阅读说明：本技术 一种基于正交二相编码信号的雷达解模糊及遮挡的方法 (Radar ambiguity-resolving and shielding method based on orthogonal biphase coding signals ) 是由 严济鸿 李聪 张欢 董海洋 翟鉴枢 杨礼 倪伟涵 王顺祥 于 2021-09-15 设计创作，主要内容包括：本发明公开了一种基于正交二相编码信号的雷达解模糊及遮挡的方法,涉及雷达领域,解决了距离模糊、遮挡问题。本发明包括根据码长长度选择walsh矩阵、遗传算法生成并优化或穷举法得到正交二相编码信号集；根据雷达最远探测距离确定雷达周期,脉冲重复时间间隔PRI,确定在最大探测距离所对应的时间内的发射脉冲个数m,从正交二相码信号集中选择m个信号,构成一组正交的二相编码脉冲信号；对发射的脉冲信号进行累积回波,生成回波矩阵配合正交二相编码脉冲信号进行频域脉冲压缩处理得到处理后的新回波矩阵,并对回波矩阵做MTD处理。本发明解决距离模糊、遮挡问题的同时,很好的解决速度模糊问题。(The invention discloses a radar ambiguity resolution and occlusion method based on orthogonal biphase coded signals, relates to the field of radars, and solves the problems of range ambiguity and occlusion. Selecting a walsh matrix according to the length of a code length, generating by a genetic algorithm, and optimizing or exhaustively acquiring an orthogonal biphase coding signal set; determining a radar period and a pulse repetition time interval PRI according to the farthest detection distance of the radar, determining the number m of transmitted pulses in the time corresponding to the largest detection distance, and selecting m signals from an orthogonal biphase code signal set to form a group of orthogonal biphase code pulse signals; and accumulating echoes to the transmitted pulse signals, generating an echo matrix, matching the echo matrix with the orthogonal biphase coded pulse signals, performing frequency domain pulse compression processing to obtain a new processed echo matrix, and performing MTD processing to the echo matrix. The invention solves the problems of distance blurring and shielding and well solves the problem of speed blurring.)

1. A radar ambiguity-resolving and shielding method based on orthogonal biphase coded signals is characterized by comprising the following steps:

step 1, determining the maximum code length of a two-phase coded signal corresponding to a pulse transmission time width according to a range blind area and a range resolution of a radar system, and selecting the closest 2 less than the maximum code length^N(N is an integer) is the chip length of a single pulse;

step 2, selecting a walsh matrix according to the length of the code length, and generating and optimizing a genetic algorithm or performing an exhaustion method to obtain an orthogonal biphase coding signal set;

step 3, determining the pulse time width according to the blind area, and determining the PRF according to the highest radial speed of the target;

step 4, determining a radar period according to the farthest detection distance of the radar, determining the number m of transmitted pulses within the time corresponding to the maximum detection distance according to the pulse repetition time interval PRI obtained in the step 3, and selecting m signals from the orthogonal biphase code signal set generated in the step 2 to form a group of orthogonal biphase code pulse signals;

and 5, accumulating echoes for the transmitted pulse signals, generating an echo matrix, matching the echo matrix with the orthogonal biphase coded pulse signals, performing frequency domain pulse compression processing to obtain a new processed echo matrix, and performing MTD processing on the echo matrix.

2. The method for radar ambiguity resolution and occlusion based on orthogonal biphase coded signals according to claim 1, wherein in step 2, if the chip is longer, a walsh matrix and a genetic algorithm are used for generation and optimization, and an orthogonal biphase coded signal set is obtained by taking the criterion of minimizing autocorrelation sidelobes and minimizing cross-correlation peak values; if the code chip is shorter, an exhaustive method is adopted, and the orthogonal two-phase coding signal set is formed by selecting the superior autocorrelation side lobe and cross-correlation peak value.

