多频高频地波雷达目标检测与跟踪技术研究
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摘要
武汉大学电波传播实验室的高频地波雷达系统OSMAR诞生的时候,正是冷战结束后世界高频地波雷达发展的一个黄金期。这时期以CODAR的Seasonde为代表的小型海洋环境监测雷达是民用高频地波雷达发展的主流。所以OSMAR从诞生之日起,实际上就被赋予中国海洋环境监测雷达的使命。然而,雷达天生就是用于目标探测的,OSMAR也不例外。目标检测与跟踪技术一直是我们最为重视的技术。它不属于OSMAR的昨天,它是OSMAR的未来。所以今天,无论OSMAR以何种形式出现,目标检测与跟踪技术将是我们研究的一个核心内容。
“变频多功能高频地波雷达”是OSMAR的最新形态。它的出现绝非偶然。在民用浪潮红极一时之后,高频地波雷达研究很快回归目标检测领域。“多功能”正是OSMAR顺应时代的产物。高频地波雷达用于目标探测,有其天然优势和不足。其不足主要表现为海杂波干扰和目标RCS起伏造成的检测性能不稳。人们很早就试图利用多频弥补这个缺陷,有成功更有失败。对于目标检测技术而言,“变频多功能高频地波雷达”实际上仅仅是一个载体。
本文以国家863计划项目“变频多功能高频地波雷达”为依托,以变频多功能高频地波雷达为平台,全面展开了高频地波雷达目标检测与跟踪技术的研究。其内容涉及从雷达波形设计到多目标跟踪技术的全部雷达信号处理和数据处理流程,比较全面的展现了高频地波雷达目标检测与跟踪技术的全貌。文章对OSMAR目标检测与跟踪的一些具体技术做了细致深入的研究,并给出作者独有的理解；对一些遗留的历史问题,从概念上加以区分,从基础理论上加以分析,并作出定性的回答。此外,作者在全面分析变频多功能高频地波雷达信号特点的基础上,给出了一整套工程应用性强的目标检测与跟踪方案；并给出了该方案的实际应用结果,对其作出了切实的评价。
本文的主要内容如下：
1、对调频中断连续波(FMICW, Frequency Modulated Interupted Continuous Wave)的解调过程进行了分析,对解距离算法进行了总结,指出了直接DFT解距离的优势；并提出了一套时频分析解距离的方法,解释了其物理含义,该方法可有效的提高信噪比和距离分辨率。在此基础上,作者给出了目标检测与跟踪算法的整体方案,它包括通道校准、目标检测、目标参数估计、多频数据融合和目标跟踪,再加上之前的波形解调共6部分内容,每一部分所涉及的信号处理算法相互联系却又截然不同。
2、对有源及无源的通道校准原理做了总结,对离线有源校准提出了2个解决方案,通过对实测信号特点分析给出了基于自动识别系统(AIS, Automatic Identifacation System)辅助信息的在线通道校准方法。
3、对多频高频地波雷达海洋回波特点做了简要介绍,并给出了目标和噪声的典型回波谱。针对不同的射频干扰,作者对其形成机理和抑制方法做了仔细研究。针对多频雷达较高频段的多普勒展宽现象,作者通过分析其形成机理,给出速度补偿的运动目标信号增强方法。在此基础上,本文提出了一套适合实际的基于恒虚警的检测方案。
4、研究了到达角、距离及径向速度的估计问题。到达角估计部分,作者深入研究了超分辨算法的基本理论,对“超分辨”的本质给出了独有的见解,探讨了多重信号分类算法(MUSIC, Multiple Signal Classification)和AIC (Akaike' s Information theoaretic Criteria)应用于高频地波雷达的可行性和实现方式。从波形解调的角度出发,作者还给出了一个适合于本雷达的简单有效的距离估计方法。在此基础上,作者给出了多频高频地波雷达目标参数估计的实现方案以及实际参数估计的部分统计结果。
5、介绍了信息融合的基本原理,并针对多频高频地波雷达的特点,提出一套适合本雷达的点迹融合方法,包括不同频率雷达数据的融合和雷达与AIS数据的融合。与AIS信息的融合主要为通道校准提供数据,多频数据融合则是为目标跟踪提供单一的点迹集。
6、介绍了目标跟踪技术,主要包括了扩展卡尔曼滤波理论、多状态模型理论和联合概率数据关联理论,并给出一套实用的跟踪方案。作者还给出了整套目标检测与跟踪算法运用于实测数据的最终结果,并对其做出了评价。
The radar system OSMAR was developed by the Radio Propagation Lab of Wuhan University in the golden era of the development of high-frequency surface wave radar (HFSWR) after the Cold War. In this period, the small radar systems for ocean enviroment monitoring was the mainstream of civilian HFSWR which was represent by the CODAR's Seasonde. So OSMAR was given the mission of the marine environmental monitoring for China in its birth. However, radars are for target detection inherently, and also OSMAR. Target detection and tracking technique is one of the most important techniques of OSMAR. It does not belong to OSMAR's yesterday, it is OSMAR's future. So today, no matter in what form of OSMAR, target detection and tracking is a core technique of our study.
