CN114152916A - MIMO radar waveform orthogonal method based on pilot information - Google Patents

MIMO radar waveform orthogonal method based on pilot information Download PDF

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CN114152916A
CN114152916A CN202111346268.7A CN202111346268A CN114152916A CN 114152916 A CN114152916 A CN 114152916A CN 202111346268 A CN202111346268 A CN 202111346268A CN 114152916 A CN114152916 A CN 114152916A
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waveform
mimo radar
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董浩
胡文
姚翼荣
王原正
张逸雯
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Nanjing University of Aeronautics and Astronautics
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/282—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna

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Abstract

The invention discloses a MIMO radar waveform orthogonal method based on pilot information, wherein the MIMO radar sub-arrays can respectively forward the pilot information containing the working parameters of the waveform of the MIMO radar sub-arrays, the pilot information is modulated into the radar waveform and is emitted out through a radar sub-array antenna, signals containing the pilot information of other sub-arrays are obtained after intermediate frequency filtering and demodulation of each sub-array receiver, a time-frequency diagram of the pilot information of each sub-array is obtained after the signals are subjected to short-time Fourier transform, and whether the waveforms between the sub-arrays are orthogonal or not is judged by the time-frequency diagram. If the waveforms are not orthogonal, parameters in the waveforms are optimized by using a cost function, the optimized waveforms are used for the MIMO radar, and pilot information is periodically transmitted to continuously sense whether each subarray of the MIMO radar is orthogonal or not in the process of target detection of the MIMO radar. The invention can realize the waveform orthogonality of the MIMO radar, thereby improving the Doppler resolution, the interception resistance and the detection and tracking of weak and small targets of the radar system.