3. The method for radar deblurring and occlusion based on orthogonal biphase coded signals according to claim 2, wherein in the step 2, the step of generating the orthogonal biphase coded signal set based on the walsh matrix and using the genetic algorithm comprises the following steps:

the fitness function value of the constructed genetic algorithm is as follows:

in the formula, A (phi)_lK) is an autocorrelation function, expressed as follows:

(φ_l(n)＝0,π)

C(φ_lk) is a cross-correlation function expressed as follows:

(p≠q,φ_p(n)＝0,π,φ_q(n)＝0,π)

in the fitness function, ω₁And ω₂Weighting coefficients for the fitness function to satisfy omega₁+ω₂＝1；

Generating a walsh matrix with the size of N multiplied by N, carrying out random column exchange, screening M waveforms (M is the number of needed orthogonal signals) by taking a minimized fitness function value as a criterion (namely, minimizing autocorrelation side lobes and cross-correlation peak values), and taking the optimized Mmultiplied by N matrix as a genetic algorithm input matrix;

the iterative process of the genetic algorithm is as follows:

a. calculating a fitness function value of the matrix, judging whether the fitness function value meets an end condition, if so, ending iteration, otherwise, performing next selection, crossing and variation, and calculating the fitness function value until the end condition is met;

b. abandoning the row with the maximum fitness function value, selecting the rest rows with smaller fitness function values in the population, and carrying out subsequent crossing and variation;

c. randomly pairing rows in the population pairwise, randomly crossing two-phase encoding values of the paired rows, and recombining the two-phase encoding values into a new row;

d. according to the mutation probability, the code values of some columns in the random mutation population, namely two-phase codes are mutated from 1 to-1 or from-1 to 1;

e. replacing the row with the minimum fitness function value in the new population with the row with the maximum fitness function value in the original population, and returning to the step a to calculate the fitness function value;

the ending condition is that the iteration times reach the upper limit of the times, or the genetic algorithm is ended when the difference of the optimal fitness of two adjacent generations of a plurality of continuous generations is smaller than a threshold value;

the genetic algorithm output matrix is an orthogonal biphase code signal set.

4. The method of claim 1, wherein a lowest transmit Pulse Repetition Frequency (PRF) of the radar is determined, and the PRF is transmitted in a high repetition frequency mode.

5. The method of claim 4, wherein the radar period CPI is determined according to the farthest detection distance of the radar, and the reciprocal of the pulse repetition frequency PRF is transmitted according to a pulse repetition time interval PRI, which is the time interval between two adjacent transmitted pulses, and the number m of the transmitted pulses is determined according to the following expression:

and combining the orthogonal biphase code signal set in the step 2 to obtain an orthogonal biphase coded pulse signal.

6. The method of claim 5, further comprising accumulating the radar system and repeating the transmitting of the quadrature binary phase coded pulse signal a multiple times within one radar period CPI₁,a₂,…,a_mHow many T a radar cycle CPI contains_maxAdaptive selection is performed according to the radar system.

7. The method of claim 6, further comprising the radar system using a transmit-receive switching mode, wherein the receiver is at T_maxThe internally acquired echoes are pre-processed by down-converting to digital baseband signals, and the echoes between multiple pulses are T_maxPartially nulling the inner transmit pulse, reconstructing a time sequence, the reconstructed time sequence being at T_maxM zeros with the same width as the transmit pulse, and m echoes are included.

8. The method of claim 7, wherein the detailed procedure of the frequency domain pulse compression and the MTD processing of the echo matrix is as follows:

constructing an echo matrix R with a first row time length T_max(with a)₁The signal transmission starting time is the time length after the starting), the second line time length is also T_max(with a)₂The time when the signal starts to be transmitted is the time length after the signal starts to be transmitted), a plurality of T are included in the subsequent echo in one CPI according to the radar period CPI_maxAnd processing to obtain an echo matrix R as follows:

echo R to the first row of the echo matrix R₁And A is₁Performing frequency domain pulse compression, A₁Is to transmit an orthogonal biphase coded pulse signal a₁Is followed by 0, so that A₁And R₁Is a time sequence with equal length, and adopts the processing of frequency domain pulse compression, and the processing method is shown as the following formula (CONJ is conjugate operation)

X₁＝IFFT(FFT(R₁)·CONJ(FFT(A₁)))

Echo R of the second row of the matrix R₂And A is₂Performing frequency domain pulse compression, A₂Is to transmit an orthogonal biphase coded pulse signal a₂Is followed by 0, so that A₂And R₂Are time series of equal length;

the rest rows of the matrix R are processed in the same way, and the processed data are put into the corresponding rows of the new matrix X;

and performing FFT (fast Fourier transform) on each column of the processed new matrix X, namely performing MTD (maximum likelihood decomposition), wherein the peak value in the matrix reflects the distance and the speed of the target.

