresponding initial radial velocity v1And radial acceleration a, and then reconstructing the peak value sum v of the fast time dimension spectrum of the signal by K frames1Determining the corresponding initial distance R1。
If the search step lengths of the initial speed and the acceleration are respectively delta v and delta a, the corresponding search times are respectively delta v and delta a
Since the operations performed on the Q regions are the same, a parallel processing manner is adopted here.
According to the prior knowledge, the method assumes the maximum area number P crossed by the target during the radar scanning, can reduce the search amount of one dimension (initial distance), and the calculation complexity is about
O((2P+1)Q(K-1)UrWrM0KNlog2(M0KN)) (9)
It is derived that when the acceleration is satisfied
The influence of the acceleration on the method can be further ignored, and the calculation complexity is about
O((2P+1)Q(K-1)UrM0KNlog2(M0KN)) (10)
The invention can accurately estimate the motion parameter information of the target by using less calculated amount and further improve the detection signal-to-noise ratio of the target. The method has been applied to the actual detection of the great-insight Pro unmanned aerial vehicle, and the one-dimensional range image comparison result of the signals is shown in fig. 4 before and after the interframe range walk correction is performed on two frames of signals (with one target) in a certain region, wherein fig. 4(a) shows the one-dimensional range image before the range walk correction of the invention; FIG. 4(b) shows a one-dimensional range profile after range correction walk of the present invention.
As shown in FIG. 5, Gaussian white noise is superimposed on the measured data to increase the SNR of the input signal to noise ratioi∈[-34,-26]dB at false alarm probability Pfa＝10-3Lower verification of target detection performance, when PdAt 0.9, the input signal-to-noise required for two frame accumulation improves by nearly 3dB over single frame accumulation. It can be demonstrated that the above application achieves good results.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (2)
1. A multiframe phase-coherent accumulation method based on radar signal phase compensation is characterized by comprising the following steps:
s1, equally dividing the area obtained by scanning the radar for one circle;
the LFMCW radar performs space scanning in a mode of half-overlapping wave beams, radar echo data obtained by scanning for one circle is defined as radar echo data of 1 frame, and an area obtained by scanning for one circle by the radar is equally divided into Q subareas;
s2, detecting the target in each subarea, when a target appears in the q frame of the k frame0When the area is divided, establishing a Dechirp signal model of the area;
s3, when the object is detected to appear at the q of the k frame0When P subareas are crossed clockwise or anticlockwise within 1 frame time after the subareas, the q of the k frame is used0Taking the Dechirp signals of the subareas as reference, and carrying out phase compensation on the Dechirp signals of the 2P +1 subareas of the k +1 framePaying;
s4, accumulating the Dechirp signals of the first k +1 frames and then carrying out CFAR detection: if the peak value of the Dechirp signal exceeds a preset threshold, determining the region sequence number of the (k +1) th frame corresponding to the maximum peak value; if the peak value is lower than a preset threshold, the area is indicated to have no target;
s5, repeatedly executing the steps S2, S3 and S4, and searching the targets of all the Q sub-areas to obtain the motion track of each target and the corresponding motion parameter search value;
wherein,
q of the k-th frame0The Dechirp signal expression of the region is:
wherein, TrIs the pulse repetition period, t represents the total time, m is the number of pulses transmitted by the radar, tm＝mTrIs the slow time of the m-th transmit pulse,
is the fast time, k, of the m-th transmitted pulsekIs a proportional parameter, fdkIs the Doppler frequency, τ0kIs the target initial distance delay, a is the target acceleration;
wherein the ratio parameter
Wherein v iskIs the initial velocity of the target at the k frame, c represents the speed of light; the Doppler frequency
Wherein λ is a constant; the target initial distance delay
Wherein R iskIs the initial distance of the target at the kth frame;
wherein the step S3 further includes:
initial distance R corresponding to target in k +1 th framek+1pInitial radial velocity vk+1pAnd at the kth frame qth0Initial distance R corresponding to each regionkInitial radial velocity vkA phase difference of
Δvkp＝arMkpTr
Wherein v isrIs the initial radial velocity of the target, arIs the radial acceleration of the target, MkpIs to represent the number of radar transmission pulses corresponding to the p-th area after k-1 frame time, TrIf the pulse repetition period is "k + 1", the phase compensation signal of the p-th region of the (k +1) -th frame is:
for the kth frame q0Phase compensation is carried out on the Dechirp signals of the regions, and the expression is as follows:
the reconstructed Dechirp signal of the previous k +1 frame is:
2. according to claimThe method for multi-frame coherent accumulation with radar signal phase compensation of claim 1, wherein CFAR detection is performed on the reconstructed Dechirp signal of the previous k + 1: if the peak value exceeds a preset threshold, the target is positioned in a subarea when the k +1 th frame
At least one of (1) and (b); if the peak value is lower than the preset threshold, the subarea q is indicated0There is no target.
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