UWB战场侦察雷达组网精确定位方法研究
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摘要
在现代野战对抗、战场建设、要地防护和反恐斗争中,雷达的需求量巨大,而超宽带(UWB,Ultra-Wide Band)战场侦察雷达因为出色的叶簇穿透、精确测距等能力,其研究与开发更具有重要的军事和民用价值,国内在这方面的研究尚处空白。本文的工作在于解决P波段UWB雷达所固有的方位向分辨率较低的问题。
本文分析了(T/R) ~n型双(多)基地雷达基于距离定位的基本原理与理论基础。提出两种易于实现的、对时间平均进行速度补偿的方法:一是利用多卜勒测速结果进行径向速度补偿;二是在近似三角形内,利用目标的估计速度进行补偿。提出使用三站2D定位结果作为三站3D定位迭代算法的初始值。研究双站2D定位面积与定位精度之间权衡的问题,并获得对应最大定位区域以及最大高精度定位面积的临界基线长度的取值规律。研究适合描述UWB脉冲传播的通信信道模型以及根据信道模型参数提高测距精度的方法,提出构建UWB雷达波穿透叶簇传播模型的思路,研究近年来才提出的可高精度测距的自适应脉冲压缩(APC,AdaptivePulse Compression)方法。最后,将以上方法进行了系统整合,并给出实现流程。
通过设置与实际应用相符的参数,仿真验证了上述思想和算法,以上方法将在近期的实地测试中进一步加以验证。
There are tremendous application requirements about radar in modern war, preparation of the battlefield, strategic point protection and fighting against terrorism. UWB (Ultra-Wide Band) Battlefield surveillance radar has excellent performances in foliage penetration and precise ranging, thereby there are much greater values in military and civil fairs with research it. Unfortunately, the domestic research in this area is still blank. This paper should solve the inherent problem of the low azimuth resolution of P-band UWB radar.
In this paper, firstly, the foundation theories on (T/R)~n bistatic(multistatic) radar positioning based on range observations are analyzed. Secondly, two new methods implemented easily about improvement with velocity compensation on the average time method are brought out, one is using Doppler velocity to compensate relative velocity, the other is using the estimated target speed in approximate congruent triangles. Thirdly, one method is proposed to use 2-D positioned results as the initial value of the 3-D iterative algorithm with three radars. Fourthly, tradeoff between positioning accuracy and region is studied in 2-D positioning by two radars, and the critical values of the baseline length is found, that corresponding to the largest area in which targets can be positioned precisely enough. Fifthly, UWB communication channel model and improving ranging accuracy ways depended on the model parameters are studied, furthermore, establishing channel model on UWB radar wave propagation through foliage is described. Sixthly, APC (Adaptive Pulse Compression) just proposed in recent years, which can be use for super-accuracy positioning, is investigated. All of the methods mentioned above have been systematically integrated, and the implementation process is brought forward.
Finally, results of the above ideas and algorithms are showed by MATLAB simulations, and the parameters are selected according with the practical application. Further verifiers will be done in field experiments in the near future.
本文分析了(T/R) ~n型双(多)基地雷达基于距离定位的基本原理与理论基础。提出两种易于实现的、对时间平均进行速度补偿的方法:一是利用多卜勒测速结果进行径向速度补偿;二是在近似三角形内,利用目标的估计速度进行补偿。提出使用三站2D定位结果作为三站3D定位迭代算法的初始值。研究双站2D定位面积与定位精度之间权衡的问题,并获得对应最大定位区域以及最大高精度定位面积的临界基线长度的取值规律。研究适合描述UWB脉冲传播的通信信道模型以及根据信道模型参数提高测距精度的方法,提出构建UWB雷达波穿透叶簇传播模型的思路,研究近年来才提出的可高精度测距的自适应脉冲压缩(APC,AdaptivePulse Compression)方法。最后,将以上方法进行了系统整合,并给出实现流程。
通过设置与实际应用相符的参数,仿真验证了上述思想和算法,以上方法将在近期的实地测试中进一步加以验证。
There are tremendous application requirements about radar in modern war, preparation of the battlefield, strategic point protection and fighting against terrorism. UWB (Ultra-Wide Band) Battlefield surveillance radar has excellent performances in foliage penetration and precise ranging, thereby there are much greater values in military and civil fairs with research it. Unfortunately, the domestic research in this area is still blank. This paper should solve the inherent problem of the low azimuth resolution of P-band UWB radar.