Technical Field

The invention relates to the field of radar, in particular to a radar ambiguity-resolving and shielding method based on orthogonal biphase coded signals.

Background

In the searching stage of the digital array radar, the information of target distance, speed, angle and the like is unknown, and in order to detect a target at a longer distance, a Pulse Doppler (PD) radar system is often adopted, a transmitting antenna and a receiving antenna are shared (or the transmitting antenna and the receiving antenna are not shared, the transmitting antenna and the receiving antenna are switched aiming at a scene of the transmitting antenna and the receiving antenna), and the transmitting state and the receiving state are switched, so that the receiving of target echoes by the radar can not be influenced by transmitting leakage.

The radar of the pulse transceiving switching system generates distance ambiguity when the delay time of a target is longer than the repetition period of a transmitted pulse. Velocity ambiguity can occur when the doppler frequency caused by object motion is greater than half the transmit pulse repetition frequency.

To solve the speed ambiguity problem, a High Pulse Repetition Frequency (HPRF) operation mode can be used, but also the distance ambiguity and distance occlusion problems are caused. In order to solve the distance ambiguity problem, the conventional method adopts several different Pulse Repetition Intervals (PRI), and the selection of the PRI is usually based on the remainder theorem, the one-dimensional set algorithm, the lookup table method, etc., but the above methods all have respective disadvantages.

The two-phase coded signal is a commonly used pulse pressure radar signal, is sensitive to doppler, but is widely researched and used when aiming at a non-ultrahigh speed target due to good characteristics of noise-like and low interception probability.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the invention provides a radar ambiguity resolution and occlusion method based on orthogonal biphase coded signals, which solves the problems of ambiguity resolution and occlusion.

The method adopted by the invention is that the working blind area of the two-phase coding pulse radar is reduced, and the width of the transmitted pulse, namely the length of the code chip of the two-phase coding, is reduced as much as possible; the problem of speed ambiguity is solved by adopting a High Pulse Repetition Frequency (HPRF) working mode and a received signal processing method which is described later in the invention, so that the problem of distance ambiguity can be solved; to solve the distance occlusion problem, the transmit pulse of the present invention employs two different high pulse repetition frequencies.

The invention is realized by the following technical scheme:

a radar ambiguity-resolving and shielding method based on orthogonal biphase coded signals comprises the following steps:

step 1, determining the maximum code length of a two-phase coded signal corresponding to a pulse transmission time width according to a range blind area and a range resolution of a radar system, and selecting the closest 2 less than the maximum code length^N(N is an integer) is the chip length of a single pulse;

step 2, in order to obtain orthogonal two-phase coding signals with good autocorrelation and cross-correlation performance, selecting a walsh matrix according to the length of a code length, generating a genetic algorithm, and optimizing or exhausting the algorithm to obtain an orthogonal two-phase coding signal set;

step 3, determining the pulse time width according to the blind area, and determining the PRF according to the highest radial speed of the target;

step 4, determining a radar period according to the farthest detection distance of the radar, determining the number m of transmitted pulses within the time corresponding to the maximum detection distance according to the pulse repetition time interval PRI obtained in the step 3, and selecting m signals from the orthogonal biphase code signal set generated in the step 2 to form a group of orthogonal biphase code pulse signals;

and 5, accumulating echoes for the transmitted pulse signals, generating an echo matrix, matching the echo matrix with the orthogonal biphase coded pulse signals, performing frequency domain pulse compression processing to obtain a new processed echo matrix, and performing MTD processing on the echo matrix.

Further, step 1 determines the maximum code length of the two-phase coded signal corresponding to the pulse transmission time width according to the distance blind area and the distance resolution of the radar system, and selects the maximum code lengthNearest 2 less than the maximum code length^N(N is an integer) is the chip length of a single pulse.

