A small sample estimation-based fast acceleration compensation method for pulse radar

Abstract

The application discloses a kind of fast acceleration compensation methods of pulse radar based on small sample estimation, belong to radar technical field, including acceleration range rough estimation, to acceleration compensation ratio calculation, look-up table operation is carried out using acceleration compensation ratio, corresponding refined acceleration value is obtained, the technical problem of shortening the calculation time of target acceleration compensation by a small amount of sample calculation for estimation is solved, the calculation amount of the application is significantly reduced and the calculation amount does not increase with the required compensation channel, the calculation amount is relatively fixed, the more the compensation channel, the more obvious the advantage, improve the compensation accuracy of target acceleration, versatility, adaptability, robustness for complex situation, more accurately compensate the acceleration of radar moving target, improve the accuracy of detection and tracking of moving target.

Description

Technical Field

[0001] This invention belongs to the field of radar technology and relates to a fast acceleration compensation method for pulse radar based on small sample estimation. Background Technology

[0002] Radar technology is increasingly widely used in the detection of highly mobile targets such as automobiles, drones, and missiles. Doppler coherent accumulation processing in radar signal processing can improve the signal-to-noise ratio of targets and is a key step in improving the probability of target detection. However, conventional Doppler processing assumes that the target is moving at a constant speed. When there are accelerated target signal components with Doppler frequencies that change over time, accumulation processing cannot be performed (or the accumulation gain is limited). In this case, the target detection will be significantly affected. Therefore, acceleration Doppler compensation is a necessary step for processing targets with variable speeds. In existing technologies, the target Doppler compensation technology mainly adopts the assumption-compensation-maximization method. That is, all possible acceleration values ​​of the target are compensated according to a certain accuracy, and then the target amplitude is maximized based on the coherent accumulation. As the target acceleration range becomes larger (such as overtaking drones and man-portable missiles), the number of Doppler values ​​that need to be compensated increases, and the computational load of acceleration compensation increases rapidly. The resources required for engineering implementation and the computation time required for compensation increase significantly, affecting cost and efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a fast acceleration compensation method for pulse radar based on small sample estimation, which solves the technical problem of shortening the calculation time for target acceleration compensation by calculating with a small number of samples.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A fast acceleration compensation method for pulse radar based on small sample estimation includes the following steps:

[0006] Step 1: The acquisition module obtains the echo data from the pulse radar and sends the echo data to the signal processing module;

[0007] Step 2: The signal processing module obtains the corresponding target acceleration based on the pre-built acceleration ratio lookup table and performs compensation. The specific steps are as follows:

[0008] Step S2-1: Divide the full range of acceleration into M segments, each segment being a sub-segment. M is less than the total number of compensation channels. Perform coarse compensation on the echo data based on the initial acceleration value of each sub-segment to obtain the compensation values ​​of the M compensation channels. Perform moving target detection processing on all compensation values ​​to obtain the M filtering results. Extract the maximum and second maximum values ​​of the peak values ​​in the filtering results and mark the channel numbers of the compensation channels corresponding to the maximum and second maximum values.

[0009] Step S2-2: Based on the channel number obtained in step S2-1, determine the range of the actual acceleration, and simultaneously calculate the ratio of the maximum value to the second largest value;

[0010] Step S2-3: Based on the preset acceleration estimation accuracy requirements, traverse all accelerations within the sub-segment in advance to obtain the mapping relationship curve between the acceleration and the compensation value. Establish a ratio lookup table based on the mapping relationship curve and store it in the processor.

[0011] Step 3: The compensation module retrieves the pre-stored ratio lookup table, obtains the acceleration value according to the ratio lookup table, and adds it to the initial acceleration value of the current sub-segment to obtain the acceleration compensation value, thereby accurately compensating for the acceleration. When there are two values ​​for the acceleration compensation value, the channel with the maximum peak value is selected as the final compensation result.