In this paper, firstly, the foundation theories on (T/R)~n bistatic(multistatic) radar positioning based on range observations are analyzed. Secondly, two new methods implemented easily about improvement with velocity compensation on the average time method are brought out, one is using Doppler velocity to compensate relative velocity, the other is using the estimated target speed in approximate congruent triangles. Thirdly, one method is proposed to use 2-D positioned results as the initial value of the 3-D iterative algorithm with three radars. Fourthly, tradeoff between positioning accuracy and region is studied in 2-D positioning by two radars, and the critical values of the baseline length is found, that corresponding to the largest area in which targets can be positioned precisely enough. Fifthly, UWB communication channel model and improving ranging accuracy ways depended on the model parameters are studied, furthermore, establishing channel model on UWB radar wave propagation through foliage is described. Sixthly, APC (Adaptive Pulse Compression) just proposed in recent years, which can be use for super-accuracy positioning, is investigated. All of the methods mentioned above have been systematically integrated, and the implementation process is brought forward.
Finally, results of the above ideas and algorithms are showed by MATLAB simulations, and the parameters are selected according with the practical application. Further verifiers will be done in field experiments in the near future.
引文
[1]田兆春,朱杰.战场侦察雷达装备与应用.沈阳:白山出版社,2002年12月.第2章
[2]杨志国.博士学位论文,基于ROI的UWB SAR叶簇覆盖目标鉴别方法研究.长沙:国防科学技术大学,2007年9月.第1章
[3]贺峰.关于战场侦察雷达的几个具体问题.教研室内部学术报告.长沙:国防科技大学UWB研究验室,2007年10月
[4]孙仲康,周一宇,何黎星.单多基地有源无源定位技术.北京:国防工业出版社,1996年.第1-6章
[5]Leslaw.Paradowskil.Position Estimation From Netted Radar System With Sensor Position Uncertainty.IEEE Int.Radar.Conf 1996,pp609-613
[6]Leslaw.Paradowski,Uncertainty ellipses and their application to interval estimation of emitter position.Jan 1997,IEEE Trans on AES.Vol(33),No.Ⅰ.pp126-133
[7]孙仲康,陈辉煌.定位导航与制导.北京:国防工业出版社,1987年.第1-3章
[8]王国宏,许建峰,毛士艺等.2D雷达组网中目标高度估计误差的Cramer-Rao 限.2004,航空学报,25(1).pp66-68
[9]王贵生,王东进,陈卫东.基于距离差法目标定位的多站雷达优化布局.2006,现代防御技术,34(6).pp93-97
[10]刘兆磊,邵锡军,张光义等.雷达组网目标定位精度分析和评估.2005,南京理工大学学报,29(2).pp182-185
[11]邓勇,徐晖,周一宇.平面三站时差定位中的模糊及无解研究.2000,系统工程与电子技术,22(3).pp27-29
[12]刘军.硕士学位论文.多基地雷达最小二乘定位方法研究.长沙:国防科学技术大学,2004年11月.第1章
[13]杨振起,张永顺,骆永军.双(多)基地雷达系统.北京:国防工业出版社,1998年.第1、2章
[14]魏崇毓.博士学位论文,组网雷达系统的近程应用研究.中国科学技术大学,1999年.pp29-31
[15]叶朝谋,俞志强.三维时差定位系统的模糊及无解分析.2005,现代电子技术,第21期总第212期.pp22-24,27
[16]郝凯,朱敏.有源雷达组网目标定位中去除虚假目标的改进方法.2006,四川大学学报(自然科学版),43(2).pp315-319
[17]庞艳.硕士学位论文,UWB精确定位算法研究.北京:北京交通大学,2006年2月.第3章
