A weak target detection method based on adjacent beam pulse accumulation

Abstract

This invention discloses a weak target detection method based on adjacent beam pulse accumulation, comprising the following steps: dividing the scanning range of a pulse-based radar into M beam positions; determining the pulse accumulation result A of the received beam i based on the transmitted beam i at the first time t1 and the transmitted beam i+1 at the second time t2. i The pulse accumulation result A of the received beam i+1 i+1 According to the pulse accumulation result A of the received beam i i The pulse accumulation result A of the received beam i+1 i+1 Phase compensation data matrix B i+1 The optimal weighting coefficients of the pulse accumulation results of two adjacent beams are used to determine the data matrix C; target detection is performed on the data matrix C, and the detection results are output. This invention improves the detection performance of pulse-based radar for weak targets by performing coherent accumulation of echo signals from the same target received by adjacent beams at different times. Based on the actual model of adjacent beam signal reception, and according to the maximum signal-to-noise ratio criterion, the optimal weights for coherent accumulation of adjacent beam outputs are calculated.

Description

Technical Field

[0001] This invention belongs to the field of radar technology, specifically relating to a method for detecting weak targets based on the accumulation of adjacent beam pulses. Background Technology

[0002] Detecting weak targets has always been a major challenge in the radar field. Traditional radar signal processing algorithms cannot effectively extract such targets from complex background environments, making timely warnings and responses difficult and threatening the security of radar systems. Therefore, the urgent problem to be solved is how to improve the detection performance of weak targets, which has significant practical implications for improving my country's radar technology.

[0003] In pulse radar, the transmission and reception of signals are time-division multiplexed, effectively preventing interference between the transmitter and receiver. Therefore, pulse radar has been widely used. The basic workflow of a traditional pulse radar is to transmit a series of pulse signals. After receiving the echo signal, it first performs digital beamforming, then matched filtering, moving target indication (MTI), and moving target detection (MTD), and finally uses a constant false alarm rate (CFAR) algorithm to determine the presence of a target. Traditional pulse radar often uses coherent accumulation of pulse signals received within a single beam for digital beamforming. This method has low gain for weak target echo signals, resulting in a low signal-to-noise ratio (SNR) and inability to detect such targets. In reality, echo signals of the same target at different times can often be received by adjacent beams. Therefore, using only echo signals received within one beam for pulse accumulation leads to incomplete utilization of target information, resulting in a low SNR for weak target detection and thus missed detections.

[0004] In the prior art, patent CN111123250A discloses a pulse Doppler radar and beamforming method based on a pattern search algorithm. This method first initializes the digital and beam generation coefficients, search step size, and basis vectors. It then determines the corresponding objective function based on the beam distribution characteristics and iteratively obtains the digital and beam generation coefficients that satisfy the convergence condition. This method can obtain effective "sum beam" generation coefficients even when there are amplitude and phase differences between the array elements at the front end. However, this method only focuses on solving the generation coefficients within a single beam. Using only the echo signal received within a single beam for pulse accumulation results in incomplete utilization of target information, leading to poor detection performance for weak targets. Summary of the Invention

[0005] To address the aforementioned problems in the existing technology, this invention provides a weak target detection method based on the accumulation of adjacent beam pulses. The technical problem to be solved by this invention is achieved through the following technical solution:

[0006] A weak target detection method based on the accumulation of adjacent beam pulses includes the following steps:

[0007] The scanning range of the pulse radar is divided equally to obtain M wave positions;

[0008] The pulse accumulation result A of the received beam i is determined based on the transmitted beam i at the first time t1 and the transmitted beam i+1 at the second time t2. i The pulse accumulation result A of the received beam i+1 i+1 In each scanning cycle, the pulse radar transmits transmit beams 1 to M sequentially from the first wave position to the Mth wave position. Each transmit beam corresponds to a receive beam with the same direction, i.e., transmit beam i corresponds to receive beam i, i = 1, 2, ..., M. The first time t1 and the second time t2 are two adjacent times, and receive beam i and receive beam i+1 are two adjacent beams.