[0012] Preferably, when performing steps S2-1 and S2-2, specifically assuming the target acceleration shown in the echo data is a, the entire acceleration range is uniformly and coarsely divided into M segments, with the initial acceleration values ​​of each sub-segment being a1, a2, ..., a... M The echo data is coarsely compensated using these M initial acceleration values, and the M compensation channel results are processed for moving target detection to obtain the M channel filtering results.

[0013] Extract the peak values ​​from the M filtering results and sort them to obtain the maximum and second largest values. Calculate the ratio of the maximum and second largest values ​​to obtain the acceleration compensation ratio corresponding to acceleration a.

[0014] Preferably, when performing step 3, the following steps are specifically included: when there are two values ​​for the acceleration compensation value, the echo data is compensated for acceleration in two channels, the compensation result is processed for moving target detection, and the filtered result is selected from the channel with the maximum peak value as the final compensation result.

[0015] Preferably, when performing steps 2-3, the ratio lookup table contains mapping relationships across the entire range of accelerations.

[0016] This invention presents a fast acceleration compensation method for pulse radar based on small sample estimation. It solves the technical problem of shortening the calculation time for target acceleration compensation by calculating with a small number of samples. The invention significantly reduces the computational load, which does not increase with the required compensation channels; the computational load is relatively fixed, and the advantages become more pronounced with more compensation channels. This improves the accuracy of target acceleration compensation. By dynamically establishing a ratio lookup table, the system can better adapt to different target acceleration ranges, improving the system's versatility and adaptability. It clarifies the handling method when acceleration compensation values ​​have two values. By compensating acceleration from two channels and then selecting the channel with the maximum peak value, the system's robustness to complex situations is improved. By establishing an acceleration compensation ratio lookup table, the scheme estimates acceleration compensation values ​​more meticulously throughout the process, helping to more accurately compensate for the acceleration of moving radar targets and improving the accuracy of moving target detection and tracking. By extracting peak values ​​from different channels and integrating multi-channel information in subsequent steps, it fully utilizes the multi-channel information of radar echo data, helping to improve the system's ability to identify and locate targets. Attached Figure Description

[0017] Figure 1 This is a flowchart of the present invention;

[0018] Figure 2 This is a schematic diagram of the small sample acceleration compensation results of the present invention;

[0019] Figure 3 This is a graph showing the mapping relationship between acceleration and acceleration compensation ratio in this invention.

[0020] Figure 4 This is a schematic representation of the acceleration compensation ratio lookup in this invention;

[0021] Figure 5 This is a schematic diagram of the MTD results for the five acceleration compensation channels of the present invention;

[0022] Figure 6 This is a schematic diagram showing the acceleration compensation ratio lookup results of the present invention;

[0023] Figure 7 This is a schematic diagram of the two-channel acceleration compensation filtering process of the present invention. Detailed Implementation

[0024] like Figures 1-7 The fast acceleration compensation method for pulse radar based on small sample estimation includes the following steps:

[0025] Step 1: The acquisition module obtains the echo data from the pulse radar and sends the echo data to the signal processing module;

[0026] In this embodiment, simulation tools are used to perform simulation analysis on the fast acceleration compensation technique based on small sample estimation. The simulation parameters are as follows:

[0027] Acceleration compensation range: 0 to 400 m / s²;

[0028] Acceleration compensation accuracy: 5 m / s²;

[0029] Simulated target acceleration: 135 m / s²;

[0030] Period length: 375µs;

[0031] Number of cycles: 1058;

[0032] Signal carrier frequency: 24GHz;

[0033] Number of segments M: 4 (that is, the acceleration compensation range is divided into 5~95m / s2, 100~195m / s2, 200~295m / s2, and 300~395m / s2).

