CN112630744B - Marine small target detection method and system fused by multiphase parameter accumulation method - Google Patents
Marine small target detection method and system fused by multiphase parameter accumulation method Download PDFInfo
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Abstract
The invention provides a method and a system for detecting a small marine target fused by a multi-phase parameter accumulation method, wherein the method feeds back a target detection result after non-phase parameter accumulation to a phase parameter accumulation result, carries out secondary detection, fuses the result after the secondary detection with the target detection result obtained after the phase parameter accumulation, and outputs the fused target detection result as a final detection result. The method fully utilizes the high-efficiency accumulation advantage of the coherent accumulation and the advantage of effectively inhibiting the sea clutter without the coherent accumulation, and greatly improves the detection probability of small targets on the sea.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a marine small target detection method fused by a multi-phase parameter accumulation method, which is suitable for pulse Doppler radars.
Background
In the past, the detection of weak and small targets in a complex sea clutter background is a very difficult exploratory problem, and particularly is influenced by 'sea spikes', so that the detection of the small targets on the sea is more difficult. The pulse accumulation mode of the existing shore-based radar in the detection of small targets at sea generally comprises coherent accumulation and non-coherent accumulation. The traditional radar is limited by a transmitter thereof, and cannot obtain radio frequency signals with high stable frequency, so that the signal accumulation mode is determined to be only adopting non-coherent accumulation. With the adoption of the main vibration amplification type transmitter, radar transmitting signals have higher and higher frequency stability, and a phase-coherent accumulation method can be adopted to obtain higher signal-to-noise ratio improvement than a non-phase-coherent accumulation method, so that a phase-coherent accumulation mode is widely adopted in modern radars.
In the research of sea clutter characteristics, a large number of scholars research and found that sea clutter has a spatially weak correlation and a time weak correlation. I.e. the sea-hybrid back-scattered power exhibits a flicker characteristic over time and space. Based on this characteristic, under the condition that sea conditions are high, the non-coherent accumulation shows a better sea clutter suppression effect than the coherent accumulation, and therefore, in the sea target detection radar, the non-coherent accumulation mode is widely adopted. However, under the condition of low sea condition, the phase-coherent accumulation still has obvious signal-to-noise ratio improving effect compared with the non-phase-coherent accumulation.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide a marine small target detection method fused by a multi-phase parameter accumulation method. According to the method, the target detection result after non-coherent accumulation is fed back to the coherent accumulation result for secondary detection, the detection result is fused with the target detection result after coherent accumulation, and the fused target detection result is used as a final detection result to be output. The method fully utilizes the high-efficiency accumulation advantage of the coherent accumulation and the effective inhibition advantage of the non-coherent accumulation on the sea clutter, and greatly improves the detection probability of small targets on the sea.
In order to achieve the technical effects, the technical scheme adopted by the invention is as follows.
The invention provides a marine small target detection method fused by a multi-phase parameter accumulation method, which comprises the following steps of:
s1, initializing parameters: the radar starts up, the transmitter transmits radio frequency signals, the receiver receives radio frequency echo signals, and baseband echo signals are obtained after digital down-conversion and AD sampling;
s2, performing signal processing on the baseband echo signals, including pulse compression, digital beam synthesis and moving target display, to obtain signals y m×n Wherein m representsThe number of pulses, n, represents the number of distance sampling points;
s3, for signal y m×n Pulse phase-coherent accumulation is carried out on one path of the pulse phase-coherent accumulation to obtain a phase-coherent accumulation result
Wherein m represents the number of pulses, and n represents the number of distance sampling points; pulse non-coherent accumulation is carried out on the other path to obtain a non-coherent accumulation result +.>
Wherein the number of pulses is 1, n is the number of distance sampling points;
s4, accumulating the phase-coherent results
Performing distance-Doppler two-dimensional constant false alarm detection to obtain a target point trace detection result and a distance gate and a Doppler gate corresponding to the target point trace; for non-coherent accumulation results->
Performing one-dimensional distance constant false alarm detection to obtain a target point trace detection result and a corresponding distance gate;
s5, feeding back a distance gate corresponding to a target point trace detection result obtained by one-dimensional distance constant false alarm detection to the coherent accumulation result
Performing low-threshold distance-Doppler two-dimensional detection on all Doppler gates in the corresponding range gates to obtain target point trace detection results and corresponding range gates and Doppler gates;
s6, fusing the target point trace detection result after the coherent accumulation in the step S4 with the target point trace detection result in the step S5 to obtain a final target detection result.
