Shipborne maneuvering ground wave radar high-precision distance estimation method, device and system

Abstract

The invention relates to a shipborne maneuvering ground wave radar high-precision distance estimation method, device and system, and the method comprises the steps: obtaining a fast-slow time domain combined platform motion compensation signal according to the multi-degree-of-freedom motion parameter and radar waveform of a shipborne platform in a radar coherent accumulation period; compensating the data of all the frequency sweeping periods of all the antennas to obtain array radar sampling data; adding the array radar sampling data in the antenna dimension to obtain radar beam forming data; zero padding is carried out on radar beam forming data at the tail of fast time domain data, fast time domain FFT and slow time domain FFT are carried out, and a distance-Doppler spectrum after platform motion compensation and beam forming is obtained; and compensating the distance-speed coupling error of the uniform-speed motion of the target to obtain a final high-precision distance estimation result of the target. The method considers the influence of the platform maneuvering motion, the distance estimation quantization error and the target uniform motion speed on the distance estimation, and is suitable for the high-precision distance estimation of the shipborne maneuvering ground wave radar.

Description

Technical Field

[0001] The present invention relates to the technical field of radar signal processing, and in particular to a high-precision distance estimation method, device and system for a shipborne mobile ground wave radar. Background Art

[0002] High-frequency ground wave radar operates at 3-30MHz. The vertically polarized waves in this band have the characteristic of long propagation distance when propagating along the ocean surface, and have been widely used in marine land monitoring in various countries. Shipborne ground wave radar can be flexibly moved to the target monitoring sea area according to its mission requirements, so the detection range of conventional shore-based ground wave radar can be further expanded. For the sake of its own safety, the shipborne platform needs to adopt a maneuvering mode under extreme conditions. Ground wave radar generally uses linear frequency modulation signals, and when the shipborne platform is maneuvering, the radar waveform is affected by the complex distance-velocity coupling at this time, and the high-precision estimation of the target distance will be challenged.

[0003] Bruno (2013) and Ji Yonggang (2019) both analyzed the decoupling method of the distance-velocity coupling of shore-based wave radar. By estimating the speed of the uniform target, the error caused by the distance-velocity coupling factor can be deducted. Zhang Ling (2021) considered the distance estimation problem of targets on shipborne platforms, but only considered compensating for the Doppler spectrum modulation of the platform motion in the slow time domain. The subsequent processing is essentially the same as that of shore-based wave radar. This method ignores the impact of platform maneuvers on the fast time domain range spectrum. Therefore, in the case of platform maneuvers, in order to estimate the distance with high accuracy, it is necessary to further consider the compensation of the fast time domain range spectrum.

[0004] In view of this, how to overcome the defect of the existing technology that only considers the distance-velocity coupling caused by uniform motion and solve the compensation problem of the existing technology for the complex distance-velocity coupling modulation during platform maneuvers is a difficult problem to be solved in this technical field. Summary of the invention

[0005] In view of the technical problem in the traditional solution: the compensation of distance measurement error under the influence of complex distance-velocity coupling when the platform is maneuvering is not considered. The embodiment of the present invention provides a high-precision distance estimation method, device and system for a shipborne maneuvering ground wave radar, which fully considers the problem of reduced distance measurement accuracy caused by complex distance-velocity coupling when the shipborne platform is maneuvering, combines the multi-degree-of-freedom attitude motion data of the ship within the coherent accumulation period, generates a fast-slow time domain joint platform motion compensation signal, and can eliminate the distance measurement error caused by the platform maneuvering.