Further, in step 2, if the chip is longer, a walsh matrix and a genetic algorithm are used for generating and optimizing, and an orthogonal two-phase coding signal set is obtained by taking the minimized autocorrelation side lobe and the minimized cross-correlation peak as criteria; if the code chip is shorter, an exhaustive method is adopted, and the orthogonal two-phase coding signal set is formed by selecting the superior autocorrelation side lobe and cross-correlation peak value.

Further, in step 2, the step of generating the orthogonal biphase code signal set based on the walsh matrix and using the genetic algorithm is as follows:

the fitness function value of the constructed genetic algorithm is as follows:

in the formula, A (phi)_lK) is an autocorrelation function, expressed as follows:

C(φ_lk) is a cross-correlation function expressed as follows:

in the fitness function, ω₁And ω₂Weighting coefficients for the fitness function to satisfy omega₁+ω₂＝1。

Generating a walsh matrix with the size of N multiplied by N, carrying out random column exchange, screening M waveforms (M is the number of needed orthogonal signals) by taking a minimized fitness function value as a criterion (namely, minimizing autocorrelation side lobes and cross-correlation peak values), and taking the optimized Mmultiplied by N matrix as a genetic algorithm input matrix;

the iterative process of the genetic algorithm is as follows:

a. calculating a fitness function value of the matrix, judging whether the fitness function value meets an end condition, if so, ending iteration, otherwise, performing next selection, crossing and variation, and calculating the fitness function value until the end condition is met;

b. abandoning the row with the maximum fitness function value, selecting the rest rows with smaller fitness function values in the population, and carrying out subsequent crossing and variation;

c. randomly pairing rows in the population pairwise, randomly crossing two-phase encoding values of the paired rows, and recombining the two-phase encoding values into a new row;

d. according to the mutation probability, the code values of some columns in the random mutation population, namely two-phase codes are mutated from 1 to-1 or from-1 to 1;

e. replacing the row with the minimum fitness function value in the new population with the row with the maximum fitness function value in the original population, and returning to the step a to calculate the fitness function value;

the ending condition is that the iteration times reach the upper limit of the times, or the genetic algorithm is ended when the difference of the optimal fitness of two adjacent generations of a plurality of continuous generations is smaller than a threshold value;

the genetic algorithm output matrix is an orthogonal biphase code signal set.

Further, the method comprises the step of determining the lowest Pulse Repetition Frequency (PRF) of the radar according to the maximum radial velocity of the target so as to ensure that velocity ambiguity cannot be generated, and the Pulse Repetition Frequency (PRF) is transmitted in a high repetition frequency mode.

Further, determining a radar period according to the farthest detection distance of the radar, and transmitting the reciprocal of a Pulse Repetition Frequency (PRF) according to a pulse repetition time interval (PRI), wherein the PRI is the time interval of two adjacent transmitted pulses, and the number m of the determined transmitted pulses is as follows:

and combining the orthogonal biphase code signal set in the step 2 to obtain an orthogonal biphase coded pulse signal.

Further, it includes accumulating radar systems atRepeatedly transmitting orthogonal biphase coded pulse signals a in one radar period CPI₁,a₂,…,a_mHow many T a radar cycle CPI contains_maxAdaptive selection is performed according to the radar system.

Furthermore, the traditional radar signal method is to compress the echo between two pulses, so the distance is fuzzy, the radar system of the invention adopts a receiving and transmitting switching mode, and the receiver is at T_maxThe internally collected echoes are pre-down-converted to digital baseband signals, and the echoes between multiple pulses are T_maxPartially nulling the inner transmit pulse, reconstructing a time sequence, the reconstructed time sequence being at T_maxM zeros with the same width as the transmit pulse, and m echoes are included.