The invention also provides a marine small target detection system fused by the multi-phase parameter accumulation method, which comprises the following modules:
an initialization module: the radar starts up, the transmitter transmits radio frequency signals, the receiver receives radio frequency echo signals, and baseband echo signals are obtained after digital down-conversion and AD sampling;
and a signal processing module: performing signal processing operations such as pulse compression, digital beam synthesis, moving object display and the like on the baseband signal to obtain a signal y m×n Wherein m represents the number of pulses, and n represents the number of distance sampling points;
pulse accumulation module: for signal y m×n Pulse phase-coherent accumulation is carried out on one path of the pulse phase-coherent accumulation to obtain a phase-coherent accumulation result
Pulse non-coherent accumulation is carried out on the other path to obtain a non-coherent accumulation result +.>
The first target trace detection module: for the coherent accumulation result
Performing distance-Doppler two-dimensional constant false alarm detection to obtain a target point trace detection result and a distance gate and a Doppler gate corresponding to the target point trace; for non-coherent accumulation results
Performing one-dimensional distance constant false alarm detection to obtain a target point trace detection result and a corresponding distance gate;
the second target trace detection module: feeding back a distance gate corresponding to the target point trace obtained by one-dimensional distance constant false alarm detection to the coherent accumulation result
Performing low-threshold distance-Doppler two-dimensional detection on all Doppler gates in the corresponding range gates to obtain target point trace detection results and corresponding range gates and Doppler gates;
and a detection result fusion module: and fusing the target point trace detection result obtained by the coherent accumulation in the first target point trace detection module with the target point trace detection result obtained by the second target point trace detection module to obtain a final target detection result.
The invention also provides a computer readable storage medium, wherein a plurality of instructions are stored in the storage medium; the multiple instructions are loaded by the processor and executed by the multi-phase parameter accumulation method fusion marine small target detection method.
Drawings
FIG. 1 is a flow chart of a design of a method for detecting small targets on the sea fused by the multi-phase parameter accumulation method of the invention;
FIG. 2 is a graph of echo signal blur function distribution;
FIG. 3 is a graph showing the distribution of the distance signal to noise ratio after the phase correlation accumulation;
FIG. 4 is a graph showing Doppler signal-to-noise ratio distribution after coherent accumulation;
fig. 5 is a graph showing the distribution of the distance signal to noise ratio after non-coherent accumulation.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
Referring to fig. 1, a design flow chart of a method for detecting a small target on the sea by fusing a multi-phase parameter accumulation method is shown. The marine small target detection method fused by the multi-phase parameter accumulation method comprises the following steps of:
s1, initializing parameters: the radar starts up, the transmitter transmits radio frequency signals, the receiver receives radio frequency echo signals, and baseband echo signals are obtained after digital down-conversion and AD sampling;
the radar transmitter comprises a monopole oscillation type transmitter, a main vibration amplification type transmitter and the like, and the main vibration amplification type transmitter is selected by the invention but is not limited by the invention.
The digital down-conversion is a signal processing technique, the main purpose of which is to change the signal from a high frequency to a low frequency signal by a mixing technique.
The AD sampling is a signal processing technology, and the main purpose of the AD sampling is to convert a signal from an analog signal to a digital signal through discrete sampling.