[0009] According to the pulse accumulation result A of the received beam i i The pulse accumulation result A of the received beam i+1 i+1 Phase compensation data matrix B i+1 The optimal weighting coefficients of the pulse accumulation results of two adjacent beams are used to determine the data matrix C;

[0010] Perform target detection on the data matrix C and output the detection results.

[0011] In one embodiment of the present invention, the pulse accumulation result A of the received beam i is determined based on the transmitted beam i at the first time t1 and the transmitted beam i+1 at the second time t2. i The pulse accumulation result A of the received beam i+1 i+1 ,include:

[0012] During the dwell time of the transmit beam i at the first time t1, N pulses are transmitted to obtain the echo data of each element of the antenna array at the first time t1.

[0013] The weighting coefficients of the echo data of each array element at the first time t1 are calculated based on the direction of the transmitted beam.

[0014] The echo data of each array element at the first time t1 are weighted and summed according to the weight coefficients of the echo data of each array element at the first time t1 to obtain the result of the receiving beam i.

[0015] The result of the received beam i is processed to obtain the pulse accumulation result A of the received beam i. i ;

[0016] During the dwell time of the transmit beam i+1 at the second time t2, N pulses are transmitted to obtain the echo data of each element of the antenna array at the second time t2.

[0017] The weighting coefficients of the echo data of each array element at the second time t2 are calculated based on the direction of the transmitted beam.

[0018] The echo data of each array element at the second time t2 are weighted and summed according to the weight coefficients of the echo data of each array element at the second time t2 to obtain the result of the receiving beam i+1.

[0019] The result of the received beam i+1 is processed to obtain the pulse accumulation result A of the received beam i+1. i+1 .

[0020] In one embodiment of the present invention, the pulse accumulation result A based on the received beam i is... i The pulse accumulation result A of the received beam i+1 i+1 Phase compensation data matrix B i+1 Determine the data matrix C, including:

[0021] According to the pulse accumulation result A of the received beam i+1 i+1 The Doppler channel containing the data row is subjected to corresponding phase compensation to obtain the phase-compensated data matrix B. i+1 ;

[0022] The signal covariance matrix R of the output signals of the two adjacent beams is determined based on the gain matrix G of the target echo signal from the two adjacent beams. s ;

[0023] According to the signal covariance matrix R s The noise covariance matrix R of the noise outputs of the two adjacent beams n And the optimal weighting coefficients for the pulse accumulation results of two adjacent beams are obtained by using the maximum signal-to-noise ratio criterion;

[0024] The pulse accumulation result A of the received beam i is calculated based on the optimal weighting coefficient. i and the phase compensation data matrix B i+1 We perform a weighted summation to obtain the data matrix C.

[0025] In one embodiment of the present invention, the phase compensation data matrix B i+1 The data in the k-th row is b k Then b k The calculation formula is:

[0026]

[0027] Wherein, the pulse accumulation result A of the received beam i+1 i+1 Let a be an m×n matrix. k A represents the pulse accumulation result A of the received beam i+1. i+1 The data in the k-th row, phase compensation data matrix B i+1 It is an m×n matrix. A represents the pulse accumulation result A of the received beam i+1. i+1 The Doppler center frequency of the Doppler channel corresponding to the k-th row in the middle.

[0028] In one embodiment of the present invention, the gain matrix G of the two adjacent beams for the target echo signal is:

[0029]

[0030] Wherein, g1 represents the gain of the receiving beam i on the target echo signal, and g2 represents the gain of the receiving beam i+1 on the target echo signal;

[0031] Then the signal covariance matrix R s The expression is:

[0032]

[0033] Where s(t) represents the target echo signal, This represents the power of s(t).