[18](意)Maria-gabriella,Di Benedetto,Guerino Giancola著.葛利嘉,朱林等译.超宽带无线电基础.北京:电子工业出版社,2005年.第8,10章
[19]丁鹭飞,耿富录.雷达原理(第三版).西安:西安电子科技大学出版社,2002年6月.第8章:pp251-311
[20]Elliott D.kaplan,Christopher J.Hegarty主编,寇艳红译.GPS原理与应用(第二版).北京:电子工业出版社,2007年7月.pp 42-44,346-348
[21]Dimitris E.Manolakis.Efficient solution and performance analysis of 3-D position estimation by trilateration.Oct 1996,IEEE Trans on AES.Vol(32),NO.4.pp1239-1248
[22]李庆扬,关治,白峰杉.数值计算原理.北京:清华大学出版社,2000年9月.第4章:pp242-263
[23]谢恺,钟丹星,邓新蒲等.一种空时差定位的新算法.2006,信号处理,22(2).pp129-135
[24]吴玲,刘忠,卢发兴.用于双基地雷达目标定位的全局收敛高斯-牛顿法.2004,系统工程与电子技术,26(1).pp30-33,43
[25]陈卫东,徐善驾,王东进.距离定位中的多传感器布局分析.2006,中国科学技术大学学报,36(2).pp131-136
[26]王瀚,钟丹星,周一宇.不规则布站时差定位系统定位精度分析.2007,现代电子技术,第7期总第246期.pp19-24
[27]阮怀林,罗景青,夏大永.一种新的两个侦察站对雷达定位区域的计算方法.2004,电子对抗技术,19(6).pp26-30
[28]马晓岩,向家彬.雷达信号处理.长沙:湖南科学技术出版社,1999
[29]李正荣,黄晓涛.超宽带定位技术发展分析与思考.电信快报.录用待刊
[30]刘傅斌.硕士学位论文,反恐核心区超宽带穿墙雷达研究.长沙:国防科学技术大学,2007年5月.pp30-37
[31]R.K.Tewari,S.Swarup,and M.N.Roy.Radio Wave Propagation Through Rain Forests of India.1990,IEEE Trans on Antennas and Propagation,Vol.38,No.4.pp433-449
[32]H.Kuschel,D.Schneider.Propagation Modeling for VHF/UHF-Radar detection of Targets behind a Forest.1998,IEEE National Radar Conference,Dallas
[33](美) H.Arslan,(新) Z.N.Chen,(意) Di Benedetto.Ultra Wideband Wireless Communication.John Wiley&Sons,INC.2006.pp183-200
[34]葛利嘉,曾凡鑫,刘郁林等.超宽带无线通信.北京:国防工业出版社, 2005年8月.pp38-75
[35]Fernando R M,Win M Z,Scholtz R.Z.Ultra-wide bandwidth(UWB)signal propagation for outdoor wireless communications.1997,Proc.IEEE Vehic.Tech.Conf.,TC-1997,1(1).pp215-255
[36]Joon-Yong Lee,Robert A.Scholtz.Ranging in a dense rnultipath environment using an UWB radio link.Dec 2002,IEEE Journal on Selected Areas in Communications.pp1677-1683
[37]Christian Mazzucco,Umberto Spagnolini,Giorgio Mulas.A ranging technique for UWB indoor channel based on power delay profile analysis.2004,IEEE 59~(th) Vehicular Technology Conference,Vol(5).pp2595-2599
[38](意) Carlo Morelli,Monica Nicoli,Vittorio Rampa,et al.Hidden Markov Models for Radio Localization in Mixed LOS/NLOS Conditions.Apr 2007,IEEE Transactions on Signal Processing.Vol(55),NO.4.pp1525-1542
[39](美)Steven M.Kay著.罗鹏飞,张文明,刘忠等译.统计信号处理基础--估计与检测理论.北京:电子工业出版社,2003年8月.第一卷第10-12章,第二卷第3、4章
[40]Sato R.,Shinrhu M.Simple mismatched filter for binary pulse compression code with small PSL and small S/N loss.Apr 2003,IEEE Trans on AES,Vol(39),NO.2.pp711-718
[41]Felhauer,T.Digital signal processing for optimum wideband channel estimation in the presence of noise.Jun 1993,lEE Proceedings,Pt.F,140,3.pp179-186
[42]Gabriel,W.F.Super-resolution techniques in the range domain.May 1990,In Proceedings of the IEEE International Radar Conference.pp263-267
