机载PD雷达杂波跟踪算法研究
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摘要
雷达的主要目的就是在存在干扰的背景中检测出有用目标,杂波对雷达检测性能的影响一直是雷达设计中不可回避的重要问题之一。杂波跟踪技术通过对特征杂波进行跟踪和定位,为恒虚警检测算法的选择提供依据,对改善雷达的检测性能,提高我国雷达的技术水平具有积极的意义。本课题结合航空科学基金“基于杂波跟踪融合的恒虚警检测专家系统研究”,研究分形技术和snake算法在杂波跟踪中应用,设计了相应的算法,通过分析真实数据和仿真数据验证了算法的有效性。
本文介绍了国内外雷达检测的智能化、综合化研究进展情况,以及杂波跟踪技术的研究现状。
分析了杂波的基本特征、杂波模型,研究了机载PD雷达杂波的仿真算法,实现了几种常见的杂波分布统计特性相应的杂波样本。并研究了特征杂波在检测域中的位置与雷达系统参数的关系;
介绍了分形技术的发展和基本的Mandelbrot分形理论,分析了杂波的分形特征,研究了多重分形技术在杂波跟踪中的应用。以单点分形维数和区域分形指数随q值的变化程度为标准,确定了多重分形最优高阶矩数,结合PD雷达的杂波特性和多重分形算法,实现了主瓣杂波跟踪;
研究了贪婪snake方法在杂波跟踪中的应用,介绍了snake基本模型的能量函数,并分析几种常用的snake模型的离散能量函数。针对杂波数据的强度起伏大的特点,提出了结合sobel算子和梯度算子的预处理方法,满足了贪婪snake外部能量的收敛要求,在真实数据和仿真样本条件下,分析了初始边框间隔对跟踪精度、运行时间的影响,以及不同分布、不同强度杂波样本的跟踪效果,为后续的工作打下基础。
对本文的工作进行了总结,指出了下一步研究的问题。
The main function of radar is target detection in the background clutter.The effect of clutter to the automatically detecting system is one of most important problem which could not ignore in the radar design. The clutter tracking technic supply the warrant for the choice of CFAR detecting algorithm by the character clutter tracking and localization. It has a active significance to improve the detecting performance of radar. Combined with the Foundation Research (Avigation science fund 04D52032)”study on CFAR detecting expert system base on clutter tracking”.This paper study the fractal technic and snake algorithm on the application of clutter tracking. It proved that the method was effective by the algorithm which adapt to the real and simulant clutter data.
This paper introduce the intelligentized and integrative research on the radar detecting in and abroad.It also introduce the clutter tracking latterly.
This paper analyze the basic character clutter and the clutter model. It study a simulation algorithm of airborne PD radar and carry out the the clutter sample of different distributing, The location of character clutter in detecting and the relation of radar system parameter are research in this paper.
This paper introduces principle of fractal and the Mandelbrot fractal theory.It analyze the fractal character and study the mltifractal for the clutter tracking. In according to the rage which follow the q on point fractal dimension and region fractal exponent .We confirm the prepreerence multifractal high moment, Combining the clutter feature of PD radar and novel multifractal approach, The mainlobe clutter tracking come true.
This paper study the greedy snake algorithms for the clutter tracking.It introduce the energy function of basic snake model and analyze the different kind of snake discrete energy function.It study on the method which use the pretreatment combining the sobel and grads arithmetic operators.The astringency of snake external energy was satisfied. This paper analyze the influence of tracking precision and running time for the preliminary border width, It also study on the tracking effect of different distributing and intensity.It is important to the next work.
The tag of this paper makes a summary of research and gives expectation on research future.