Description

MIMO radar waveform orthogonal method based on pilot information
Technical Field
The invention relates to the technical field of radar signal processing, in particular to a MIMO radar waveform orthogonal method based on pilot information.
Background
With the development of various stealth technologies and interference technologies, the radar faces unprecedented challenges for target detection and tracking, and a new radar system and a signal processing means are sought to improve the detection performance and the self anti-interference capability of the radar, so that the radar is a target tracked by radar engineering personnel. The MIMO radar can realize multiple beams, the beam scanning range is wider, and the detection effect on the target with larger fluctuation is remarkable. Compared with a phased array radar with M identical array elements, the peak power and the transmitting antenna gain of the MIMO radar are only 1/M of those of the phased array radar, so that the MIMO radar has the advantage of anti-interception. The MIMO radar can utilize a few entity array elements to form a plurality of virtual arrays, so that the array aperture is enlarged, and the array angular resolution is improved. The signal components transmitted by each subarray of the MIMO radar are orthogonal, so that the flexibility is strong, and the degree of freedom is high. Therefore, the MIMO radar can meet the requirements of target detection and multi-target detection and tracking in a strong clutter environment. The orthogonal waveform influences the detection of the MIMO radar on the weak target, influences the recovery effect of the signal after matched filtering and the range resolution of the radar system, and is an urgent problem to be solved for effectively improving the target parameter detection and tracking performance of the MIMO radar.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a MIMO radar waveform orthogonality method based on pilot information, which can realize MIMO radar waveform orthogonality, and further improve the Doppler resolution, the interception resistance and the detection and tracking of weak and small targets of a radar system.
In order to solve the technical problem, the invention provides a MIMO radar waveform orthogonal method based on pilot information, which comprises the following steps:
step 1, modulating narrowband signal pilot information on transmitting waveforms of each subarray of an MIMO radar, transmitting the waveforms through a radar digital transmitter, receiving the waveforms through a digital receiver by other subarrays, and extracting the pilot information of the other subarrays through an intermediate frequency filter;
step 2, demodulating the pilot information of the single carrier frequency signals of other subarrays of the MIMO radar extracted in the step 1, and then performing short-time Fourier transform (STFT) on the demodulated pilot information to obtain a time-frequency diagram corresponding to the pilot information of each subarray of the MIMO radar;
step 3, extracting the time-frequency diagram characteristics of the pilot information in the step 2, if the same working parameters exist among different MIMO radar sub-arrays, namely the waveforms among the different sub-arrays are not orthogonal, optimizing the parameters of the waveforms through a cost function, so that the working parameters of each sub-array are independent, and the MIMO radar waveform orthogonality is kept;
step 4, the waveform optimization related to the step 3 constructs a waveform optimization cost function according to an orthogonal principle of MIMO radar waveform design, and waveform coding parameters are optimized by using a simulated annealing algorithm to construct an MIMO radar transmitting waveform;
step 5, constructing a mathematical model of the MIMO radar transmitting waveform, and providing the optimized frequency coding parameters required by the waveform design in the step 4
Figure BDA0003354104980000021
Pulse position coding parameter
Figure BDA0003354104980000022
And phase encoding parameters
Figure BDA0003354104980000023
Step 6, providing the cost function required in the step 4, and comparing the waveform parameters in the step 5
Figure BDA0003354104980000024
Optimizing;
and 7, using the waveform optimized in the step 6 for each subarray of the MIMO radar to perform target detection, performing signal processing modes such as digital beam synthesis, pulse compression and FFT (fast Fourier transform algorithm) on echo signals of detection beams, and performing constant false alarm detection to generate corresponding target point traces, wherein in the detection process, pilot information is periodically broadcast among the subarrays of the MIMO radar, and the steps 1 to 6 are executed again to perform orthogonal design on the MIMO radar waveform.
Preferably, in step 2, the short-time fourier transform formula is as follows:
Figure BDA0003354104980000025
where K is 0, 1., K-1, K ∈ N, K denotes a doppler frequency index, U is 0, 1., U-1, U ∈ N, U denotes a time index, W (·) is a window of a time domain, and M is 0, 1., M-1 denotes an index of a slow time.