[0034] Step 2: The signal processing module obtains the corresponding target acceleration based on the pre-built acceleration ratio lookup table and performs compensation. The specific steps are as follows:

[0035] Step S2-1: Divide the full range of acceleration into M segments, each segment being a sub-segment. M is less than the total number of compensation channels. Perform coarse compensation on the echo data based on the initial acceleration value of each sub-segment to obtain the compensation values ​​of the M compensation channels. Perform moving target detection processing on all compensation values ​​to obtain the M filtering results. Extract the maximum and second maximum values ​​of the peak values ​​in the filtering results and mark the channel numbers of the compensation channels corresponding to the maximum and second maximum values.

[0036] Specifically, assuming the target acceleration shown in the echo data is 'a', the entire acceleration range is coarsely divided into M segments, with initial acceleration values ​​of a1, a2, ..., a... for each segment. M The M initial acceleration values ​​are used to coarsely compensate the echo data, and the M compensation channel results are used for moving target detection processing to obtain M channel filtering results.

[0037] In this embodiment, the initial acceleration value of each segment is used as the compensation value (5m / s2, 100m / s2, 200m / s2, 300m / s2, 400m / s2), and the compensation filtering results corresponding to the five acceleration values ​​in the entire compensation range are calculated.

[0038] Step S2-2: Based on the channel number obtained in step S2-1, determine the range of the actual acceleration, and simultaneously calculate the ratio of the maximum value to the second largest value;

[0039] Specifically, the peak values ​​of the M filtering results are extracted and sorted to obtain the maximum and second largest values. The ratio of the maximum and second largest values ​​is then calculated to obtain the acceleration compensation ratio corresponding to acceleration a.

[0040] In this embodiment, the peak values ​​of the five filtered results are sorted. The maximum value A1 corresponds to the result of channel 2, and the second largest value A2 corresponds to the result of channel 3. Therefore, the target acceleration can be determined to be in the second interval (i.e., 100–195 m / s²). The acceleration compensation ratio at this point is calculated as: R = A1 / A2 = 1.3133.

[0041] Step S2-3: Based on the preset acceleration estimation accuracy requirements, traverse all accelerations within the sub-segment in advance to obtain the mapping relationship curve between the acceleration and the compensation value. Establish a ratio lookup table based on the mapping relationship curve and store it in the processor.

[0042] In this embodiment, all accelerations are traversed in advance to obtain a lookup table. During processing, the table is directly looked up. "Traversing all accelerations" means dividing each sub-segment of the M acceleration segments into N segments according to the estimated accuracy, traversing each segment, and obtaining a lookup table of M*N values. The lookup tables for all accelerations are cyclically repeated, so only one segment needs to be searched during the search. The acceleration value obtained from the lookup table plus the initial acceleration value of each sub-segment is the true acceleration value.

[0043] The ratio lookup table contains mappings for the entire range of accelerations.

[0044] Step 3: The compensation module retrieves the pre-stored ratio lookup table, obtains the acceleration value according to the ratio lookup table, and adds it to the initial acceleration value of the current sub-segment to obtain the acceleration compensation value, thereby accurately compensating for the acceleration. When there are two values ​​for the acceleration compensation value, the channel with the maximum peak value is selected as the final compensation result.

[0045] In this embodiment, the acceleration compensation ratio of 1.3133 is compared with the ratio lookup table to find the two points closest to this value. The obtained target acceleration is located in the second interval, with an initial acceleration value of 100 m / s². Based on the relative relationship between the two acceleration values ​​obtained from the lookup table and the initial value, the actual acceleration of the target may be 135 m / s² or 160 m / s².

[0046] Based on the obtained acceleration compensation value of 135m / s2 or 160m / s2, precise acceleration compensation is performed in two channels, and moving target detection processing is performed to obtain two-channel filtering results. The channel with the larger peak value is selected as the target acceleration compensation result.

[0047] The acceleration estimation results obtained by using the present invention are basically consistent with the actual acceleration of the target. Furthermore, the present invention can adjust the accuracy of the acceleration values ​​traversed in steps S2-3 according to the acceleration estimation accuracy requirements, so as to meet the acceleration accuracy requirements under different scenarios.