[0006] The purpose of the embodiment of the present invention is achieved through the following technical solutions: In order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a high-precision distance estimation method for a shipborne mobile ground wave radar, comprising: According to the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent accumulation period, the In direction, The receiving antenna is at The platform motion compensation signal of the fast-slow time domain combination of the frequency sweep cycle; Using platform motion compensation signal Receiving antenna No. The sampling data of each frequency sweep cycle is compensated; after compensating the data of all frequency sweep cycles of all antennas, the compensated array radar sampling data is obtained; the compensated array radar sampling data is added in the antenna dimension to obtain Radar beamforming data after platform motion compensation in the direction; The radar beamforming data is padded with zeros at the end of the fast time domain data, and fast time domain FFT and slow time domain FFT are performed to obtain the range-Doppler spectrum after platform motion compensation and beamforming; Based on the range-Doppler spectrum after platform motion compensation and beamforming, the range-velocity coupling error of the target's uniform motion is compensated according to the target's fast time domain sequence number and the target's slow time domain sequence number, and the final high-precision range estimation result of the target is obtained.

[0007] In some embodiments, the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent integration period are used to obtain the horizontal plane. In direction, The receiving antenna is at The platform motion compensation signal of the fast-slow time domain joint of the frequency sweep cycle specifically includes: Determine the six-degree-of-freedom motion parameters of the shipborne platform within the radar coherent integration period: the yaw angle of the shipborne platform , Pitch angle , Roll Angle , eastward displacement , Northward displacement and vertical displacement ;in, is the current sweep cycle number. There are N sweep cycles in the radar coherent accumulation cycle. is the real time within each frequency sweep cycle, is the frequency sweep cycle time of the radar; The platform motion compensation signal is ,in, is the serial number of the receiving antenna, is the number of receiving array antennas; is the starting frequency of the sweep signal, is the sweep bandwidth, It is the sweep direction mark; is the frequency sweep slope, is the propagation speed of electromagnetic waves; represents the transmitting antenna and The receiving antenna The sum of the directional displacement projections.

[0008] In some embodiments, the The calculation includes: ;in: ; ; ; ; ; in, represents the transpose of the signal. and The transmitting antenna and The receiving antenna is displaced in Directional projection; is the translation vector of the platform, To express The unit direction vector of the direction, is the matrix representing the platform rotation; is the vector from the platform motion parameter measurement center to the coordinate origin, is the launch coordinate vector, for The receiving antenna coordinate vector.

[0009] In some embodiments, the platform motion compensation signal is used to Receiving antenna No. The sampling data of a frequency sweep cycle is compensated specifically including: use right Receiving antenna No. The sampling data of a sweep cycle is used for compensation. The number of sampling points in a sweep cycle is , then the form of the compensation signal after sampling is , which is vector; Antenna No. The baseband signal after radar demodulation for a sweep cycle is: , then the radar data after motion compensation is ;in, represents the Hadamard product, represents taking the conjugate of the signal.

[0010] In some embodiments, after compensating the data of all the frequency sweeping cycles of all the antennas, the compensated array radar sampling data is obtained; the compensated array radar sampling data is added in the antenna dimension to obtain The radar beamforming data after platform motion compensation in the direction specifically includes: Compensate all the frequency sweep cycle data of all antennas to obtain the compensated array radar sampling data , which is A third-order tensor; the first dimension represents the antenna number; the second dimension represents the frequency sweep cycle number, i.e., the slow time domain dimension; the third dimension represents the sampling point number within the frequency sweep cycle, i.e., the fast time domain dimension; Adding in the antenna dimension, we get Radar beamforming data after platform motion compensation .

[0011] In some embodiments, the step of padding the radar beamforming data with zeros at the end of the fast time domain data, performing fast time domain FFT, and performing slow time domain FFT to obtain the range-Doppler spectrum after platform motion compensation and beamforming specifically includes: Will Pad zero at the end of the fast time domain data to get , so that its fast time domain data length is becomes , then perform fast time domain FFT, followed by slow time domain FFT, and finally obtain the range-Doppler spectrum after platform motion compensation and beamforming; among them, the fast time domain dimension represents the target distance information, and the slow time domain dimension represents the target speed information.