[0034] In one embodiment of the present invention, the noise covariance matrix R of the noise outputs of the two adjacent beams n for:

[0035]

[0036] In one embodiment of the present invention, the step of using the signal covariance matrix R... s The noise covariance matrix R of the noise outputs of the two adjacent beams n And the optimal weighting coefficients for the pulse accumulation results of two adjacent beams are obtained using the maximum signal-to-noise ratio criterion, including:

[0037] According to the signal covariance matrix R s The noise covariance matrix R n Formula 1 can be derived from the maximum signal-to-noise ratio criterion:

[0038]

[0039] in, w1 represents the pulse accumulation result A of the received beam i. i The weighting coefficients, w2 represents the pulse accumulation result A of the received beam i+1.i+1 The weighting coefficients;

[0040] Normalize the denominator of formula one, and then apply the Lagrange multiplier method to obtain the objective function:

[0041] L(w)=w H R s w+λ(Iw H R n w);

[0042] Differentiating the objective function yields

[0043] when Formula 2 is obtained

[0044] R s w opt =λR n w opt (Formula 2);

[0045] Expanding Equation 2, we get:

[0046] The optimal weighting coefficients for the pulse accumulation results of the two adjacent beams are:

[0047]

[0048] in, The optimal weight coefficients are then expressed as:

[0049]

[0050] In one embodiment of the present invention, the data in the k-th row of the data matrix C is c. k Then c k The calculation formula is:

[0051] c k =w opt1 a k +w opt2 b k .

[0052] The beneficial effects of this invention are:

[0053] This invention improves the target detection signal-to-noise ratio by coherently accumulating echo signals of the same target received by adjacent beams at different times, making full use of target information. Based on the actual model of adjacent beam signal reception, the optimal weight for coherent accumulation of adjacent beam outputs is calculated according to the maximum signal-to-noise ratio criterion. Under the premise of ensuring system real-time performance, this invention improves the detection performance of pulse radar for weak targets.

[0054] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0055] Figure 1 A flowchart illustrating a weak target detection method based on adjacent beam pulse accumulation provided in an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of the beam of a pulse radar provided in an embodiment of the present invention;

[0057] Figure 3 The above is a graph showing the detection signal-to-noise ratio gain curve of the method provided in this embodiment of the invention relative to the single-beam pulse accumulation method under simulation conditions.

[0058] Figure 4 The graph shows the detection signal-to-noise ratio gain curve of the method provided in this embodiment of the invention relative to the single-beam pulse accumulation method under simulation condition 2. Detailed Implementation

[0059] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0060] Example 1

[0061] like Figure 1 As shown, a weak target detection method based on the accumulation of adjacent beam pulses includes the following steps:

[0062] S101, the scanning range of the pulse radar is divided equally to obtain M wave positions;

[0063] S102, determine the pulse accumulation result A of the received beam i based on the transmitted beam i at the first time t1 and the transmitted beam i+1 at the second time t2. i The pulse accumulation result A of the received beam i+1 i+1 In each scanning cycle, the pulse radar transmits transmit beams 1 to M sequentially from the first to the Mth wave positions. Each transmit beam corresponds to a receive beam with the same direction, i.e., transmit beam i corresponds to receive beam i, i = 1, 2, ..., M. The first time t1 and the second time t2 are two adjacent times, and receive beam i and receive beam i+1 are two adjacent beams.

[0064] S103, based on the pulse accumulation result A of the received beam i i Received pulse accumulation result A of beam i+1 i+1 Phase compensation data matrix B i+1 The optimal weighting coefficients of the pulse accumulation results of two adjacent beams are used to determine the data matrix C;

[0065] S104, Perform target detection on data matrix C and output the detection results.

[0066] This embodiment uses an actual model of adjacent beams to coherently accumulate the output results of two adjacent beams using optimal weights, thereby improving the detection performance of weak targets without affecting real-time performance.

[0067] Example 2

[0068] A weak target detection method based on the accumulation of adjacent beam pulses includes the following steps:

[0069] S201, the scanning range of the pulse radar is divided equally to obtain M wave positions. In this step, the scanning range of the radar is set according to the specific parameters of the pulse radar, and the scanning range is divided equally according to actual needs to obtain M wave positions.

[0070] In each scanning cycle, the pulse radar sequentially transmits transmit beams 1 to M from the first to the Mth wave positions. Each transmit beam corresponds to a receive beam with the same direction; that is, transmit beam i corresponds to receive beam i, where i = 1, 2, ..., M. The first time t1 and the second time t2 are two adjacent times, and receive beam i and receive beam i+1 are two adjacent beams. Figure 2 As shown.