本文介绍了国内外雷达检测的智能化、综合化研究进展情况,以及杂波跟踪技术的研究现状。
分析了杂波的基本特征、杂波模型,研究了机载PD雷达杂波的仿真算法,实现了几种常见的杂波分布统计特性相应的杂波样本。并研究了特征杂波在检测域中的位置与雷达系统参数的关系;
介绍了分形技术的发展和基本的Mandelbrot分形理论,分析了杂波的分形特征,研究了多重分形技术在杂波跟踪中的应用。以单点分形维数和区域分形指数随q值的变化程度为标准,确定了多重分形最优高阶矩数,结合PD雷达的杂波特性和多重分形算法,实现了主瓣杂波跟踪;
研究了贪婪snake方法在杂波跟踪中的应用,介绍了snake基本模型的能量函数,并分析几种常用的snake模型的离散能量函数。针对杂波数据的强度起伏大的特点,提出了结合sobel算子和梯度算子的预处理方法,满足了贪婪snake外部能量的收敛要求,在真实数据和仿真样本条件下,分析了初始边框间隔对跟踪精度、运行时间的影响,以及不同分布、不同强度杂波样本的跟踪效果,为后续的工作打下基础。
对本文的工作进行了总结,指出了下一步研究的问题。
The main function of radar is target detection in the background clutter.The effect of clutter to the automatically detecting system is one of most important problem which could not ignore in the radar design. The clutter tracking technic supply the warrant for the choice of CFAR detecting algorithm by the character clutter tracking and localization. It has a active significance to improve the detecting performance of radar. Combined with the Foundation Research (Avigation science fund 04D52032)”study on CFAR detecting expert system base on clutter tracking”.This paper study the fractal technic and snake algorithm on the application of clutter tracking. It proved that the method was effective by the algorithm which adapt to the real and simulant clutter data.
This paper introduce the intelligentized and integrative research on the radar detecting in and abroad.It also introduce the clutter tracking latterly.
This paper analyze the basic character clutter and the clutter model. It study a simulation algorithm of airborne PD radar and carry out the the clutter sample of different distributing, The location of character clutter in detecting and the relation of radar system parameter are research in this paper.
This paper introduces principle of fractal and the Mandelbrot fractal theory.It analyze the fractal character and study the mltifractal for the clutter tracking. In according to the rage which follow the q on point fractal dimension and region fractal exponent .We confirm the prepreerence multifractal high moment, Combining the clutter feature of PD radar and novel multifractal approach, The mainlobe clutter tracking come true.
This paper study the greedy snake algorithms for the clutter tracking.It introduce the energy function of basic snake model and analyze the different kind of snake discrete energy function.It study on the method which use the pretreatment combining the sobel and grads arithmetic operators.The astringency of snake external energy was satisfied. This paper analyze the influence of tracking precision and running time for the preliminary border width, It also study on the tracking effect of different distributing and intensity.It is important to the next work.
The tag of this paper makes a summary of research and gives expectation on research future.
引文
[1] 毛士艺,张瑞生等,脉冲多普勒雷达,第一版,北京,国防工业出版社,1990
[2] 杰里 L·伊伏斯,爱德华 K-里迪.现代雷达原理,北京,电子工业出版社,1991
[3] 何友 关键 彭应宇等,雷达自动检测与恒虚警处理, 北京 清华大学出版社,1999
[4] R. L.米切尔.雷达系统模拟,陈训达译,北京,科学出版社.1982
[5] 方有培.海杂波特性研究,上海,上海航天,2002
[6] Laing M B. Point-scatter formulation of terrain clutter statistics. Naval Report 7459.1972
[7] 张济忠,分形,清华大学出版社, 1995
[8] 谢文录,雷达信号处理中的分形研究与方法研究,西安,西安电子科技大学,1997
[9] 马晓岩,方学,向家彬,两种相关杂波的识别方法及其实验比较,电子学报,2003.Vol.6 52-55
[10] G. Davidson, H.D. Griffiths, S Ablett Statistical analysis of high resolution and clutter. Radar 2002. Kochi University of Technology. 2002:434-438
[11] C. D, Hawkes, and S. Haykin Modeling of clutter for coherent pulsed radar. IEEE Trans. Inf.Theory. 1975.IT-21(6),703.