[0012] In some embodiments, the range-Doppler spectrum after platform motion compensation and beamforming, according to the fast time domain sequence number of the target and the slow time domain sequence number of the target, compensates for the range-velocity coupling error of the target uniform motion, and obtains the final target high-precision distance estimation result specifically includes: The fast time domain sequence number of the target is , then the fast time domain number of the target relative to the FFT center is ;in, It represents the remainder when a is divided by b; The slow time domain serial number of the target is , then the slow time domain serial number of the target relative to the FFT center is ; Compensate for the distance-velocity coupling error of the target's uniform motion, and obtain the final high-precision distance estimation result of the target: ;in, is the range resolution of the radar, It is an accurate estimate of the distance of the target relative to the starting point of the radar coherent integration time.

[0013] In a second aspect, an embodiment of the present invention provides a high-precision distance estimation system for a shipborne mobile ground wave radar, which is used to implement the high-precision distance estimation method for a shipborne mobile ground wave radar as described in the first aspect, including a platform motion compensation signal acquisition module, a radar beamforming data acquisition module, a distance-Doppler spectrum acquisition module, and a target high-precision distance estimation result acquisition module, wherein: The platform motion compensation signal acquisition module is used to obtain the motion compensation signal in the horizontal plane according to the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent accumulation period. In direction, The receiving antenna is at The platform motion compensation signal of the fast-slow time domain combination of the frequency sweep cycle; The radar beamforming data acquisition module is used to: use the platform motion compensation signal to Receiving antenna No. The sampling data of each frequency sweep cycle is compensated; after compensating the data of all frequency sweep cycles of all antennas, the compensated array radar sampling data is obtained; the compensated array radar sampling data is added in the antenna dimension to obtain Radar beamforming data after platform motion compensation in the direction; The range-Doppler spectrum acquisition module is used to: fill the radar beamforming data with zeros at the end of the fast time domain data, perform fast time domain FFT, perform slow time domain FFT, and obtain the range-Doppler spectrum after platform motion compensation and beamforming; The target high-precision distance estimation result acquisition module is used to compensate for the range-speed coupling error of the target uniform motion based on the platform motion compensation and beamformed range-Doppler spectrum according to the target's fast time domain sequence number and the target's slow time domain sequence number, so as to obtain the final target high-precision distance estimation result.

[0014] In a third aspect, an embodiment of the present invention provides a high-precision distance estimation device for a shipborne mobile ground wave radar, comprising at least one processor and a memory, wherein the at least one processor and the memory are connected via a data bus, and the memory stores instructions that can be executed by the at least one processor, and after the instructions are executed by the processor, they are used to complete the high-precision distance estimation method for the shipborne mobile ground wave radar as described in the first aspect.

[0015] In a fourth aspect, an embodiment of the present invention provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, which are executed by one or more processors to complete the high-precision distance estimation method for the shipborne mobile ground wave radar as described in the first aspect.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: Different from the prior art, the embodiments of the present invention provide a high-precision distance estimation method, device and system for a shipborne mobile ground wave radar, which fully considers the problem of reduced distance measurement accuracy caused by complex distance-speed coupling when the shipborne platform is maneuvering, and combines the multi-degree-of-freedom attitude motion data of the ship within the coherent accumulation period to generate a fast-slow time domain combined platform motion compensation signal, which can eliminate the distance measurement error caused by the platform maneuvering.

[0017] In addition, in order to solve the problem of large distance resolution of ground wave radar, different from the traditional idea of ​​performing local interpolation in the distance dimension to reduce the quantization error of distance estimation, the Fast Fourier Transform (FFT) with zero padding at the end of the fast time domain in the embodiment of the present invention is a more efficient and essential high-precision distance interpolation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements / modules and steps with the same reference numerals in the drawings are represented as similar elements / modules and steps. Unless otherwise specified, the figures in the drawings do not constitute proportional limitations.