S2, performing signal processing operations such as pulse compression, digital beam synthesis, moving object display and the like on the baseband signal to obtain a signal y m×n ；
Where m represents the number of pulses and n represents the number of distance sampling points.
The pulse compression is a signal processing technology, and the main purpose of the pulse compression is to compress a bandwidth signal into a narrow pulse, so that the purpose of increasing the signal amplitude is realized.
The digital beam synthesis is a signal processing technology, and the base beam can be synthesized into any beam shape through the digital beam synthesis technology.
The moving target is shown as a filtering technology, and effectively suppresses signals with low frequency or zero frequency, and only passes through high-frequency signals.
S3, for the signal y for completing the operation of the step 2 m×n Pulse phase-coherent accumulation is carried out on one path to obtain a signal result after phase-coherent accumulation; the other path carries out pulse non-phase-coherent accumulation to obtain a signal result after non-phase-coherent accumulation;
s31, pair signal y m×n Pulse phase-coherent accumulation operation is carried out to obtain a phase-coherent accumulation result
S32, pair signal y m×n Pulse non-coherent accumulation operation is carried out to obtain a non-coherent accumulation result
S4, performing distance-Doppler two-dimensional constant false alarm detection on the signals subjected to coherent accumulation to obtain a target point trace detection result and a distance gate and a Doppler gate corresponding to the target point trace; carrying out one-dimensional distance constant false alarm detection on the signals after non-coherent accumulation to obtain a target point trace detection result and a corresponding distance gate;
s41, calculating a corresponding Doppler signal-to-noise ratio according to the phase-to-noise accumulation result and the formula (1):
wherein E [. Cndot.]Representing the desire, m 1 Representing the length of a Doppler signal-to-noise ratio statistical interval; i is the ith pulse corresponding to the ith Doppler cell, n being the n range cells; the invention is selected from but not limited to m 1 ＝16。
S42, calculating a corresponding distance signal-to-noise ratio according to the phase-to-phase accumulation result and the formula (2):
wherein n is 1 Representing the length of a distance signal-to-noise ratio statistical interval, m is the number of pulses, and j represents a j-th distance unit corresponding to m Doppler units; the invention is selected from but not limited to n 1 ＝16。
S43, obtaining a target detection binary judgment result and a corresponding distance gate j and Doppler gate i according to the Doppler signal-to-noise ratio and the distance signal-to-noise ratio combined type (3):
wherein H is 1 Indicating the presence of the target, H 0 Indicating the absence of target, T D For Doppler signal-to-noise ratio threshold, T R Is a distance signal-to-noise ratio threshold;
representing the Doppler signal-to-clutter ratio corresponding to (i, j,)>
Represents the distance signal-to-clutter ratio corresponding to (i, j), where i represents the ith pulse, corresponds to the ith Doppler cell, and j represents the jth range cell.
S44, calculating a corresponding distance signal-to-noise ratio according to the non-coherent accumulation result and the combination formula (4):
wherein n is 1 Represents the distance signal-to-noise ratio statistical interval length, and j represents the j-th distance unit. The invention is selected from but not limited to n 1 ＝16。
S45, according to the distance signal-to-noise ratio obtained in the step S44, combining the target point trace detection result and the corresponding distance gate set D1 with the step (5);
wherein T is RN For the distance detection threshold after non-coherent accumulation, the invention selects and uses T but is not limited to RN ＝10；
A distance signal-to-noise ratio of a j-th distance unit representing non-coherent accumulation, j representing the j-th distance unit;
if the target exists, outputting a corresponding distance gate j, and when all the distance units are detected, obtaining a distance gate set D1 corresponding to the target.
S5, feeding back a distance gate corresponding to the target point trace obtained based on the one-dimensional distance constant false alarm detection to a coherent accumulation result, and carrying out low-threshold distance-Doppler two-dimensional constant false alarm detection on all Doppler gates in the corresponding distance gate to obtain a target point trace detection result and corresponding distance gates and Doppler gates;
s51, based on the distance gate set information obtained in the step S45, finding a corresponding distance gate in the coherent accumulation result obtained in the step S3.