"Frequency-Agile Multifunctional HFSWR" is the latest form of OSMAR. Its appearance is not accidental. After the wave of sdudy in the radar's civilian use, the focus of HFSWR's research soon returns to the field of target detection. "Multifunctional" is the product of the times. HFSWR has its natural advantages and disadvantages in target detection. Its detection performance is instable because of sea clutter and fluctuation of target's radar cross surface (RCS). It is long ago that peaple tried to use multi-frequency to compensate for this defect, and failed to succeed more. In fact, the " Frequency-Agile Multifunctional HFSWR " is just a tool for target detection technology.
This paper launch the research of HFSWR's target detection and tracking techniques on the platform of that radar system in the base of the reseach supported by the national 863 Project-" Frequency-Agile Multifunctional HFSWR ". Its contents range all the radar signal processing and data processing from the radar waveform design to the multi-target tracking, and it shows a whole picture of HFSWR's target detection and tracking technique. A careful in-depth study is made on some of the specific techniques of OSMAR's target detection and tracking, and a unique understanding of those techniques are given. Some issues left over by history are answered through distinction of concept and basic theory analysis. In addition, based on comprehensive analysis of the characteristics of the radar signal, the author proposes a set of engineering programs for target detection and tracking, and gives the results of its application, and makes a practical evaluation.
The main contents are as follows:
1. Through analysis of frequency modulated interupt continuous wave (FMICW), its demodulation algorithm are summarized, and the advantages of the range demodulation by direct DFT are pointed out. A demodulation algorithm based on the time-frequency analysis methods is proposed and explained from physical view. The algorithm can effectively improve signal to noise ratio and range resolution. On this basis, the author gives the overall program of the target detection and tracking algorithm, which includes channel calibration, target detection, target parameter estimation, multi-frequency data fusion, target tracking, and the demodulation algorithm memtioned before. There are 6 parts in totle. Each part of the signal processing algorithm is interrelated with others but distinct.
2. The principle of active and passive channel calibration was summarized and 2 off-line active calibration solutions are proposed. Through analysis of the characteristics of actual radar signal, the author proposes a channel calibration method based on aided information from the shipborne automatic indentification system (AIS), too.
3. The sea echo's characteristics are briefly introduced, and typical spectrum of target and noise are shown. For different type of radio frequency interferences, the formation mechanisms and suppression algorithms are researched carefully. The author analyzes the formation mechanism of the Doppler broadening phenomenon which often happens in the higher bands of the multi-frequency HFSWR, and proposes a signal enhancement method of velocity compensation for moving targets. On this base, this paper presents a practical constant false alarm rate (CFAR) detector.
4. The estimation of direction of arrival (DOA), distance and radial speed is researched. The author studies in depth the basic theory of super-resolution algorithm, and proposes a unique view of the nature of the "super-resolution". The algorithms of MUSIC and AIC are proved applicable and put into application. From the perspective of the waveform demodulation, the author gives a suitable distance estimation algorithm for the radar which is simple and effective. On this basis, the author proposes a target parameter estimator for the multi-frequency HFSWR and evaluates it by its result.
5. The basic principles of information fusion is introduced. According the characteristics of multi-frequency HFSWR, a set of plot fusion methods is proposed, including fusion of radar data from different frequencies and fusion of radar and AIS's data. The integration of AIS information is mainly for the calibration. And the multi-frequency fusion provides a single collection of target plots for tracking.