[0019] Figure 1 It is a flow chart of a high-precision distance estimation method for a shipborne mobile ground wave radar provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the overall process provided by an embodiment of the present invention; Figure 3 is a specific flow chart of step S101 provided in an embodiment of the present invention; Figure 4 is a specific flow chart of step S102 provided in an embodiment of the present invention; Figure 5 is a specific flow chart of step S103 provided by an embodiment of the present invention; Figure 6 is a specific flow chart of step S104 provided in an embodiment of the present invention; Figure 7 This is a block diagram of a high-precision distance estimation system for a shipborne mobile ground wave radar provided by an embodiment of the present invention; Figure 8The present invention provides a schematic diagram of the structure of a high-precision distance estimation device for a shipborne mobile ground wave radar. DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart.

[0023] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] The present invention aims to solve the problem of high-precision distance estimation of a shipborne ground wave radar in a situation where a shipborne platform is maneuvering.

[0025] First, the multi-degree-of-freedom motion parameters of the shipborne platform within the radar coherent accumulation period are obtained. Secondly, based on the obtained platform multi-degree-of-freedom parameters and radar waveform, the platform motion compensation signal of each receiving antenna in each sweep cycle in the set direction is obtained, and the radar beamforming data is obtained after compensating for the platform motion. Among them, the platform motion compensation signal is a motion compensation signal constructed by fast-slow time domain combination, so as to eliminate the influence of platform motion on radar echo data.

[0026] Then, the fast time domain signal is padded with zeros at the end and then FFT is performed, while the slow time domain signal is directly FFTed to obtain the radar's range-Doppler spectrum. The fast time domain end zero padding and Fourier transform are combined to perform distance estimation, thereby reducing the quantization error of distance estimation.

[0027] Finally, the distance-velocity coupling error of the target's motion speed is compensated to obtain the final high-precision distance estimation result of the target. The speed of the uniform-speed target is estimated through the Doppler spectrum after motion compensation, thereby eliminating the distance estimation error caused by the target's motion speed.

[0028] Specifically, the embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0029] Example 1 Embodiment 1 of the present invention provides a high-precision distance estimation method for a shipborne mobile ground wave radar. Figure 1 and Figure 2 As shown, the high-precision distance estimation method of the shipborne mobile ground wave radar includes but is not limited to the following steps: Step S101: According to the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent accumulation period, the In direction, The receiving antenna is at The fast-slow time domain joint platform motion compensation signal of the frequency sweep cycle is used to solve the construction problem of the fast-slow time domain joint motion compensation signal. The multi-degree-of-freedom motion parameters can be six-degree-of-freedom motion parameters, which are the yaw angle, pitch angle, roll angle, eastward displacement, northward displacement and vertical displacement of the shipborne platform.

[0030] Step S102: Using the platform motion compensation signal Receiving antenna No. The sampling data of each frequency sweep cycle is compensated; after compensating the data of all frequency sweep cycles of all antennas, the compensated array radar sampling data is obtained; the compensated array radar sampling data is added in the antenna dimension to obtain Radar beamforming data after platform motion compensation in the direction. The platform motion compensation signal used in the compensation performed in this step is a compensation signal based on the fast-slow time domain combination, that is, the compensation of the fast time domain range spectrum is taken into account on the basis of the background technology.

[0031] Step S103: pad the radar beamforming data with zeros at the end of the fast time domain data, perform fast time domain FFT, and perform slow time domain FFT to obtain the range-Doppler spectrum after platform motion compensation and beamforming. This step solves the problem of excessive quantization error in fast time domain distance estimation by padding the fast time domain data with zeros and then performing fast time domain FFT.

[0032] Step S104: Based on the range-Doppler spectrum after platform motion compensation and beamforming, the range-velocity coupling error of the target's uniform motion is compensated according to the target's fast time domain sequence number and the target's slow time domain sequence number, and the final high-precision range estimation result of the target is obtained. This step solves the problem of compensating the range-velocity coupling error caused by the target's uniform motion.

[0033] refer to Figure 2 and Figure 3 As shown, in some embodiments, step S101, that is, obtaining the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform in the horizontal plane according to the radar coherent integration period In direction, The receiving antenna is at The fast-slow time domain combined platform motion compensation signal of a frequency sweep cycle specifically includes the following steps.