S52, obtaining a target detection binary judgment result based on the Doppler signal-noise ratio obtained in the step S41 and the combination of the Doppler signal-noise ratio and the combination of the target detection binary judgment result and a corresponding range gate and Doppler gate set D 2 ,
Wherein T is DL Is the Doppler detection threshold, and T DL ＜T D The method comprises the steps of carrying out a first treatment on the surface of the N represents a range gate set, i represents an ith pulse, and corresponds to an ith Doppler unit;
in the above formula, the doppler signal-to-noise ratio is compared with the doppler detection threshold, and if the result is that the target exists, the doppler gate and the range gate of the corresponding target point form a set D2.
Step 6, fusing the target detection result after the coherent accumulation in the step 4 with the target detection result after the coherent accumulation fed back in the step 5 by combining the following formula;
D＝D 1 ∪D 2
wherein, U is the union.
And 7, outputting the fusion result D in the step 6 as a final target detection result.
The effect of the invention is further illustrated by the following simulation comparative tests:
1. experimental scenario:
a 3D pulse Doppler tracking radar positioned at the origin of coordinates is adopted to set carrier frequency f c =16 GHz, radar beam width 4 °, radar sampling frequency F s =400 MHz, scan interval T s The radar measurement parameters are target distance, azimuth angle, pitch angle, and speed information =0.03 s. The number of radar emission pulses is 125, and the number of distance sampling points is 2048. Distance signal-to-noise ratio statistical interval length n 1 =16, doppler signal-to-noise ratio statistical interval length m 1 =16. Distance detection signal-to-noise ratio threshold T R =15 dB, doppler detection signal-to-noise ratio threshold T D ＝15dB，T DL =5 dB, distance detection threshold T after non-coherent accumulation RN =10. The target is a small unmanned aerial vehicle, the flying speed of the unmanned aerial vehicle is 10m/s, and the target detection effect is simulated based on measured data under the scene based on the method.
2. The simulation content:
by adopting the experimental scene, the detection result obtained by the traditional method is analyzed; then analyzing the detection result obtained by the method;
3. analysis of experimental results:
FIG. 2 is a graph of echo signal blur function distribution;
FIG. 3 is a graph of the distance signal to noise ratio distribution after coherent accumulation, and as can be seen from FIG. 3 in combination with the above implementation steps, the target can be detected in the distance dimension detection;
FIG. 4 is a graph showing the Doppler signal-to-noise ratio distribution after the accumulation of the phase, and it can be seen from the above steps in FIG. 4 that the Doppler signal-to-noise ratio of the target is low due to the sea clutter in the Doppler dimension, so that the target is missed in the Doppler dimension detection;
fig. 5 is a graph showing the distance signal-noise ratio distribution after non-coherent accumulation, and it can be seen from fig. 5 in combination with the above steps that the target is not affected by sea clutter during non-coherent accumulation, and the signal-noise ratio is higher than the detection threshold and can be detected. The detection information is fed back to the coherent accumulation result to carry out secondary detection, and the target is detected;
the results of the analysis of the two typical measured data of fig. 4 and 5, and the feasibility and effectiveness of the method of the invention were verified in combination with the above-described experiments.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for making a computer device (which may be a personal computer, a physical machine Server, or a network cloud Server, etc., and need to install a Windows or Windows Server operating system) execute part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention in any way, but any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (10)
1. A multi-phase parameter accumulation method fused marine small target detection method comprises the following steps:
s1, initializing parameters: the radar starts up, the transmitter transmits radio frequency signals, the receiver receives radio frequency echo signals, and baseband echo signals are obtained after digital down-conversion and AD sampling;