[12] Muralidhar,Rangaswamy,Spherically Invariant Random Process for Modeling Non-Gaussian Radar Clutter. Conference Record of The Twenty-Seventh Asilomar Conference on Signals, Systems and Computers, 1993 vol.2: 1106-1110
[13] Greenstein L.J, A.Ebrindley, and R.D.Carlson,A comprehensive Ground Clutter Model For Airborn radar,IIT Reasearch Institute Report to Overl and Radar Technology Program ,set.1969
[14] Ringel M.B, An advance computer calculation for ground clutter in an Airborn plusse Doppler radar,Radar Volume 7:CW and Doppler radar,ARTECH HOUSE INC 1978.375-384
[15] Helgostam L.F, Ronnerstam B, grand clutter calculation for an Airborn Doppler radar [J].IEEE Trans On ME,1965,9(2):294-296
[16] Jen King Jao and William B.Googginst Efficient,Closed-form Computation of Airborn Pluse Doppler Radar Clutter.IEEE International Radar Conference 1985. 17-22
[17] Oliver C J,Correlated K-distributed clutter MODELS. Optica Acta, 1985, 32(12)
[18] Farina.A. , Russo. A, Scannapieco. F, Theory of radar detection in coherent Weibull clutter. IEE proc. F. 1987, 134(2):174-190
[19] Chen Yanhui, Ji Hongbing, Xie Weixin, study on fractal model for radar clutter . Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on 2000 Vol. 3, June- July 2145-2148
[20] 张 弓 , 朱 兆 达 , Application of Fuzzy C-mean Cluster Algorithm on Clutter Tracking ,Chinese Journal of Aeronautics 2002.1 46-50
[21] 张弓,朱兆达,局部熵算法在机载PD雷达杂波跟踪中的应用,电子学报, 2003 Vol.09,1295-1298
[22] Simon Haykin, Detection of signals in chaos.Proc. of IEEE, Vol.83(1),1995 95-122
[23] Berizzi,F., Gamba,P., Garzelli,A., Fractal and multifractal analysis of sea SAR clutter data. Geoscience and Remote Sensing Symposium, 2001. IEEE 2001 International Vol. 5, July 2001 2430-2432
[24] Butterfield, J.I. Fractal interpolation of radar signatures for detecting stationary targets in ground clutter. Aerospace and Electronic Systems Magazine, IEEE Vol.6, Issue 7, July 1991. 10-14
[25] Nirupam Sarkar,B.B.Chaudhuri, An Efficient Approach to Estimate Fractal Dimension of Textural Images, Pattern Recognition, Vo1.25, 1992, No.9,pp:661-674.
[26] N. Sarkar,B.B. Chaudhuri, An Efficient Differential Box-Counting Approachto Compute the Fractal Dimension of Image. IEEE Trans. Systems Man Cybern,1994,Vol.24, 115-120.
[27] Dong Jin, Chai Yaoting,Ren Shouju, The Application of Q-th Fractal Dimension in Data Analysis Signal Processing Proceedings, 1998. ICSP '98. 1998 Fourth International Conference onVol. 2, Oct. 1998.1570-1573
[28] G.du, T.S.Yeo A novel Multifractal Estimation Method and its Application to Remote Image Segmentation, IEEE Transctions on Geoscience and Remote Sensing,vol.40,NO.4,april.20 980-982
[29] M.Kass, A. Witkin and D.Terzopoulos, Snake: Active Contour Model, hit .Computer Vision.1987 321-331,
[30] 刘剑函,梁德群,王红光,田原。一种具有形状约束的快速 Snake 类算法。中国图像图形学报,1999, 4 (8):644-6480
[31] D.Terzopoulos, J.Platt, A.Barr,and K.Fleischer. Elastically defomrable models, Computer Graphics, 1987 21(4):205-214,
[32] D.Williams and M.Shah, A Fast Algorithm for Active Contours and Curvature Estimation,CVGIP: Image Understanding .Vol.55, No. l, January 1992, 14-26
[33] C.Xu, J.L.Prince, Snakes, shapes, and gradient vector flow, IEEE Trans .on image Processing .7(3): March 1998,359-369,
[34] C.S.Choi, T.Okazaki, H.Harashima, and T.Takebe, A system of analyzing and synthesizingfacial images. In Proc. IEEE.Symposium of Circuit and Syatems(ISCAS91), 1991, 2665-2668,
[35] 张爱东,张田文 一种 B-样条主动轮廓线模型,哈尔滨师范大学自然科学学报,1999, 15 (94):62-66.