[0034] Step S1011: Determine the six-degree-of-freedom motion parameters of the shipborne platform within the radar coherent integration period: the yaw angle of the shipborne platform , Pitch angle , Roll Angle , eastward displacement , Northward displacement and vertical displacement ;in, is the current sweep cycle number. There are N sweep cycles in the radar coherent accumulation cycle. is the real time within each frequency sweep cycle, is the frequency sweep cycle time of the radar.

[0035] Step S1012: Obtain the position of the platform in the horizontal plane according to the obtained six-degree-of-freedom motion parameters and radar waveform. In direction, The receiving antenna is at The platform motion compensation signal of a sweep frequency cycle is: , which is a fast-slow time domain joint motion compensation signal, and the specific calculation formula is: (1); in, is the serial number of the receiving antenna, is the number of receiving array antennas; is the starting frequency of the sweep signal, is the sweep bandwidth, is the sweep direction mark ( Indicates scanning up. indicates down scan); is the frequency sweep slope, is the propagation speed of electromagnetic waves; represents the transmitting antenna and The receiving antenna The sum of the directional displacement projections.

[0036] In some embodiments, the It can be calculated by the following formula: (2); in: (3); (4); (5); (6); (7); in, represents the transpose of the signal. and The transmitting antenna and The receiving antenna is displaced in Directional projection; is the translation vector of the platform, To express The unit direction vector of the direction, is the matrix representing the platform rotation; is the vector from the platform motion parameter measurement center to the coordinate origin, is the launch coordinate vector, for The receiving antenna coordinate vector.

[0037] refer to Figure 2 and Figure 4 As shown, in some embodiments, step S102 specifically includes the following steps.

[0038] Step S1021: Use right Receiving antenna No. The sampling data of a frequency sweep cycle is used for compensation. The number of sampling points in a frequency sweep cycle is , then the form of the compensation signal after sampling is , which is vector; Antenna No. The baseband signal after radar demodulation for a sweep cycle is: , then the radar data after motion compensation is: (8); in, represents the Hadamard product, represents taking the conjugate of the signal.

[0039] Step S1022: Compensate all the frequency sweep cycle data of all antennas to obtain compensated array radar sampling data , which is A third-order tensor; the first dimension represents the antenna number; the second dimension represents the sweep cycle number, i.e., the slow time domain dimension; the third dimension represents the sampling point number within the sweep cycle, i.e., the fast time domain dimension.

[0040] Step S1023: Adding in the antenna dimension, we get Radar beamforming data after platform motion compensation .

[0041] refer to Figure 2 and Figure 5 As shown, in some embodiments, step S103 specifically includes the following steps.

[0042] Step S1031: Pad zero at the end of the fast time domain data to get , so that its fast time domain data length is becomes .

[0043] Step S1032: Perform fast time domain FFT.

[0044] Step S1033: Perform slow time domain FFT to finally obtain the range-Doppler spectrum after platform motion compensation and beamforming, wherein the fast time domain dimension represents the target distance information, and the slow time domain dimension represents the target speed information.

[0045] refer to Figure 2 and Figure 6 As shown, in some embodiments, step S104 specifically includes the following steps.

[0046] Step S1041: The target fast time domain sequence number is , then the fast time domain number of the target relative to the FFT center is: (9); in, Represents the remainder when a is divided by b.

[0047] Step S1042: The target slow time domain serial number is , then the slow time domain number of the target relative to the FFT center is: (10).

[0048] Step S1043: Compensate for the distance-velocity coupling error of the target's uniform motion, and obtain the final high-precision distance estimation result of the target: (11); in, is the range resolution of the radar, It is an accurate estimate of the distance of the target relative to the starting point of the radar coherent integration time.