Further, the detailed process of the frequency domain pulse compression and the MTD processing of the echo matrix is as follows:

constructing an echo matrix R with a first row time length T_max(with a)₁The signal transmission starting time is the time length after the starting), the second line time length is also T_max(with a)₂The time when the signal starts to be transmitted is the time length after the signal starts to be transmitted), the subsequent lines are analogized, and the subsequent echoes in one CPI contain a plurality of T according to the radar period CPI_maxAnd processing to obtain an echo matrix R as follows:

echo R to the first row of the echo matrix R₁And A is₁Performing frequency domain pulse compression, A₁Is to transmit an orthogonal biphase coded pulse signal a₁Is followed by 0, so that A₁And R₁Is a time sequence with equal length, and adopts the processing of frequency domain pulse compression, and the processing method is shown as the following formula (CONJ is conjugate operation)

X₁＝IFFT(FFT(R₁)·CONJ(FFT(A₁)))

Echo R of the second row of the matrix R₂And A is₂For frequency domainPulse compression, A₂Is to transmit an orthogonal biphase coded pulse signal a₂Is followed by 0, so that A₂And R₂Are time series of equal length;

the rest rows of the matrix R are processed in the same way, and the processed data are put into the corresponding rows of the new matrix X;

and performing FFT (fast Fourier transform) on each column of the processed new matrix X, namely performing MTD (maximum likelihood decomposition), wherein the peak value in the matrix reflects the distance and the speed of the target.

In a traditional PD radar, echoes of different pulses to different range targets may overlap, and the peak value of the MTD result of the traditional method is range-blurred and is not enough to distinguish different targets from the overlapping echoes. After the processing, even if the echo is the superposition of a plurality of target echoes, the peak value in the MTD result can show that different targets are positioned at different distances, thus solving the distance fuzzy problem of echo superposition.

The radar adopts a receiving and transmitting switching mode, so that the problem of distance shielding is inevitably generated. In order to avoid the distance obstruction caused by the receiving and transmitting switching, in some radar periods, the transmitting signal can adopt another pulse repetition frequency which is slightly larger than the minimum pulse repetition frequency, and the orthogonal biphase coding pulse signal b at the moment₁,b₂,…,b_nThe two-phase coded signals are pairwise orthogonal, have good autocorrelation and cross-correlation performance, and n is slightly larger than m. The distance shielding problem is solved through the emission of two different pulse repetition frequencies and the subsequent radar signal processing.

The invention has the following advantages and beneficial effects:

the invention solves the problems of distance blurring and shielding and well solves the problem of speed blurring.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a flow chart of the present invention for generating an orthogonal biphase coded signal.

FIG. 2 is a diagram of a radar transmitting an orthogonal biphase coded pulse signal in one radar period according to the present invention.

Fig. 3 is a diagram of MTD of a conventional PD radar transmitting the same two-phase coded pulse signal.

Fig. 4 is a diagram of MTD of the transmitted quadrature bi-phase coded pulse signal of the present invention.

Detailed Description

Hereinafter, the term "comprising" or "may include" used in various embodiments of the present invention indicates the presence of the invented function, operation or element, and does not limit the addition of one or more functions, operations or elements. Furthermore, as used in various embodiments of the present invention, the terms "comprises," "comprising," "includes," "including," "has," "having" and their derivatives are intended to mean that the specified features, numbers, steps, operations, elements, components, or combinations of the foregoing, are only meant to indicate that a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as first excluding the existence of, or adding to the possibility of, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

In various embodiments of the invention, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B, or may include both a and B.

Expressions (such as "first", "second", and the like) used in various embodiments of the present invention may modify various constituent elements in various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present invention.

It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.

The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

A radar ambiguity-resolving and shielding method based on orthogonal biphase coded signals comprises the following steps:

step 1, determining the maximum code length of a two-phase coded signal corresponding to a pulse transmission time width according to a range blind area and a range resolution of a radar system, and selecting the closest 2 less than the maximum code length^N(N is an integer) is the chip length of a single pulse;

step 2, in order to obtain an orthogonal two-phase coded signal with good autocorrelation and cross-correlation performance, selecting a walsh matrix according to the length of a code length, and generating and optimizing a genetic algorithm or performing an exhaustive method to obtain an orthogonal two-phase coded signal set, wherein if a chip is longer, the walsh matrix and the genetic algorithm are used for generating and optimizing, and the orthogonal two-phase coded signal set is obtained by taking a minimized autocorrelation side lobe and a minimized cross-correlation peak value as criteria; if the code chip is shorter, selecting a better self-correlation side lobe and cross-correlation peak value to form an orthogonal two-phase coding signal set by adopting an exhaustion method;

the steps of generating the orthogonal biphase code signal set based on the walsh matrix and by using a genetic algorithm are as follows:

the fitness function value of the constructed genetic algorithm is as follows:

in the formula, A (phi)_lK) is an autocorrelation function, expressed as follows:

C(φ_lk) is a cross-correlation function expressed as follows:

in the fitness function, ω₁And ω₂Weighting coefficients for the fitness function to satisfy omega₁+ω₂＝1。

Generating a walsh matrix with the size of N multiplied by N, carrying out random column exchange, screening M waveforms (M is the number of needed orthogonal signals) by taking a minimized fitness function value as a criterion (namely, minimizing autocorrelation side lobes and cross-correlation peak values), and taking the optimized Mmultiplied by N matrix as a genetic algorithm input matrix;

the iterative process of the genetic algorithm is (the flow chart of the genetic algorithm is shown in figure 1):

a. calculating a fitness function value of the matrix, judging whether the fitness function value meets an end condition, if so, ending iteration, otherwise, performing next selection, crossing and variation, and calculating the fitness function value until the end condition is met;

b. abandoning the row with the maximum fitness function value, selecting the rest rows with smaller fitness function values in the population, and carrying out subsequent crossing and variation;

c. randomly pairing rows in the population pairwise, randomly crossing two-phase encoding values of the paired rows, and recombining the two-phase encoding values into a new row;

d. according to the mutation probability, the code values of some columns in the random mutation population, namely two-phase codes are mutated from 1 to-1 or from-1 to 1;

e. replacing the row with the minimum fitness function value in the new population with the row with the maximum fitness function value in the original population, and returning to the step a to calculate the fitness function value;

the ending condition is that the iteration times reach the upper limit of the times, or the genetic algorithm is ended when the difference of the optimal fitness of two adjacent generations of a plurality of continuous generations is smaller than a threshold value;

the genetic algorithm output matrix is an orthogonal biphase code signal set.

Step 3, determining the pulse time width according to the blind area, and determining the PRF according to the highest radial speed of the target;

step 4, determining a radar period according to the farthest detection distance of the radar, determining the number m of transmitted pulses within the time corresponding to the maximum detection distance according to the pulse repetition time interval PRI obtained in the step 3, and selecting m signals from the orthogonal biphase code signal set generated in the step 2 to form a group of orthogonal biphase code pulse signals;

and 5, accumulating echoes for the transmitted pulse signals, generating an echo matrix, matching the echo matrix with the orthogonal biphase coded pulse signals, performing frequency domain pulse compression processing to obtain a new processed echo matrix, and performing MTD processing on the echo matrix.

Preferably, the method further comprises determining the lowest transmit Pulse Repetition Frequency (PRF) of the radar based on the maximum radial velocity of the target to ensure that velocity ambiguity is not generated, and transmitting the Pulse Repetition Frequency (PRF) in a high repetition frequency mode.

Preferably, the radar period is determined according to the farthest detection distance of the radar, and the reciprocal of the pulse repetition frequency PRF is transmitted according to a pulse repetition time interval PRI, where PRI is the time interval between two adjacent transmitted pulses, and the number m of the transmitted pulses is determined, and the expression is as follows:

and combining the orthogonal biphase code signal set in the step 2 to obtain an orthogonal biphase coded pulse signal.

Preferably, the method further comprises accumulating the radar system and repeatedly transmitting the orthogonal biphase coded pulse signal a for a plurality of times in one radar period CPI₁,a₂,…,a_mHow many T a radar cycle CPI contains_maxAdaptive selection is performed according to the radar system.

Preferably, the traditional radar signal method is to perform pulse compression processing on the echo between two pulses, so that the problem of distance ambiguity occurs_maxThe internally collected echoes are pre-down-converted to digital baseband signals, and the echoes between multiple pulses are T_maxPartially nulling the inner transmit pulse, reconstructing a time sequence, the reconstructed time sequence being at T_maxM zeros with the same width as the transmit pulse, and m echoes are included.