[43]Shannon D.Blunt,Karl Gerlach.Adaptive pulse compression.2004,IEEE National Radar Conference,Philadelphia,Pennsyivnia,USA.pp271-276
[44]Shannon D.Blunt,Karl Gerlach.Adaptive pulse compression via MMSE estimation.Apr 2006,IEEE Trans on AES Vol(42),NO.2.pp572-584
[45]孟藏珍,袁俊泉,徐向东.海杂波背景下自适应脉冲压缩的性能与分析.2006年4月,雷达科学与技术,(5).pp305-308
[46]Shannon D.Blunt,Karl Gerlach,Thomas Higgins.Aspects of Radar Range Super-Resolution.2007,IEEE Radar Conference.pp683-687
[47]Shannon D.Blunt,Karl Gerlach.Multistatic adaptive pulse compression.Jul 2006,IEEE Trans on AES Vo1(42),NO.3.pp891-903,
[48]Shannon D.Blunt,Karl Gerlach.A Generalized Formulation for Adaptive Pulse Compression of Multistatic Radar.Jul 2006,4~(th) IEEE Workshop on Sensor Array and Multichannel Processing.pp349-353
[2]杨志国.博士学位论文,基于ROI的UWB SAR叶簇覆盖目标鉴别方法研究.长沙:国防科学技术大学,2007年9月.第1章
[3]贺峰.关于战场侦察雷达的几个具体问题.教研室内部学术报告.长沙:国防科技大学UWB研究验室,2007年10月
[4]孙仲康,周一宇,何黎星.单多基地有源无源定位技术.北京:国防工业出版社,1996年.第1-6章
[5]Leslaw.Paradowskil.Position Estimation From Netted Radar System With Sensor Position Uncertainty.IEEE Int.Radar.Conf 1996,pp609-613
[6]Leslaw.Paradowski,Uncertainty ellipses and their application to interval estimation of emitter position.Jan 1997,IEEE Trans on AES.Vol(33),No.Ⅰ.pp126-133
[7]孙仲康,陈辉煌.定位导航与制导.北京:国防工业出版社,1987年.第1-3章
[8]王国宏,许建峰,毛士艺等.2D雷达组网中目标高度估计误差的Cramer-Rao 限.2004,航空学报,25(1).pp66-68
[9]王贵生,王东进,陈卫东.基于距离差法目标定位的多站雷达优化布局.2006,现代防御技术,34(6).pp93-97
[10]刘兆磊,邵锡军,张光义等.雷达组网目标定位精度分析和评估.2005,南京理工大学学报,29(2).pp182-185
[11]邓勇,徐晖,周一宇.平面三站时差定位中的模糊及无解研究.2000,系统工程与电子技术,22(3).pp27-29
[12]刘军.硕士学位论文.多基地雷达最小二乘定位方法研究.长沙:国防科学技术大学,2004年11月.第1章
[13]杨振起,张永顺,骆永军.双(多)基地雷达系统.北京:国防工业出版社,1998年.第1、2章
[14]魏崇毓.博士学位论文,组网雷达系统的近程应用研究.中国科学技术大学,1999年.pp29-31
[15]叶朝谋,俞志强.三维时差定位系统的模糊及无解分析.2005,现代电子技术,第21期总第212期.pp22-24,27
[16]郝凯,朱敏.有源雷达组网目标定位中去除虚假目标的改进方法.2006,四川大学学报(自然科学版),43(2).pp315-319
[17]庞艳.硕士学位论文,UWB精确定位算法研究.北京:北京交通大学,2006年2月.第3章
[18](意)Maria-gabriella,Di Benedetto,Guerino Giancola著.葛利嘉,朱林等译.超宽带无线电基础.北京:电子工业出版社,2005年.第8,10章
[19]丁鹭飞,耿富录.雷达原理(第三版).西安:西安电子科技大学出版社,2002年6月.第8章:pp251-311
[20]Elliott D.kaplan,Christopher J.Hegarty主编,寇艳红译.GPS原理与应用(第二版).北京:电子工业出版社,2007年7月.pp 42-44,346-348
[21]Dimitris E.Manolakis.Efficient solution and performance analysis of 3-D position estimation by trilateration.Oct 1996,IEEE Trans on AES.Vol(32),NO.4.pp1239-1248
[22]李庆扬,关治,白峰杉.数值计算原理.北京:清华大学出版社,2000年9月.第4章:pp242-263
[23]谢恺,钟丹星,邓新蒲等.一种空时差定位的新算法.2006,信号处理,22(2).pp129-135
[24]吴玲,刘忠,卢发兴.用于双基地雷达目标定位的全局收敛高斯-牛顿法.2004,系统工程与电子技术,26(1).pp30-33,43
[25]陈卫东,徐善驾,王东进.距离定位中的多传感器布局分析.2006,中国科学技术大学学报,36(2).pp131-136
[26]王瀚,钟丹星,周一宇.不规则布站时差定位系统定位精度分析.2007,现代电子技术,第7期总第246期.pp19-24
[27]阮怀林,罗景青,夏大永.一种新的两个侦察站对雷达定位区域的计算方法.2004,电子对抗技术,19(6).pp26-30