[0071] S202, N pulses are transmitted during the dwell time of the transmitted beam i at the first time t1 to obtain the echo data of each element of the antenna array at the first time t1.

[0072] S203, calculate the weighting coefficients of the echo data of each array element at the first moment t1 based on the direction of the transmitted beam.

[0073] S204, according to the weight coefficients of the echo data of each array element at the first time t1, the echo data of each array element at the first time t1 are weighted and summed to obtain the result of the receiving beam i; in this step, the weighted summation process forms the receiving beam i, and the result of the weighted summation is the result of the receiving beam i.

[0074] S205, perform pulse compression and pulse accumulation on the received beam i to obtain the pulse accumulation result A of the received beam i. i ;

[0075] S206, during the dwell time of the transmit beam i+1 at the second time t2, N pulses are transmitted to obtain the echo data of each element of the antenna array at the second time t2.

[0076] S207, calculate the weighting coefficients of the echo data of each array element at the second time t2 based on the direction of the transmitted beam;

[0077] S208, according to the weighting coefficients of the echo data of each array element at the second time t2, the echo data of each array element at the second time t2 are weighted and summed to obtain the result of the receiving beam i+1;

[0078] S209, the result of the received beam i+1 is then processed by pulse compression and pulse accumulation to obtain the pulse accumulation result A of the received beam i+1. i+1 ;

[0079] S210, based on the pulse accumulation result A of the received beam i+1 i+1 The Doppler channel containing the data row is subjected to corresponding phase compensation to obtain the phase-compensated data matrix B. i+1 ;

[0080] Specifically, the pulse accumulation result A of the received beam i+1 i+1 Let a be an m×n matrix. k A represents the pulse accumulation result of the received beam i+1. i+1 The data in the k-th row, phase compensation data matrix B i+1 For an m×n matrix, f dk A represents the pulse accumulation result of the received beam i+1. i+1 The Doppler center frequency of the Doppler channel corresponding to the k-th row is then...

[0081]

[0082] S211, determine the signal covariance matrix R of the output signals of the two adjacent beams based on the gain matrix G of the target echo signal of the two adjacent beams. s Specifically, the gain matrix G of the target echo signal for two adjacent beams is:

[0083]

[0084] Where g1 represents the gain of the receiving beam i on the target echo signal, and g2 represents the gain of the receiving beam i+1 on the target echo signal.

[0085] Then the signal covariance matrix R s The expression is:

[0086]

[0087] Where s(t) represents the target echo signal, This represents the power of s(t).

[0088] S212, based on the signal covariance matrix R s The noise covariance matrix R of the noise outputs of two adjacent beams nAnd based on the maximum signal-to-noise ratio criterion, the optimal weighting coefficients for the pulse accumulation results of two adjacent beams are obtained; the specific process of this step is as follows:

[0089] Because the noise outputs of adjacent beams are independent of each other, the noise covariance matrix R of the noise outputs of adjacent beams is... n It can be represented as:

[0090]

[0091] According to the maximum signal-to-noise ratio criterion, we can obtain

[0092]

[0093] in, w1 represents the pulse accumulation result A of the received beam i. i The weighting coefficients, w2 represents the pulse accumulation result A of the received beam i+1. i+1 The weighting coefficients; w is the weighting coefficient for the weighted summation of the pulse accumulation results of two adjacent beams;

[0094] To simplify calculations, the denominator of the above equation is normalized, i.e., w H R n w = 1; After normalizing the denominator, the Lagrange multiplier method is applied to obtain the objective function:

[0095] L(w)=w H R s w+λ(Iw H R n w);

[0096] Taking the derivative of the objective function yields

[0097]

[0098] when The w at time is the optimal weighting coefficient w obtained by weighted summation of the pulse accumulation results of two adjacent beams. opt ,when When

[0099] R s w opt =λR n w opt ;

[0100] That is, solving for the optimal weight vector becomes a problem of generalized eigenvalue decomposition, and the optimal weight vector w opt Yes (R) s ,R n The eigenvector corresponding to the largest eigenvalue of ).