6. Target tracking techniques are introduced, including multi-state model theory, the joint probabilistic data association theory and the extended Kalman filtering theory. A practical tracking program is given. The target detection and tracking algorithm is applied to the actual radar data, and its evaluation is given from the result at the end of this paper.
“变频多功能高频地波雷达”是OSMAR的最新形态。它的出现绝非偶然。在民用浪潮红极一时之后,高频地波雷达研究很快回归目标检测领域。“多功能”正是OSMAR顺应时代的产物。高频地波雷达用于目标探测,有其天然优势和不足。其不足主要表现为海杂波干扰和目标RCS起伏造成的检测性能不稳。人们很早就试图利用多频弥补这个缺陷,有成功更有失败。对于目标检测技术而言,“变频多功能高频地波雷达”实际上仅仅是一个载体。
本文以国家863计划项目“变频多功能高频地波雷达”为依托,以变频多功能高频地波雷达为平台,全面展开了高频地波雷达目标检测与跟踪技术的研究。其内容涉及从雷达波形设计到多目标跟踪技术的全部雷达信号处理和数据处理流程,比较全面的展现了高频地波雷达目标检测与跟踪技术的全貌。文章对OSMAR目标检测与跟踪的一些具体技术做了细致深入的研究,并给出作者独有的理解；对一些遗留的历史问题,从概念上加以区分,从基础理论上加以分析,并作出定性的回答。此外,作者在全面分析变频多功能高频地波雷达信号特点的基础上,给出了一整套工程应用性强的目标检测与跟踪方案；并给出了该方案的实际应用结果,对其作出了切实的评价。
本文的主要内容如下：
1、对调频中断连续波(FMICW, Frequency Modulated Interupted Continuous Wave)的解调过程进行了分析,对解距离算法进行了总结,指出了直接DFT解距离的优势；并提出了一套时频分析解距离的方法,解释了其物理含义,该方法可有效的提高信噪比和距离分辨率。在此基础上,作者给出了目标检测与跟踪算法的整体方案,它包括通道校准、目标检测、目标参数估计、多频数据融合和目标跟踪,再加上之前的波形解调共6部分内容,每一部分所涉及的信号处理算法相互联系却又截然不同。
2、对有源及无源的通道校准原理做了总结,对离线有源校准提出了2个解决方案,通过对实测信号特点分析给出了基于自动识别系统(AIS, Automatic Identifacation System)辅助信息的在线通道校准方法。
3、对多频高频地波雷达海洋回波特点做了简要介绍,并给出了目标和噪声的典型回波谱。针对不同的射频干扰,作者对其形成机理和抑制方法做了仔细研究。针对多频雷达较高频段的多普勒展宽现象,作者通过分析其形成机理,给出速度补偿的运动目标信号增强方法。在此基础上,本文提出了一套适合实际的基于恒虚警的检测方案。
4、研究了到达角、距离及径向速度的估计问题。到达角估计部分,作者深入研究了超分辨算法的基本理论,对“超分辨”的本质给出了独有的见解,探讨了多重信号分类算法(MUSIC, Multiple Signal Classification)和AIC (Akaike' s Information theoaretic Criteria)应用于高频地波雷达的可行性和实现方式。从波形解调的角度出发,作者还给出了一个适合于本雷达的简单有效的距离估计方法。在此基础上,作者给出了多频高频地波雷达目标参数估计的实现方案以及实际参数估计的部分统计结果。
5、介绍了信息融合的基本原理,并针对多频高频地波雷达的特点,提出一套适合本雷达的点迹融合方法,包括不同频率雷达数据的融合和雷达与AIS数据的融合。与AIS信息的融合主要为通道校准提供数据,多频数据融合则是为目标跟踪提供单一的点迹集。
6、介绍了目标跟踪技术,主要包括了扩展卡尔曼滤波理论、多状态模型理论和联合概率数据关联理论,并给出一套实用的跟踪方案。作者还给出了整套目标检测与跟踪算法运用于实测数据的最终结果,并对其做出了评价。
The radar system OSMAR was developed by the Radio Propagation Lab of Wuhan University in the golden era of the development of high-frequency surface wave radar (HFSWR) after the Cold War. In this period, the small radar systems for ocean enviroment monitoring was the mainstream of civilian HFSWR which was represent by the CODAR's Seasonde. So OSMAR was given the mission of the marine environmental monitoring for China in its birth. However, radars are for target detection inherently, and also OSMAR. Target detection and tracking technique is one of the most important techniques of OSMAR. It does not belong to OSMAR's yesterday, it is OSMAR's future. So today, no matter in what form of OSMAR, target detection and tracking is a core technique of our study.