[28]马晓岩,向家彬.雷达信号处理.长沙:湖南科学技术出版社,1999
[29]李正荣,黄晓涛.超宽带定位技术发展分析与思考.电信快报.录用待刊
[30]刘傅斌.硕士学位论文,反恐核心区超宽带穿墙雷达研究.长沙:国防科学技术大学,2007年5月.pp30-37
[31]R.K.Tewari,S.Swarup,and M.N.Roy.Radio Wave Propagation Through Rain Forests of India.1990,IEEE Trans on Antennas and Propagation,Vol.38,No.4.pp433-449
[32]H.Kuschel,D.Schneider.Propagation Modeling for VHF/UHF-Radar detection of Targets behind a Forest.1998,IEEE National Radar Conference,Dallas
[33](美) H.Arslan,(新) Z.N.Chen,(意) Di Benedetto.Ultra Wideband Wireless Communication.John Wiley&Sons,INC.2006.pp183-200
[34]葛利嘉,曾凡鑫,刘郁林等.超宽带无线通信.北京:国防工业出版社, 2005年8月.pp38-75
[35]Fernando R M,Win M Z,Scholtz R.Z.Ultra-wide bandwidth(UWB)signal propagation for outdoor wireless communications.1997,Proc.IEEE Vehic.Tech.Conf.,TC-1997,1(1).pp215-255
[36]Joon-Yong Lee,Robert A.Scholtz.Ranging in a dense rnultipath environment using an UWB radio link.Dec 2002,IEEE Journal on Selected Areas in Communications.pp1677-1683
[37]Christian Mazzucco,Umberto Spagnolini,Giorgio Mulas.A ranging technique for UWB indoor channel based on power delay profile analysis.2004,IEEE 59~(th) Vehicular Technology Conference,Vol(5).pp2595-2599
[38](意) Carlo Morelli,Monica Nicoli,Vittorio Rampa,et al.Hidden Markov Models for Radio Localization in Mixed LOS/NLOS Conditions.Apr 2007,IEEE Transactions on Signal Processing.Vol(55),NO.4.pp1525-1542
[39](美)Steven M.Kay著.罗鹏飞,张文明,刘忠等译.统计信号处理基础--估计与检测理论.北京:电子工业出版社,2003年8月.第一卷第10-12章,第二卷第3、4章
[40]Sato R.,Shinrhu M.Simple mismatched filter for binary pulse compression code with small PSL and small S/N loss.Apr 2003,IEEE Trans on AES,Vol(39),NO.2.pp711-718
[41]Felhauer,T.Digital signal processing for optimum wideband channel estimation in the presence of noise.Jun 1993,lEE Proceedings,Pt.F,140,3.pp179-186
[42]Gabriel,W.F.Super-resolution techniques in the range domain.May 1990,In Proceedings of the IEEE International Radar Conference.pp263-267
[43]Shannon D.Blunt,Karl Gerlach.Adaptive pulse compression.2004,IEEE National Radar Conference,Philadelphia,Pennsyivnia,USA.pp271-276
[44]Shannon D.Blunt,Karl Gerlach.Adaptive pulse compression via MMSE estimation.Apr 2006,IEEE Trans on AES Vol(42),NO.2.pp572-584
[45]孟藏珍,袁俊泉,徐向东.海杂波背景下自适应脉冲压缩的性能与分析.2006年4月,雷达科学与技术,(5).pp305-308
[46]Shannon D.Blunt,Karl Gerlach,Thomas Higgins.Aspects of Radar Range Super-Resolution.2007,IEEE Radar Conference.pp683-687
[47]Shannon D.Blunt,Karl Gerlach.Multistatic adaptive pulse compression.Jul 2006,IEEE Trans on AES Vo1(42),NO.3.pp891-903,
[48]Shannon D.Blunt,Karl Gerlach.A Generalized Formulation for Adaptive Pulse Compression of Multistatic Radar.Jul 2006,4~(th) IEEE Workshop on Sensor Array and Multichannel Processing.pp349-353