Preferably, the detailed process of the frequency domain pulse compression and the MTD processing of the echo matrix is as follows: constructing an echo matrix R with a first row time length T_max(with a)₁The signal transmission starting time is the time length after the starting), the second line time length is also T_max(with a)₂The time when the signal starts to be transmitted is the time length after the signal starts to be transmitted), the subsequent lines are analogized, and the subsequent echoes in one CPI contain a plurality of T according to the radar period CPI_maxAnd processing to obtain an echo matrix R as follows:

echo R to the first row of the echo matrix R₁And A is₁Performing frequency domain pulse compression, A₁Is to transmit an orthogonal biphase coded pulse signal a₁Is followed by 0, so that A₁And R₁Is a time sequence with equal length, and adopts the processing of frequency domain pulse compression, and the processing method is shown as the following formula (CONJ is conjugate operation)

X₁＝IFFT(FFT(R₁)·CONJ(FFT(A₁)))

Echo R of the second row of the matrix R₂And A is₂Performing frequency domain pulse compression, A₂Is to transmit an orthogonal biphase coded pulse signal a₂Is followed by 0, so that A₂And R₂Are time series of equal length; the rest rows of the matrix R are processed in the same way, and the processed data are put into the corresponding rows of the new matrix X; and performing FFT (fast Fourier transform) on each column of the processed new matrix X, namely performing MTD (maximum likelihood decomposition), wherein the peak value in the matrix reflects the distance and the speed of the target.

In a traditional PD radar, echoes of different pulses to different range targets may overlap, and the peak value of the MTD result of the traditional method is range-blurred and is not enough to distinguish different targets from the overlapping echoes. After the processing, even if the echo is the superposition of a plurality of target echoes, the peak value in the MTD result can show that different targets are positioned at different distances, thus solving the distance fuzzy problem of echo superposition. The radar adopts a receiving and transmitting switching mode, so that the problem of distance shielding is inevitably generated. To avoid the range obstruction caused by the transceiving switching, in some radar periods, the transmitting signal may adopt another pulse repetition frequency which is slightly greater than the minimum pulse repetition frequency, and the orthogonal biphase coded pulse signal (as b in fig. 2) is adopted₁,b₂,…,b_nThe two-phase coded signals are pairwise orthogonal and have good autocorrelation and cross-correlation performances, and n is slightly larger than m). The distance shielding problem is solved through the emission of two different pulse repetition frequencies and the subsequent radar signal processing.

Example 1:

the following examples were used to demonstrate the effective feasibility of the present invention in accordance with the foregoing method.

The PD radar sampling rate is 100MHz, the pulse width tau is 0.64 mu s, the pulse repetition Period (PRI) is 64 mu s, and one radar period T_maxFour PRI's, one coherent integration period (CPI) including 16T' s_maxThe RF frequency f is 3GHz and c is the speed of light. The distance blind area at this time is

Maximum unambiguous distance of

Maximum unambiguous velocity of

The distance of the target is set to 10km, the speed of the target is 240m/s, and the signal-to-noise ratio is set to-10 dB. If the same signal is used for the transmitted signals, the MTD result is shown in fig. 3, and it is not possible to distinguish which echo is the echo of which transmitted pulse signal, resulting in range ambiguity.

By adopting the method of the invention, the mutually orthogonal two-phase coding pulse signals are transmitted, the MTD result is shown in figure 4, the distance and the speed of the target can be accurately measured, and only one peak value is shown in figure 4, namely, the problem of distance ambiguity does not exist.

In order to avoid the distance shielding caused by the receiving and transmitting switching (the target echo of the current transmitting pulse signal is delayed and overlapped with a certain transmitting pulse, the echo signal is not received and processed, and the target information can not be obtained), the embodiment adopts another pulse repetition frequency, and one radar period T_maxIt contains 5 PRIs. The distance shielding problem of the PD radar can be solved by transmitting two different pulse repetition frequencies and processing subsequent radar signals.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.