"Frequency-Agile Multifunctional HFSWR" is the latest form of OSMAR. Its appearance is not accidental. After the wave of sdudy in the radar's civilian use, the focus of HFSWR's research soon returns to the field of target detection. "Multifunctional" is the product of the times. HFSWR has its natural advantages and disadvantages in target detection. Its detection performance is instable because of sea clutter and fluctuation of target's radar cross surface (RCS). It is long ago that peaple tried to use multi-frequency to compensate for this defect, and failed to succeed more. In fact, the " Frequency-Agile Multifunctional HFSWR " is just a tool for target detection technology.
This paper launch the research of HFSWR's target detection and tracking techniques on the platform of that radar system in the base of the reseach supported by the national 863 Project-" Frequency-Agile Multifunctional HFSWR ". Its contents range all the radar signal processing and data processing from the radar waveform design to the multi-target tracking, and it shows a whole picture of HFSWR's target detection and tracking technique. A careful in-depth study is made on some of the specific techniques of OSMAR's target detection and tracking, and a unique understanding of those techniques are given. Some issues left over by history are answered through distinction of concept and basic theory analysis. In addition, based on comprehensive analysis of the characteristics of the radar signal, the author proposes a set of engineering programs for target detection and tracking, and gives the results of its application, and makes a practical evaluation.
The main contents are as follows:
1. Through analysis of frequency modulated interupt continuous wave (FMICW), its demodulation algorithm are summarized, and the advantages of the range demodulation by direct DFT are pointed out. A demodulation algorithm based on the time-frequency analysis methods is proposed and explained from physical view. The algorithm can effectively improve signal to noise ratio and range resolution. On this basis, the author gives the overall program of the target detection and tracking algorithm, which includes channel calibration, target detection, target parameter estimation, multi-frequency data fusion, target tracking, and the demodulation algorithm memtioned before. There are 6 parts in totle. Each part of the signal processing algorithm is interrelated with others but distinct.
2. The principle of active and passive channel calibration was summarized and 2 off-line active calibration solutions are proposed. Through analysis of the characteristics of actual radar signal, the author proposes a channel calibration method based on aided information from the shipborne automatic indentification system (AIS), too.
3. The sea echo's characteristics are briefly introduced, and typical spectrum of target and noise are shown. For different type of radio frequency interferences, the formation mechanisms and suppression algorithms are researched carefully. The author analyzes the formation mechanism of the Doppler broadening phenomenon which often happens in the higher bands of the multi-frequency HFSWR, and proposes a signal enhancement method of velocity compensation for moving targets. On this base, this paper presents a practical constant false alarm rate (CFAR) detector.
4. The estimation of direction of arrival (DOA), distance and radial speed is researched. The author studies in depth the basic theory of super-resolution algorithm, and proposes a unique view of the nature of the "super-resolution". The algorithms of MUSIC and AIC are proved applicable and put into application. From the perspective of the waveform demodulation, the author gives a suitable distance estimation algorithm for the radar which is simple and effective. On this basis, the author proposes a target parameter estimator for the multi-frequency HFSWR and evaluates it by its result.
5. The basic principles of information fusion is introduced. According the characteristics of multi-frequency HFSWR, a set of plot fusion methods is proposed, including fusion of radar data from different frequencies and fusion of radar and AIS's data. The integration of AIS information is mainly for the calibration. And the multi-frequency fusion provides a single collection of target plots for tracking.
6. Target tracking techniques are introduced, including multi-state model theory, the joint probabilistic data association theory and the extended Kalman filtering theory. A practical tracking program is given. The target detection and tracking algorithm is applied to the actual radar data, and its evaluation is given from the result at the end of this paper.
引文
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