Preferably, in step 5, a mathematical model of the transmit waveform of the MIMO radar is constructed, and the encoding parameters required to be optimized for the waveform design required in step 4 are specifically: the MIMO radar is provided with Q sub-arrays, the number of pulses in one CPI is N, each pulse adopts phase coding with the code length of M, and a mathematic model of a Q-th sub-array transmission signal is as follows:
Figure BDA0003354104980000026
wherein, tpIs the pulse width, TrIs the average pulse period, Δ T, of the sub-pulsesrIs the minimum pulse position jump interval, tsFor phase encoding the symbol width, xinThe pulse positions of the n sub-pulses are encoded,
Figure BDA0003354104980000027
is the carrier of the nth sub-pulse,
Figure BDA0003354104980000028
af is the frequency minimum interval, mu is the chirp rate,
Figure BDA0003354104980000029
for the mth code element of the nth sub-pulse, the waveform optimization parameter is as follows from the mathematical model of the transmitted signal
Figure BDA00033541049800000210
Expressed as a vector
Figure BDA0003354104980000031
Ω＝[ξ1,ξ2,…,ξN]、
Figure BDA0003354104980000032
Preferably, in step 6, a peak side lobe level criterion (PSL) is adopted to perform orthogonal waveform design, a phase encoding matrix of a transmitted waveform, a frequency encoding sequence of a carrier wave, and a pulse position agile sequence are used as optimization variables, and a constructed cost function is as follows:
Figure BDA0003354104980000033
Figure BDA0003354104980000034
Figure BDA0003354104980000035
Ω∈Perms{[ξ1,ξ2,…,ξP]}
i＝1,2,…,M,k＝1,2,…,N,j＝1,2,…,Q
Figure BDA0003354104980000036
wherein s isp(t) and sq(t) is the transmission signal of different sub-arrays, when p is q, cpq(τ) is an autocorrelation function of the transmitted signal; when p ≠ q, cpq(τ) is the cross-correlation function of the emitted signals.
The invention has the beneficial effects that: the method can solve the problem that how to broadcast respective waveform working parameters through using guide information among the MIMO radar sub-arrays in the MIMO radar waveform design process so that the same waveform working parameters are avoided by the sub-arrays, the orthogonality among the sub-arrays is improved, the main lobe ratio, the orthogonality and the main lobe width of a weak MIMO radar system are avoided, the MIMO radar waveform orthogonality is finally realized, and the Doppler resolution, the anti-interception capability and the detection and tracking of a weak small target of the radar system are further improved.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Fig. 2 is a time domain diagram of the optimized MIMO radar transmission waveform of the present invention.
Fig. 3 is a frequency domain diagram of the optimized MIMO radar transmission waveform of the present invention.
Detailed Description
As shown in fig. 1, a MIMO radar waveform orthogonality method based on pilot information includes the following steps:
step 1, modulating the narrowband signal pilot information on transmitting waveforms of each subarray of the MIMO radar, transmitting the waveforms through a radar digital transmitter, receiving the waveforms through a digital receiver by other subarrays, and extracting the pilot information of the other subarrays through an intermediate frequency filter.
And 2, demodulating the pilot information of the single carrier frequency signals of other subarrays of the MIMO radar extracted in the step 1, and performing short-time Fourier transform (STFT) on the demodulated pilot information to obtain a time-frequency diagram corresponding to the pilot information of each subarray of the MIMO radar. The short-time fourier transform equation is as follows:
Figure BDA0003354104980000041
where K is 0, 1., K-1, K ∈ N, K denotes a doppler frequency index, U is 0, 1., U-1, U ∈ N, and U denotes a time index. W (-) is a window of the time domain. M-1 denotes an index of slow time.
And 3, extracting the time-frequency diagram characteristics of the pilot information in the step 2, if the same working parameters exist among different MIMO radar sub-arrays, namely the waveforms among the different sub-arrays are not orthogonal, optimizing the parameters of the waveforms through a cost function, so that the working parameters of each sub-array are independent, and the MIMO radar waveform orthogonality is kept.
And 4, constructing a waveform optimization cost function according to the orthogonal principle of MIMO radar waveform design by waveform optimization related to the step 3, optimizing waveform coding parameters by using a simulated annealing algorithm, and constructing an MIMO radar transmitting waveform, wherein the optimized waveform is shown in figure 2.
Step 5, constructing a mathematical model of the MIMO radar transmitting waveform, and providing the optimized frequency coding parameters required by the waveform design in the step 4
Figure BDA0003354104980000042
Pulse position coding parameter
Figure BDA0003354104980000043
And phase encoding parameters
Figure BDA0003354104980000044
The MIMO radar is provided with Q sub-arrays, the number of pulses in one CPI is N, each pulse adopts phase coding with the code length of M, and a mathematic model of a Q-th sub-array transmission signal is as follows:
Figure BDA0003354104980000045
wherein, tpIs the pulse width, TrIs the average pulse period, Δ T, of the sub-pulsesrIs the minimum pulse position jump interval, tsFor phase encoding the symbol width, xinThe pulse positions of the n sub-pulses are encoded,