[0048] This invention presents a fast acceleration compensation method for pulse radar based on small sample estimation. It solves the technical problem of shortening the calculation time for target acceleration compensation by calculating with a small number of samples. The invention significantly reduces the computational load, which does not increase with the required compensation channels; the computational load is relatively fixed, and the advantages become more pronounced with more compensation channels. This improves the accuracy of target acceleration compensation. By dynamically establishing a ratio lookup table, the system can better adapt to different target acceleration ranges, improving the system's versatility and adaptability. It clarifies the handling method when acceleration compensation values ​​have two values. By compensating acceleration from two channels and then selecting the channel with the maximum peak value, the system's robustness to complex situations is improved. By establishing an acceleration compensation ratio lookup table, the scheme estimates acceleration compensation values ​​more meticulously throughout the process, helping to more accurately compensate for the acceleration of moving radar targets and improving the accuracy of moving target detection and tracking. By extracting peak values ​​from different channels and integrating multi-channel information in subsequent steps, it fully utilizes the multi-channel information of radar echo data, helping to improve the system's ability to identify and locate targets.

Claims

1. A fast acceleration compensation method for pulse radar based on small sample estimation, characterized in that: Includes the following steps: Step 1: The acquisition module obtains the echo data from the pulse radar and sends the echo data to the signal processing module; Step 2: The signal processing module obtains the corresponding target acceleration based on the pre-built ratio lookup table and performs compensation. The specific steps are as follows: Step S2-1: Divide the full range of acceleration into M segments, each segment being a sub-segment. M is less than the total number of compensation channels. Perform coarse compensation on the echo data based on the initial acceleration value of each sub-segment to obtain the compensation values ​​of the M compensation channels. Perform moving target detection processing on all compensation values ​​to obtain the M filtering results. Extract the maximum and second maximum values ​​of the peak values ​​in the filtering results and mark the channel numbers of the compensation channels corresponding to the maximum and second maximum values. Step S2-2: Based on the channel number obtained in step S2-1, determine the range of the actual acceleration, and calculate the ratio of the maximum value to the second largest value. Step S2-3: Based on the preset acceleration estimation accuracy requirements, traverse all accelerations within the sub-segment in advance to obtain the mapping relationship curve between acceleration and ratio. Establish a ratio lookup table based on the mapping relationship curve and store it in the processor. Step 3: The compensation module retrieves the pre-stored ratio lookup table, obtains the acceleration value according to the ratio lookup table, and adds it to the initial acceleration value of the current sub-segment to obtain the acceleration compensation value, thereby accurately compensating for the acceleration. When there are two values ​​for the acceleration compensation value, the channel with the maximum peak value is selected as the final compensation result.

2. The pulse radar fast acceleration compensation method based on small sample estimation as described in claim 1, characterized in that: When performing steps S2-1 and S2-2, specifically assuming the target acceleration shown in the echo data is a, the entire acceleration range is uniformly and coarsely divided into M segments, with the initial acceleration values ​​of each sub-segment being a1, a2, ..., a... M The echo data is coarsely compensated using these M initial acceleration values, and the M compensation channel results are processed for moving target detection to obtain the M channel filtering results. Extract the peak values ​​from the M filtering results and sort them to obtain the maximum and second largest values. Calculate the ratio of the maximum and second largest values ​​to obtain the acceleration compensation ratio corresponding to acceleration a.

3. The pulse radar fast acceleration compensation method based on small sample estimation as described in claim 1, characterized in that: When performing step 3, specifically, when there are two values ​​for the acceleration compensation value, the echo data is compensated for acceleration in two channels. The compensation result is then processed for moving target detection, and the channel with the maximum peak value is selected as the final compensation result from the filtered result.

4. The pulse radar fast acceleration compensation method based on small sample estimation as described in claim 1, characterized in that: When performing step S2-3, the ratio lookup table contains mapping relationships across the entire range of accelerations.

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