[0049] In summary, an embodiment of the present invention provides a high-precision distance estimation method for a shipborne mobile ground wave radar, a high-precision distance estimation method, device and system for a shipborne mobile ground wave radar, which fully considers the problem of reduced distance measurement accuracy caused by complex distance-speed coupling when the shipborne platform is maneuvering, combines the multi-degree-of-freedom attitude motion data of the ship within the coherent accumulation period, generates a fast-slow time domain combined platform motion compensation signal, and can eliminate the distance measurement error caused by the platform maneuvering.

[0050] In addition, in order to solve the problem of large distance resolution of ground wave radar, different from the traditional idea of ​​performing local interpolation in the distance dimension to reduce the quantization error of distance estimation, the fast time domain end-padding zero FFT in the embodiment of the present invention is a more efficient and essential distance high-precision interpolation method.

[0051] The invention takes into account the influence of platform maneuvering motion, distance estimation quantization error and target uniform motion speed on distance estimation, is suitable for high-precision distance estimation of shipborne maneuverable ground wave radar, and has popularization and application value.

[0052] Example 2 Based on Example 1, the present invention also provides a high-precision distance estimation system for a shipborne mobile ground wave radar, referring to Figure 7 As shown, the system includes a platform motion compensation signal acquisition module, a radar beamforming data acquisition module, a range-Doppler spectrum acquisition module and a target high-precision distance estimation result acquisition module, wherein: the platform motion compensation signal acquisition module is used to: obtain the target high-precision distance estimation result in the horizontal plane according to the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent accumulation period In direction, The receiving antenna is at The radar beamforming data acquisition module is used to: use the platform motion compensation signal to Receiving antenna No. The sampling data of each frequency sweep cycle is compensated; after compensating the data of all frequency sweep cycles of all antennas, the compensated array radar sampling data is obtained; the compensated array radar sampling data is added in the antenna dimension to obtain The radar beamforming data after platform motion compensation in the direction; the range-Doppler spectrum acquisition module is used to: fill the radar beamforming data with zeros at the end of the fast time domain data, perform fast time domain FFT, and perform slow time domain FFT to obtain the range-Doppler spectrum after platform motion compensation and beamforming; the target high-precision distance estimation result acquisition module is used to: based on the range-Doppler spectrum after platform motion compensation and beamforming, according to the fast time domain sequence number of the target and the slow time domain sequence number of the target, compensate for the range-velocity coupling error of the target uniform motion, and obtain the final target high-precision distance estimation result.

[0053] Each module described in the above system has a detailed introduction to its corresponding function in Example 1, which will not be repeated here.

[0054] Example 3 The embodiment of the present invention also provides a high-precision distance estimation device for a shipborne mobile ground wave radar, see Figure 8 , which shows that it is possible to execute Figure 1 The hardware structure of the high-precision distance estimation method for the shipborne mobile ground wave radar.

[0055] The high-precision distance estimation device for a shipborne mobile ground wave radar comprises: at least one processor 11; and a memory 12 in communication connection with the at least one processor 11, Figure 8 The memory 12 stores instructions that can be executed by the at least one processor 11, and the instructions are executed by the at least one processor 11 so that the at least one processor 11 can perform the above Figure 1 The processor 11 and the memory 12 can be connected via a bus or other means. Figure 8 The example of connecting through bus is taken in the following.

[0056] The memory 12, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the shipborne mobile ground wave radar high-precision distance estimation method in the embodiment of the present invention. The processor 11 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 12, that is, the shipborne mobile ground wave radar high-precision distance estimation method in the above method embodiment is realized.

[0057] The memory 12 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created by the use of the shipborne mobile ground wave radar high-precision distance estimation system, etc. In addition, the memory 12 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 12 may optionally include a memory remotely arranged relative to the processor 11, and these remote memories may be connected to the shipborne mobile ground wave radar high-precision distance estimation system via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0058] The one or more modules are stored in the memory 12, and when executed by the one or more processors 11, the high-precision distance estimation method for shipborne mobile ground wave radar in any of the above method embodiments is executed, for example, the above described Figure 1-Figure 6 method steps.