Figure BDA0003354104980000046
is the carrier of the nth sub-pulse,
Figure BDA0003354104980000047
af is the frequency minimum interval, mu is the chirp rate,
Figure BDA0003354104980000048
for the m-th symbol of the n-th sub-pulse, from the transmitted signalThe mathematical model of (2) shows that the waveform optimization parameters are
Figure BDA0003354104980000049
Expressed as a vector
Figure BDA00033541049800000410
Ω＝[ξ1,ξ2,…,ξN]、
Figure BDA00033541049800000411
Step 6, providing the cost function required in the step 4, and comparing the waveform parameters in the step 5
Figure BDA0003354104980000051
Optimizing, wherein a peak sidelobe level criterion (PSL) is adopted to carry out orthogonal waveform design, a phase coding matrix of a transmitted waveform, a frequency coding sequence of a carrier wave and a pulse position agility sequence are used as optimization variables, and a constructed cost function is as follows:
Figure BDA0003354104980000052
Figure BDA0003354104980000053
Figure BDA0003354104980000054
Ω∈Perms{[ξ1,ξ2,…,ξP]}
i＝1,2,…,M,k＝1,2,…,N,j＝1,2,…,Q
Figure BDA0003354104980000055
wherein s isp(t) and sq(t) is the transmission signal of different sub-arrays, when p is q，cpq(τ) is an autocorrelation function of the transmitted signal; when p ≠ q, cpq(τ) is the cross-correlation function of the emitted signals.
And 7, using the waveform optimized in the step 6 for each subarray of the MIMO radar to perform target detection, performing signal processing modes such as digital beam synthesis, pulse compression and FFT (fast Fourier transform algorithm) on echo signals of detection beams, and performing constant false alarm detection to generate corresponding target point traces, wherein in the detection process, pilot information is periodically broadcast among the subarrays of the MIMO radar, and the steps 1 to 6 are executed again to perform orthogonal design on the MIMO radar waveform.
The invention aims to solve the problem that how to broadcast respective waveform working parameters by using guide information among MIMO radar sub-arrays in the MIMO radar waveform design process to ensure that the sub-arrays avoid the same waveform working parameters and improve the orthogonality among the sub-arrays so as to avoid weakening the main lobe ratio, the orthogonality and the main lobe width of an MIMO radar system, finally realize the MIMO radar waveform orthogonality, and further improve the Doppler resolution, the anti-interception capability and the detection and tracking of weak and small targets of the radar system.
When the MIMO radar subarrays use the same waveform working parameters (such as carrier frequency, bandwidth, modulation slope and phase), the MIMO radar waveforms cannot keep orthogonal, and the target detection and tracking accuracy of the radar is affected. Therefore, the MIMO radar sub-arrays can transmit the pilot information containing the working parameters of the waveforms of the MIMO radar sub-arrays respectively, the pilot information is modulated into the radar waveforms and is transmitted out through the radar sub-array antenna, the signals containing the pilot information of other sub-arrays are obtained after intermediate frequency filtering and demodulation of the sub-array receivers, the signals are subjected to short-time Fourier transform to obtain time-frequency graphs of the pilot information of the sub-arrays, and whether the waveforms of the sub-arrays are orthogonal or not is judged through the time-frequency graphs. If the waveforms are not orthogonal, parameters in the waveforms are optimized by using a cost function, the optimized waveforms are used for the MIMO radar, and pilot information is periodically transmitted to continuously sense whether each subarray of the MIMO radar is orthogonal or not in the process of target detection of the MIMO radar.
The method solves the problem of poor waveform orthogonality caused by the fact that all sub-arrays of the MIMO radar have the same working parameters in the target detection process, and effectively improves the target parameter detection and tracking performance of the MIMO radar. The method comprises the steps that each subarray of the MIMO radar is used for firstly transmitting a section of pilot information containing respective working parameters (such as carrier frequency, frequency modulation slope, bandwidth, phase and the like), other MIMO radar subarrays can avoid using the same working parameters after receiving the section of pilot information, if other MIMO radar subarrays also use the same working parameters, frequency, phase and pulse position joint coding is carried out on the transmitting waveform of each subarray of the MIMO radar through waveform optimization, and the waveform of each subarray of the MIMO radar after coding is orthogonal. The optimized waveform is used for target detection, and in the detection process, each subarray of the MIMO radar periodically transmits and receives pilot information to sense mutual waveform orthogonality. The orthogonality of the MIMO radar waveform is greatly improved by using the pilot information, and further the Doppler resolution, the interception resistance and the detection and tracking of weak and small targets of the radar system are improved.