[36] 冯炯,戚飞虎,Snake 成长阶段的分析方法,上海交通大学学报,1999, 33(9):1149-1153.
[37] 吕铁英,彭嘉雄,图像轮廓特征提取新方法研究,中国图像图形学报,1999, 4(8):655-658
[38] Molloy.D,Whelan.P.E ,Active-meshes Pattern Recongnition Letter, 2000(21):1071-1080
[39] Bertalmio.M,Sapiro.G.Morphing, Active Contours.IEEE trans.On Pattern Analysis and Machine Intelligence 2000,22(7):733-737
[40] Jang.D.S,Choi.H.I. , Active models for tracking moving objects.Pattern Recongniton 2000(33):1125-1146
[41] Fu.Y, Erdern.T, Tracking Visible Boundary of Objects Using Occlusion Adaptive Motion snake.IEEE Trans. On Image Processing,2000,9(12):2051-2060
[42] Godenberg.R,Kimmel.R.Fast, Geodesic Active Contours.IEEE Trans. On Image Processing,2001,10(10):1467-1474
[43] Peterfreund.N ,The Velocity Snake:Deformable Coutour Tracking in Spoatio-velocity spance.Computer Vision and Image Understanding 1999,73(3):346-354
[2] 杰里 L·伊伏斯,爱德华 K-里迪.现代雷达原理,北京,电子工业出版社,1991
[3] 何友 关键 彭应宇等,雷达自动检测与恒虚警处理, 北京 清华大学出版社,1999
[4] R. L.米切尔.雷达系统模拟,陈训达译,北京,科学出版社.1982
[5] 方有培.海杂波特性研究,上海,上海航天,2002
[6] Laing M B. Point-scatter formulation of terrain clutter statistics. Naval Report 7459.1972
[7] 张济忠,分形,清华大学出版社, 1995
[8] 谢文录,雷达信号处理中的分形研究与方法研究,西安,西安电子科技大学,1997
[9] 马晓岩,方学,向家彬,两种相关杂波的识别方法及其实验比较,电子学报,2003.Vol.6 52-55
[10] G. Davidson, H.D. Griffiths, S Ablett Statistical analysis of high resolution and clutter. Radar 2002. Kochi University of Technology. 2002:434-438
[11] C. D, Hawkes, and S. Haykin Modeling of clutter for coherent pulsed radar. IEEE Trans. Inf.Theory. 1975.IT-21(6),703.
[12] Muralidhar,Rangaswamy,Spherically Invariant Random Process for Modeling Non-Gaussian Radar Clutter. Conference Record of The Twenty-Seventh Asilomar Conference on Signals, Systems and Computers, 1993 vol.2: 1106-1110
[13] Greenstein L.J, A.Ebrindley, and R.D.Carlson,A comprehensive Ground Clutter Model For Airborn radar,IIT Reasearch Institute Report to Overl and Radar Technology Program ,set.1969
[14] Ringel M.B, An advance computer calculation for ground clutter in an Airborn plusse Doppler radar,Radar Volume 7:CW and Doppler radar,ARTECH HOUSE INC 1978.375-384
[15] Helgostam L.F, Ronnerstam B, grand clutter calculation for an Airborn Doppler radar [J].IEEE Trans On ME,1965,9(2):294-296
[16] Jen King Jao and William B.Googginst Efficient,Closed-form Computation of Airborn Pluse Doppler Radar Clutter.IEEE International Radar Conference 1985. 17-22
[17] Oliver C J,Correlated K-distributed clutter MODELS. Optica Acta, 1985, 32(12)
[18] Farina.A. , Russo. A, Scannapieco. F, Theory of radar detection in coherent Weibull clutter. IEE proc. F. 1987, 134(2):174-190
[19] Chen Yanhui, Ji Hongbing, Xie Weixin, study on fractal model for radar clutter . Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on 2000 Vol. 3, June- July 2145-2148
[20] 张 弓 , 朱 兆 达 , Application of Fuzzy C-mean Cluster Algorithm on Clutter Tracking ,Chinese Journal of Aeronautics 2002.1 46-50
[21] 张弓,朱兆达,局部熵算法在机载PD雷达杂波跟踪中的应用,电子学报, 2003 Vol.09,1295-1298
[22] Simon Haykin, Detection of signals in chaos.Proc. of IEEE, Vol.83(1),1995 95-122
[23] Berizzi,F., Gamba,P., Garzelli,A., Fractal and multifractal analysis of sea SAR clutter data. Geoscience and Remote Sensing Symposium, 2001. IEEE 2001 International Vol. 5, July 2001 2430-2432
[24] Butterfield, J.I. Fractal interpolation of radar signatures for detecting stationary targets in ground clutter. Aerospace and Electronic Systems Magazine, IEEE Vol.6, Issue 7, July 1991. 10-14
[25] Nirupam Sarkar,B.B.Chaudhuri, An Efficient Approach to Estimate Fractal Dimension of Textural Images, Pattern Recognition, Vo1.25, 1992, No.9,pp:661-674.