[0101] The above formula can be further expanded as follows:

[0102]

[0103] The optimal weighting coefficients for the pulse accumulation results of two adjacent beams are expressed as follows:

[0104] in, Based on the noise covariance matrix R n The optimal weight coefficients can be further expressed as:

[0105]

[0106] That is, the optimal weight vector (optimal weight coefficient) is proportional to the gain matrix G.

[0107] S213, based on the solved optimal weight coefficient w opt The pulse accumulation result A of the received beam i i The result B after phase compensation of the received beam i+1 i+1 We perform a weighted summation to obtain the data matrix C; specifically, the data matrix C is an m×n matrix, c k Let c represent the data in the k-th row of the data matrix C. k The calculation method is as follows:

[0108] c k =w opt1 a k +w opt2 b k ;

[0109] S214. Select a suitable target detection algorithm based on the background environment, perform target detection on the data matrix C, and output the detection results. In this step, constant false alarm rate (CFAR) detection algorithms can be used, such as the cell average CFAR algorithm, the cell-selected large CFAR algorithm, the cell-selected small CFAR algorithm, or the ordered CFAR algorithm, etc., to perform target detection on the data matrix C.

[0110] In this embodiment, coherent accumulation is performed on the echo signals of the same target received by adjacent beams at different times, thereby improving the target detection signal-to-noise ratio. Based on the actual model of adjacent beam signal reception, the optimal weight for coherent accumulation of adjacent beam outputs is calculated according to the maximum signal-to-noise ratio criterion. The results of two adjacent beam outputs are coherently accumulated using the optimal weight, thereby improving the detection performance of pulse radar for weak targets while ensuring the real-time performance of the system.

[0111] The effects of the present invention will be further illustrated by simulation below:

[0112] Simulation condition one:

[0113] The equidistant linear array has 10 elements (N=10), 20 pulses, a wavelength of 1m, and an element spacing of 0.5m. The center of beam 1 points at θ1=0°, the incident direction of the target echo signal is θ0=0°, and the center of beam 2 points at... The echo signal signal-to-noise ratio is 2dB.

[0114] Simulation condition two:

[0115] In the equidistant linear array, the number of antenna elements N = 10, the number of pulses is 20, the wavelength is 1m, the element spacing is 0.5m, the center of beam 1 points to θ1 = 0°, the center of beam 2 points to θ2 = 3°, the incident angle of the target echo signal is θ0 = [0°, 3°], and the signal-to-noise ratio of the echo signal is 2dB.

[0116] from Figure 3 It can be observed that the improvement in detection signal-to-noise ratio decreases as the spacing between adjacent beams increases, which is consistent with the theoretical analysis. This indicates that, compared with the traditional single-beam method, the method based on adjacent beam pulse accumulation of the present invention can improve the detection signal-to-noise ratio under certain conditions, which is beneficial for the detection of weak targets.

[0117] from Figure 4 It can be observed that the improved method achieves the greatest increase in detection signal-to-noise ratio when the incident angle of the target echo signal is 2.5°. That is, the target detection signal-to-noise ratio gain is greatest when the incident angle of the target signal is in the middle position of the direction of the adjacent beams.

[0118] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0119] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0120] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A method for detecting weak targets based on the accumulation of adjacent beam pulses, characterized in that, Includes the following steps: Divide the scanning range of the pulse radar into equal parts to obtain One wave position; According to the first moment Transmission beam Second moment Transmission beam Determine the receiving beam Pulse accumulation results and receiving beam Pulse accumulation results ; wherein, the pulse-based radar, in each scanning cycle, from the first wave position to the second wave position... Each wave position sequentially transmits transmission beam 1 to transmission beam 2. Each transmit beam corresponds to a receive beam and they are in the same direction, i.e., the transmit beam. Corresponding receiving beam , ; First moment Second moment For two adjacent moments, the receiving beam and receiving beam For two adjacent beams; According to the received beam Pulse accumulation results The receiving beam Pulse accumulation results Phase compensation data matrix The optimal weighting coefficients of the pulse accumulation results of two adjacent beams are used to determine the data matrix. ; For the data matrix Perform target detection and output the detection results.