[0059] The above product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0060] The embodiment of the present invention further provides a non-volatile computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, to execute the above-described Figure 1-Figure 6 method steps.

[0061] The embodiment of the present invention further provides a computer program product, including a computer program stored on a non-volatile computer-readable storage medium, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the high-precision distance estimation method for a shipborne mobile ground wave radar in any of the above method embodiments, for example, executing the above described Figure 1-Figure 6 method steps.

[0062] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0063] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision distance estimation method for a shipborne mobile ground wave radar, characterized in that: include: According to the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent accumulation period, the In direction, The receiving antenna is at The platform motion compensation signal of the fast-slow time domain combination of the frequency sweep cycle; Using platform motion compensation signal Receiving antenna No. Compensation is performed based on the sampling data of a frequency sweep cycle; After compensating the data of all frequency sweep cycles of all antennas, compensated array radar sampling data is obtained; Add the compensated array radar sampling data in the antenna dimension to obtain Radar beamforming data after platform motion compensation in the direction; The radar beamforming data is padded with zeros at the end of the fast time domain data, and fast time domain FFT and slow time domain FFT are performed to obtain the range-Doppler spectrum after platform motion compensation and beamforming; Based on the range-Doppler spectrum after platform motion compensation and beamforming, the range-velocity coupling error of the target's uniform motion is compensated according to the target's fast time domain sequence number and the target's slow time domain sequence number, and the final high-precision range estimation result of the target is obtained.

2. The high-precision distance estimation method for shipborne mobile ground wave radar according to claim 1 is characterized in that: The multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent accumulation period are obtained. In direction, The receiving antenna is at The platform motion compensation signal of the fast-slow time domain joint of the frequency sweep cycle specifically includes: Determine the six-degree-of-freedom motion parameters of the shipborne platform within the radar coherent integration period: the yaw angle of the shipborne platform , Pitch angle , Roll Angle , eastward displacement , Northward displacement and vertical displacement ;in, is the current sweep cycle number. There are N sweep cycles in the radar coherent accumulation cycle. is the real time within each frequency sweep cycle, is the frequency sweep cycle time of the radar; The platform motion compensation signal is ,in, is the serial number of the receiving antenna, is the number of receiving array antennas; is the starting frequency of the sweep signal, is the sweep bandwidth, It is the sweep direction mark; is the frequency sweep slope, is the propagation speed of electromagnetic waves; represents the transmitting antenna and The receiving antenna The sum of the directional displacement projections.

3. The high-precision distance estimation method for shipborne mobile ground wave radar according to claim 2 is characterized in that: Said The calculation includes: ;in: ； ； ； ； ； in, represents the transpose of the signal. and The transmitting antenna and The receiving antenna is displaced in Directional projection; is the translation vector of the platform, To express The unit direction vector of the direction, is the matrix representing the platform rotation; is the vector from the platform motion parameter measurement center to the coordinate origin, is the launch coordinate vector, for The receiving antenna coordinate vector.

4. The high-precision distance estimation method for shipborne mobile ground wave radar according to claim 2 is characterized in that: The platform motion compensation signal is used to Receiving antenna No. The sampling data of a frequency sweep cycle is compensated specifically including: use right Receiving antenna No. The sampling data of a sweep cycle is used for compensation. The number of sampling points in a sweep cycle is , then the form of the compensation signal after sampling is , which is vector; Antenna No. The baseband signal after radar demodulation for a sweep cycle is: , then the radar data after motion compensation is ;in, represents the Hadamard product, represents taking the conjugate of the signal.

5. The high-precision distance estimation method for shipborne mobile ground wave radar according to claim 4 is characterized in that: After compensating the data of all the frequency sweeping cycles of all the antennas, the compensated array radar sampling data is obtained; the compensated array radar sampling data is added in the antenna dimension to obtain The radar beamforming data after platform motion compensation in the direction specifically includes: Compensate all the frequency sweep cycle data of all antennas to obtain the compensated array radar sampling data , which is A third-order tensor; the first dimension represents the antenna number; the second dimension represents the frequency sweep cycle number, i.e., the slow time domain dimension; the third dimension represents the sampling point number within the frequency sweep cycle, i.e., the fast time domain dimension; Adding in the antenna dimension, we get Radar beamforming data after platform motion compensation .