[26] N. Sarkar,B.B. Chaudhuri, An Efficient Differential Box-Counting Approachto Compute the Fractal Dimension of Image. IEEE Trans. Systems Man Cybern,1994,Vol.24, 115-120.
[27] Dong Jin, Chai Yaoting,Ren Shouju, The Application of Q-th Fractal Dimension in Data Analysis Signal Processing Proceedings, 1998. ICSP '98. 1998 Fourth International Conference onVol. 2, Oct. 1998.1570-1573
[28] G.du, T.S.Yeo A novel Multifractal Estimation Method and its Application to Remote Image Segmentation, IEEE Transctions on Geoscience and Remote Sensing,vol.40,NO.4,april.20 980-982
[29] M.Kass, A. Witkin and D.Terzopoulos, Snake: Active Contour Model, hit .Computer Vision.1987 321-331,
[30] 刘剑函,梁德群,王红光,田原。一种具有形状约束的快速 Snake 类算法。中国图像图形学报,1999, 4 (8):644-6480
[31] D.Terzopoulos, J.Platt, A.Barr,and K.Fleischer. Elastically defomrable models, Computer Graphics, 1987 21(4):205-214,
[32] D.Williams and M.Shah, A Fast Algorithm for Active Contours and Curvature Estimation,CVGIP: Image Understanding .Vol.55, No. l, January 1992, 14-26
[33] C.Xu, J.L.Prince, Snakes, shapes, and gradient vector flow, IEEE Trans .on image Processing .7(3): March 1998,359-369,
[34] C.S.Choi, T.Okazaki, H.Harashima, and T.Takebe, A system of analyzing and synthesizingfacial images. In Proc. IEEE.Symposium of Circuit and Syatems(ISCAS91), 1991, 2665-2668,
[35] 张爱东,张田文 一种 B-样条主动轮廓线模型,哈尔滨师范大学自然科学学报,1999, 15 (94):62-66.
[36] 冯炯,戚飞虎,Snake 成长阶段的分析方法,上海交通大学学报,1999, 33(9):1149-1153.
[37] 吕铁英,彭嘉雄,图像轮廓特征提取新方法研究,中国图像图形学报,1999, 4(8):655-658
[38] Molloy.D,Whelan.P.E ,Active-meshes Pattern Recongnition Letter, 2000(21):1071-1080
[39] Bertalmio.M,Sapiro.G.Morphing, Active Contours.IEEE trans.On Pattern Analysis and Machine Intelligence 2000,22(7):733-737
[40] Jang.D.S,Choi.H.I. , Active models for tracking moving objects.Pattern Recongniton 2000(33):1125-1146
[41] Fu.Y, Erdern.T, Tracking Visible Boundary of Objects Using Occlusion Adaptive Motion snake.IEEE Trans. On Image Processing,2000,9(12):2051-2060
[42] Godenberg.R,Kimmel.R.Fast, Geodesic Active Contours.IEEE Trans. On Image Processing,2001,10(10):1467-1474
[43] Peterfreund.N ,The Velocity Snake:Deformable Coutour Tracking in Spoatio-velocity spance.Computer Vision and Image Understanding 1999,73(3):346-354