s2, performing signal processing on the baseband echo signals, including pulse compression, digital beam synthesis and moving target display, to obtain signals y m×n Wherein m represents the number of pulses, and n represents the number of distance sampling points;
s3, for signal y m×n Pulse phase-coherent accumulation is carried out on one path of the pulse phase-coherent accumulation to obtain a phase-coherent accumulation result
Wherein m represents the number of pulses, and n represents the number of distance sampling points; pulse non-coherent accumulation is carried out on the other path to obtain a non-coherent accumulation result +.>
Wherein the number of pulses is 1, n is the number of distance sampling points;
s4, accumulating the phase-coherent results
Performing distance-Doppler two-dimensional constant false alarm detection to obtain a target point trace detection result and a distance gate and a Doppler gate corresponding to the target point trace; for non-coherent accumulation results->
Performing one-dimensional distance constant false alarm detection to obtain a target point trace detection result and a corresponding distance gate;
s5, feeding back a distance gate corresponding to a target point trace detection result obtained by one-dimensional distance constant false alarm detection to the coherent accumulation result
Performing low-threshold distance-Doppler two-dimensional detection on all Doppler gates in the corresponding range gates to obtain target point trace detection results and corresponding range gates and Doppler gates;
s6, fusing the target point trace detection result after the coherent accumulation in the step S4 with the target point trace detection result in the step S5 to obtain a final target detection result.
2. The method for detecting a small target on the sea, which is integrated by the multi-phase parameter accumulation method according to claim 1, wherein in the step S1, the transmitter is a monopole oscillation type transmitter or a main vibration amplification type transmitter; the digital down-conversion changes the signal from a high frequency to a low frequency signal by a mixing technique; the AD samples convert the signal from an analog signal to a digital signal by discrete sampling.
3. The method for detecting a small marine target by fusion according to claim 1, wherein the step S4 is performed on the result of the accumulation of the phase parameters
Performing distance-Doppler two-dimensional constant false alarm detection to obtain a target point trace detection result and a distance gate and a Doppler gate corresponding to the target point trace, wherein the method comprises the following steps:
s41, calculating a corresponding Doppler signal-to-noise ratio according to the phase-to-noise accumulation result and the formula (1):
wherein E [. Cndot.]Representing the desire, m 1 Representing the length of a Doppler signal-to-noise ratio statistical interval; i is the ith pulse corresponding to the ith Doppler cell, n being the n range cells;
s42, calculating a corresponding distance signal-to-noise ratio according to the phase-to-phase accumulation result and the formula (2):
wherein n is 1 Representing the length of the statistical interval of the distance signal-to-noise ratio, m being the number of pulses, corresponding to m Doppler unitsJ represents a j-th distance unit;
s43, obtaining a target detection binary judgment result and a corresponding distance gate j and Doppler gate i according to the Doppler signal-to-noise ratio and the distance signal-to-noise ratio combined type (3):
wherein H is 1 Indicating the presence of the target, H 0 Indicating the absence of target, T D For Doppler signal-to-noise ratio threshold, T R Is a distance signal-to-noise ratio threshold;
representing the Doppler signal-to-clutter ratio corresponding to (i, j,)>
Represents the distance signal-to-clutter ratio corresponding to (i, j), where i represents the ith pulse, corresponds to the ith Doppler cell, and j represents the jth range cell.
4. The method for detecting a small marine target fused by the multi-phase parameter accumulation method according to claim 3, wherein in the step S4, the one-dimensional distance constant false alarm detection is performed on the non-phase parameter accumulation result to obtain a target point trace detection result and a corresponding distance gate, and the method comprises the following steps:
s44, calculating a corresponding distance signal-to-noise ratio according to the non-coherent accumulation result and the combination formula (4):
wherein n is 1 Represents the distance signal-to-noise ratio statistical interval length, and j represents the j-th distance unit.