6. The high-precision distance estimation method for shipborne mobile ground wave radar according to claim 5 is characterized in that: The method of padding the radar beamforming data with zeros at the end of the fast time domain data, performing fast time domain FFT, and performing slow time domain FFT to obtain the range-Doppler spectrum after platform motion compensation and beamforming specifically includes: Will Pad zero at the end of the fast time domain data to get , so that its fast time domain data length is becomes , then perform fast time domain FFT, followed by slow time domain FFT, and finally obtain the range-Doppler spectrum after platform motion compensation and beamforming; among them, the fast time domain dimension represents the target distance information, and the slow time domain dimension represents the target speed information.

7. The high-precision distance estimation method for shipborne mobile ground wave radar according to claim 6 is characterized in that: The range-Doppler spectrum after platform motion compensation and beamforming, according to the fast time domain sequence number of the target and the slow time domain sequence number of the target, compensates for the range-velocity coupling error of the target uniform motion, and obtains the final high-precision range estimation result of the target, specifically including: The fast time domain sequence number of the target is , then the fast time domain number of the target relative to the FFT center is ;in, It represents the remainder when a is divided by b; The slow time domain serial number of the target is , then the slow time domain serial number of the target relative to the FFT center is ; Compensate for the distance-velocity coupling error of the target's uniform motion, and obtain the final high-precision distance estimation result of the target: ;in, is the range resolution of the radar, It is an accurate estimate of the distance of the target relative to the starting point of the radar coherent integration time.

8. A high-precision distance estimation system for a shipborne mobile ground wave radar, used to implement the high-precision distance estimation method for a shipborne mobile ground wave radar as claimed in any one of claims 1 to 7, characterized in that: It includes a platform motion compensation signal acquisition module, a radar beamforming data acquisition module, a distance-Doppler spectrum acquisition module, and a target high-precision distance estimation result acquisition module, wherein: The platform motion compensation signal acquisition module is used to obtain the motion compensation signal in the horizontal plane according to the multi-degree-of-freedom motion parameters and radar waveform of the shipborne platform within the radar coherent accumulation period. In direction, The receiving antenna is at The platform motion compensation signal of the fast-slow time domain combination of the frequency sweep cycle; The radar beamforming data acquisition module is used to: use the platform motion compensation signal to Receiving antenna No. The sampling data of each frequency sweep cycle is compensated; after compensating the data of all frequency sweep cycles of all antennas, the compensated array radar sampling data is obtained; the compensated array radar sampling data is added in the antenna dimension to obtain Radar beamforming data after platform motion compensation in the direction; The range-Doppler spectrum acquisition module is used to: fill the radar beamforming data with zeros at the end of the fast time domain data, perform fast time domain FFT, perform slow time domain FFT, and obtain the range-Doppler spectrum after platform motion compensation and beamforming; The target high-precision distance estimation result acquisition module is used to compensate for the range-speed coupling error of the target uniform motion based on the platform motion compensation and beamformed range-Doppler spectrum according to the target's fast time domain sequence number and the target's slow time domain sequence number, so as to obtain the final target high-precision distance estimation result.

9. A high-precision distance estimation device for a shipborne mobile ground wave radar, characterized in that: The method comprises at least one processor and a memory, wherein the at least one processor and the memory are connected via a data bus, and the memory stores instructions that can be executed by the at least one processor, and after being executed by the processor, the instructions are used to complete the high-precision distance estimation method for a shipborne mobile ground wave radar according to any one of claims 1 to 7.

10. A non-volatile computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, which are executed by one or more processors to complete the high-precision distance estimation method for shipborne mobile ground wave radar as described in any one of claims 1-7.

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