Claims (4)

1. A MIMO radar waveform orthogonal method based on pilot information is characterized by comprising the following steps:
step 1, modulating narrowband signal pilot information on transmitting waveforms of each subarray of an MIMO radar, transmitting the waveforms through a radar digital transmitter, receiving the waveforms through a digital receiver by other subarrays, and extracting the pilot information of the other subarrays through an intermediate frequency filter;
step 2, demodulating the pilot information of the single carrier frequency signals of other subarrays of the MIMO radar extracted in the step 1, and then performing short-time Fourier transform (STFT) on the demodulated pilot information to obtain a time-frequency diagram corresponding to the pilot information of each subarray of the MIMO radar;
step 3, extracting the time-frequency diagram characteristics of the pilot information in the step 2, if the same working parameters exist among different MIMO radar sub-arrays, namely the waveforms among the different sub-arrays are not orthogonal, optimizing the parameters of the waveforms through a cost function, so that the working parameters of each sub-array are independent, and the MIMO radar waveform orthogonality is kept;
step 4, the waveform optimization related to the step 3 constructs a waveform optimization cost function according to an orthogonal principle of MIMO radar waveform design, and waveform coding parameters are optimized by using a simulated annealing algorithm to construct an MIMO radar transmitting waveform;
step 5, constructing a mathematical model of the MIMO radar transmitting waveform, and providing the optimized frequency coding parameters required by the waveform design in the step 4
Figure FDA0003354104970000011
Pulse position coding parameter
Figure FDA0003354104970000012
And phase encoding parameters
Figure FDA0003354104970000013
Step 6, providing the cost function required in the step 4, and comparing the waveform parameters in the step 5
Figure FDA0003354104970000014
Optimizing;
and 7, using the waveform optimized in the step 6 for each subarray of the MIMO radar to perform target detection, performing signal processing modes such as digital beam synthesis, pulse compression and FFT (fast Fourier transform algorithm) on echo signals of detection beams, and performing constant false alarm detection to generate corresponding target point traces, wherein in the detection process, pilot information is periodically broadcast among the subarrays of the MIMO radar, and the steps 1 to 6 are executed again to perform orthogonal design on the MIMO radar waveform.
2. The method of claim 1, wherein in step 2, the short-time fourier transform formula is as follows:
Figure FDA0003354104970000015
where K is 0, 1., K-1, K ∈ N, K denotes a doppler frequency index, U is 0, 1., U-1, U ∈ N, U denotes a time index, W (·) is a window of a time domain, and M is 0, 1., M-1 denotes an index of a slow time.
3. The method for orthogonalizing the MIMO radar waveform based on the pilot information according to claim 1, wherein in step 5, a mathematical model of the MIMO radar transmit waveform is constructed, and the encoding parameters required to be optimized for the waveform design required in step 4 are specifically: the MIMO radar is provided with Q sub-arrays, the number of pulses in one CPI is N, each pulse adopts phase coding with the code length of M, and a mathematic model of a Q-th sub-array transmission signal is as follows:
Figure FDA0003354104970000021
wherein, tpIs the pulse width, TrIs the average pulse period, Δ T, of the sub-pulsesrIs the minimum pulse position jump interval, tsFor phase encoding the symbol width, xinThe pulse positions of the n sub-pulses are encoded,
Figure FDA0003354104970000022
is the carrier of the nth sub-pulse,
Figure FDA0003354104970000023
af is the frequency minimum interval, mu is the chirp rate,
Figure FDA0003354104970000024
for the mth code element of the nth sub-pulse, the waveform optimization parameter is as follows from the mathematical model of the transmitted signal
Figure FDA0003354104970000025
Expressed as a vector
Figure FDA0003354104970000026
Ω＝[ξ1,ξ2,…,ξN]、
Figure FDA0003354104970000027
4. The method as claimed in claim 1, wherein in step 6, a peak sidelobe level criterion (PSL) is used to design the orthogonal waveform, and the phase coding matrix of the transmitted waveform, the frequency coding sequence of the carrier wave and the pulse position agile sequence are used as optimization variables, and the cost function is constructed as follows:
Figure FDA0003354104970000028
Figure FDA0003354104970000029
Figure FDA00033541049700000210
Ω∈Perms{[ξ1,ξ2,…,ξP]}
i＝1,2,…,M,k＝1,2,…,N,j＝1,2,…,Q
Figure FDA00033541049700000211
wherein s isp(t) and sq(t) is the transmission signal of different sub-arrays, when p is q, cpq(τ) is an autocorrelation function of the transmitted signal; when p ≠ q, cpq(τ) is the cross-correlation function of the emitted signals.
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CN114594429B (en) * 2022-03-24 2023-11-14 南京慧尔视智能科技有限公司 Radar anti-interference processing method and device
CN114594430A (en) * 2022-03-24 2022-06-07 南京慧尔视智能科技有限公司 Signal processing method and device
CN114755637A (en) * 2022-03-24 2022-07-15 南京慧尔视智能科技有限公司 Interference identification method and device
CN114594430B (en) * 2022-03-24 2024-01-23 南京慧尔视智能科技有限公司 Signal processing method and device
CN114594429A (en) * 2022-03-24 2022-06-07 南京慧尔视智能科技有限公司 Radar anti-interference processing method and device
CN114755637B (en) * 2022-03-24 2023-11-14 南京慧尔视智能科技有限公司 Interference identification method and device
CN115079157B (en) * 2022-06-15 2023-11-14 南京慧尔视智能科技有限公司 Pilot information transmission control method and device, electronic equipment and storage medium
CN115079157A (en) * 2022-06-15 2022-09-20 南京慧尔视智能科技有限公司 Pilot information transmission control method, pilot information transmission control device, electronic apparatus, and storage medium
CN115097400A (en) * 2022-08-15 2022-09-23 南京慧尔视智能科技有限公司 Method and device for realizing radar anti-interference
CN115097400B (en) * 2022-08-15 2024-04-12 南京慧尔视智能科技有限公司 Method and device for realizing radar anti-interference
CN115542264A (en) * 2022-10-17 2022-12-30 南京慧尔视智能科技有限公司 Radar anti-interference method and device and storage medium
CN115480221A (en) * 2022-10-17 2022-12-16 南京慧尔视智能科技有限公司 Radar anti-interference method and device and storage medium
CN115480221B (en) * 2022-10-17 2023-11-14 南京慧尔视智能科技有限公司 Radar anti-interference method, device and storage medium

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