5. The method for detecting a small target on the sea, which is integrated by the multi-phase parameter accumulation method according to claim 4, further comprising, after the step S44:
s45, according to the distance signal-to-noise ratio obtained in the step S44, combining the target point trace detection result and the corresponding distance gate set D1 with the step (5);
wherein T is RN For a non-coherent post-accumulation distance detection threshold,
a distance signal-to-noise ratio of a j-th distance unit representing non-coherent accumulation, j representing the j-th distance unit;
if the target exists, outputting a corresponding distance gate j, and when all the distance units are detected, obtaining a distance gate set D1 corresponding to the target.
6. The method for detecting a small target at sea according to the fusion of the multi-phase parameter accumulation method according to claim 5, wherein the distance gate corresponding to the target point trace obtained by the one-dimensional distance constant false alarm detection in step S5 comprises:
s51, based on the distance gate set information obtained in the step S45, finding a corresponding distance gate in the coherent accumulation result obtained in the step S3.
7. The method for detecting a small target on the sea according to claim 6, wherein the step S5 of performing low-threshold distance-doppler two-dimensional detection on all doppler gates in the corresponding range gate to obtain a target trace detection binary decision result and corresponding range gate and doppler gate comprises:
s52, obtaining a target detection binary judgment result based on the Doppler signal-noise ratio obtained in the step S41 and the combination of the Doppler signal-noise ratio and the combination of the target detection binary judgment result and a corresponding range gate and Doppler gate set D 2 ,
Wherein T is DL Is the Doppler detection threshold, and T DL ＜T D The method comprises the steps of carrying out a first treatment on the surface of the N represents a range gate set, i represents an ith pulse, and corresponds to an ith Doppler unit;
in the above formula, the doppler signal-to-noise ratio is compared with the doppler detection threshold, and if the result is that the target exists, the doppler gate and the range gate of the corresponding target point form a set D2.
8. The method for detecting a small marine target by fusion with a multi-phase parameter accumulation method according to claim 7, wherein, in said step S6,
combining the target detection result after the coherent integration in the step S4 with the target detection binary decision result fed back to the coherent integration in the step S5, wherein D=D 1 ∪D 2 And (3) fusing target detection results, wherein U is a union set, and the fusion result D is a final target detection result.
9. An offshore small target detection system fused by a multi-phase parameter accumulation method comprises the following modules:
an initialization module: the radar starts up, the transmitter transmits radio frequency signals, the receiver receives radio frequency echo signals, and baseband echo signals are obtained after digital down-conversion and AD sampling;
and a signal processing module: performing signal processing operations such as pulse compression, digital beam synthesis, moving object display and the like on the baseband signal to obtain a signal y m×n Wherein m represents the number of pulses, and n represents the number of distance sampling points;
pulse accumulation module: for signal y m×n Pulse phase-coherent accumulation is carried out on one path of the pulse phase-coherent accumulation to obtain a phase-coherent accumulation result
Pulse non-coherent accumulation is carried out on the other path to obtain a non-coherent accumulation junctionFruit (herba Cichorii)>
The first target trace detection module: for the coherent accumulation result
Performing distance-Doppler two-dimensional constant false alarm detection to obtain a target point trace detection result and a distance gate and a Doppler gate corresponding to the target point trace; for non-coherent accumulation results->
Performing one-dimensional distance constant false alarm detection to obtain a target point trace detection result and a corresponding distance gate;
the second target trace detection module: feeding back a distance gate corresponding to the target point trace obtained by one-dimensional distance constant false alarm detection to the coherent accumulation result
Performing low-threshold distance-Doppler two-dimensional detection on all Doppler gates in the corresponding range gates to obtain target point trace detection results and corresponding range gates and Doppler gates;
and a detection result fusion module: and fusing the target point trace detection result obtained by the coherent accumulation in the first target point trace detection module with the target point trace detection result obtained by the second target point trace detection module to obtain a final target detection result.
10. A computer-readable storage medium having stored therein a plurality of instructions; the plurality of instructions are loaded by a processor and execute the multi-phase parameter accumulation method fused marine small object detection method according to any one of claims 1-8.
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