2. The weak target detection method based on adjacent beam pulse accumulation according to claim 1, characterized in that, According to the first moment Transmission beam Second moment Transmission beam Determine the receiving beam Pulse accumulation results and receiving beam Pulse accumulation results ,include: At the first moment Transmission beam Launch during dwell time One pulse is used to obtain the first moment of each element in the antenna array. Echo data; The first moment of each array element is calculated based on the direction of the transmitted beam. Weighting coefficients for echo data; Based on the first moment of each array element The weighting coefficients of the echo data will be used for the first moment of each array element. The echo data is weighted and summed to obtain the received beam. The result; For the received beam The results are processed to obtain the receiving beam. Pulse accumulation results ; Second moment Transmission beam Launch during dwell time The second moment of each element in the antenna array is obtained by counting pulses. Echo data; The second moment of each array element is calculated based on the direction of the transmitted beam. Weighting coefficients for echo data; According to the second moment of each array element The weighting coefficients of the echo data will be used for the second time step of each array element. The echo data is weighted and summed to obtain the received beam. The result; For the received beam The results are processed to obtain the receiving beam. Pulse accumulation results .

3. The weak target detection method based on adjacent beam pulse accumulation according to claim 1, characterized in that, According to the received beam Pulse accumulation results and receiving beam Pulse accumulation results Phase compensation data matrix Determine the data matrix ,include: According to the received beam Pulse accumulation results The Doppler channel containing the data row is subjected to corresponding phase compensation to obtain the phase-compensated data matrix. ; The signal covariance matrix of the output signals of the two adjacent beams is determined based on the gain matrix G of the target echo signal from the two adjacent beams. ; According to the signal covariance matrix The noise covariance matrix of the noise outputs of the two adjacent beams And the optimal weighting coefficients for the pulse accumulation results of two adjacent beams are obtained by using the maximum signal-to-noise ratio criterion; The received beam is determined according to the optimal weighting coefficient. Pulse accumulation results and the phase compensation data matrix Perform a weighted summation to obtain the data matrix. .

4. The weak target detection method based on adjacent beam pulse accumulation according to claim 3, characterized in that, The phase compensation data matrix The first in The data in the row is ,but The calculation formula is: ； Wherein, the receiving beam Pulse accumulation results for matrix, Indicates the received beam Pulse accumulation results The Middle Row data, phase compensation data matrix for matrix, Indicates the received beam Pulse accumulation results The Middle The Doppler center frequency of the corresponding Doppler channel.

5. The weak target detection method based on adjacent beam pulse accumulation according to claim 3, characterized in that, The gain matrix G of the two adjacent beams for the target echo signal is: ； in, Indicates the received beam Gain on the target echo signal, Indicates the received beam Gain on the target echo signal; The signal covariance matrix The expression is: ； in, Indicates the target echo signal. express The power.

6. The weak target detection method based on adjacent beam pulse accumulation according to claim 3, characterized in that, The noise covariance matrix of the noise outputs of the two adjacent beams for: 。 7. The weak target detection method based on adjacent beam pulse accumulation according to claim 6, characterized in that, The signal covariance matrix The noise covariance matrix of the noise outputs of the two adjacent beams And the optimal weighting coefficients for the pulse accumulation results of two adjacent beams are obtained using the maximum signal-to-noise ratio criterion, including: According to the signal covariance matrix The noise covariance matrix Formula 1 can be derived from the maximum signal-to-noise ratio criterion: (Formula 1); in, , Indicates the received beam Pulse accumulation results The weighting coefficients, Indicates the received beam Pulse accumulation results The weighting coefficients; Normalize the denominator of formula one, and then apply the Lagrange multiplier method to obtain the objective function: ； Differentiating the objective function yields ; when Formula 2 is obtained. (Formula 2); Expanding Equation 2, we get: ; The optimal weighting coefficients for the pulse accumulation results of the two adjacent beams are: ； in, The optimal weight coefficient is then expressed as: 。 8. The weak target detection method based on adjacent beam pulse accumulation according to claim 7, characterized in that, The data matrix The Middle The data in the row is ,but The calculation formula is: 。

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