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CN108957419B - Asynchronous interference suppression method based on notch filtering processing - Google Patents

Asynchronous interference suppression method based on notch filtering processing Download PDF

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CN108957419B
CN108957419B CN201810548240.3A CN201810548240A CN108957419B CN 108957419 B CN108957419 B CN 108957419B CN 201810548240 A CN201810548240 A CN 201810548240A CN 108957419 B CN108957419 B CN 108957419B
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CN108957419A (en
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王彤
晁逸群
郑文文
刘程
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Xidian University
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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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/38—Jamming means, e.g. producing false echoes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract

本发明公开了一种基于陷波滤波处理的异步干扰抑制方法，其主要思路为：确定机载雷达，所述机载雷达检测范围内存在目标，机载雷达向其检测范围内发射信号并经目标反射后接收到的回波信号，记为雷达原始回波数据矩阵；根据所述雷达原始回波数据矩阵，得到距离‑多普勒域数据矩阵；然后确定主瓣杂波；计算主瓣杂波的多普勒频率，并得到长度为R的列向量g；其中R为大于1的正整数；确定参考门限

Figure DDA0001680444790000011
依次得到修改处理后的结果gpro和归一化后的功率和向量G，进而得到陷波滤波权系数向量F；使用陷波滤波权系数向量F对所述雷达原始回波数据矩阵进行滑窗处理，得到滑窗处理后的结果，所述滑窗处理后的结果即为基于限波滤波处理的异步干扰抑制结果。

Figure 201810548240

The invention discloses an asynchronous interference suppression method based on notch filtering processing. The main idea is to determine an airborne radar, a target exists in the detection range of the airborne radar, and the airborne radar transmits a signal to the detection range and passes through the detection range. The echo signal received after the target is reflected is recorded as the radar original echo data matrix; according to the radar original echo data matrix, the distance-Doppler domain data matrix is obtained; then the main lobe clutter is determined; the main lobe clutter is calculated Doppler frequency of the wave, and get a column vector g of length R; where R is a positive integer greater than 1; determine the reference threshold

Figure DDA0001680444790000011
Obtain the modified result g pro and the normalized power sum vector G in turn, and then obtain the notch filter weight coefficient vector F; use the notch filter weight coefficient vector F to perform sliding window on the radar original echo data matrix processing to obtain a result after sliding window processing, and the result after sliding window processing is the asynchronous interference suppression result based on wave limiting filtering processing.

Figure 201810548240

Description

基于陷波滤波处理的异步干扰抑制方法Asynchronous Interference Suppression Method Based on Notch Filter Processing

技术领域technical field

本发明属于雷达技术领域，特别涉及一种基于陷波滤波处理的异步干扰抑制方法，适用于机载雷达回波异步干扰抑制。The invention belongs to the technical field of radar, and in particular relates to an asynchronous interference suppression method based on notch filter processing, which is suitable for the asynchronous interference suppression of airborne radar echoes.

背景技术Background technique

机载雷达以其独特的作战特点，被各国军方视为能够左右战场态势的战略性武器。干扰抑制性能是影响机载雷达能否正常检测的主要因素，因此，机载雷达干扰抑制技术受到了各国研究人员的重视。Airborne radar is regarded by the military of various countries as a strategic weapon that can control the battlefield situation due to its unique combat characteristics. The interference suppression performance is the main factor affecting whether the airborne radar can detect normally. Therefore, the airborne radar interference suppression technology has attracted the attention of researchers from all over the world.

在雷达信号环境中，干扰总是存在的；常见的干扰主要可以分为欺骗式干扰、阻塞式干扰、点频(竖条纹)干扰和异步干扰四种；其中异步干扰(Asynchronous Interference)主要来自工业生产设备、通信设备、其他雷达等的电磁辐射，异步干扰的特点是以窄脉冲形式随机出现，而且幅度远大于噪声基底，因此，亦称为奇异值(Singular Value)；从本源上说，其本身应具有一定的周期性，但其出现的频率与雷达的工作步调不一致；因此，异步干扰在雷达接收机中出现的时间是不固定的，表现出很大的随机性。In the radar signal environment, interference always exists; common interference can be mainly divided into four types: deceptive interference, blocking interference, point-frequency (vertical stripe) interference and asynchronous interference; among which asynchronous interference (Asynchronous Interference) mainly comes from industrial The electromagnetic radiation of production equipment, communication equipment, other radars, etc., is characterized by the random occurrence of asynchronous interference in the form of narrow pulses, and the amplitude is much larger than the noise floor. Therefore, it is also called singular value (Singular Value). It should have a certain periodicity, but the frequency of its occurrence is inconsistent with the working pace of the radar; therefore, the time when asynchronous interference appears in the radar receiver is not fixed, showing great randomness.

另一方面，异步干扰的幅度很大，远大于信号和噪声电平值，有时甚至会达到杂波水平；异步干扰在脉冲多普勒(PD,Pulse Doppler)图中表现为在距离域具有一定宽度、多普勒域充满的横条纹；在雷达的信号检测中，由于其宽度与目标回波信号相似，因此通常会被检测为目标；在自动检测中，通常会采用点迹凝聚技术，以减少原始点迹的数量；而由于异步干扰的强度太强，如果在其附近有目标出现，则会由于点迹凝聚算法，使得异步干扰将出现在其邻域范围内的目标给遮盖掉，造成目标会在某些时刻出现莫名其妙的丢失或者出现错误(具体表现为雷达检测出奇异值)，从而影响雷达对目标的检测性能；另外，雷达常采用积累方式提高目标的发现概率，由于异步干扰信号的存在，会使积累后的各个通道的噪声基底显著提高，这又将降低目标的检测概率。On the other hand, the amplitude of the asynchronous interference is very large, much larger than the signal and noise levels, and sometimes even reaches the clutter level; the asynchronous interference is shown in the pulse Doppler (PD, Pulse Doppler) diagram as having a certain amount of noise in the distance domain. horizontal stripes with full width and Doppler domain; in radar signal detection, because its width is similar to the target echo signal, it is usually detected as a target; in automatic detection, point trace condensation technology is usually used to Reduce the number of original point traces; and because the intensity of asynchronous interference is too strong, if there is a target in its vicinity, due to the point trace condensation algorithm, the asynchronous interference will cover the target that appears in its neighborhood, resulting in The target will be inexplicably lost or wrong at some time (specifically, the radar detects singular values), which will affect the radar's detection performance of the target; in addition, the radar often adopts the accumulation method to improve the detection probability of the target, due to the asynchronous interference signal. The existence of , will significantly increase the noise floor of each channel after accumulation, which in turn will reduce the detection probability of the target.

异步干扰在某些频段(尤其是米波)、某些场合出现的概率很高，强度很大，而在另外一些环境则影响较小，甚至不出现；因此，必须在雷达信号处理中设计自适应的方法来处理异步干扰，在异步干扰出现时，对其进行抑制消除，在无异步干扰时，不进行抑制操作，以减少信号处理损失。Asynchronous interference has a high probability and great intensity in some frequency bands (especially metric wave) and some occasions, while in other environments it has little effect or even does not occur; therefore, it is necessary to design automatic interference in radar signal processing. The adaptive method is used to deal with the asynchronous interference. When the asynchronous interference occurs, it is suppressed and eliminated. When there is no asynchronous interference, the suppression operation is not performed to reduce the loss of signal processing.

发明内容SUMMARY OF THE INVENTION

针对上述现有技术存在的问题，本发明的目的在于提出一种基于陷波滤波处理的异步干扰抑制方法，该种基于陷波滤波处理的异步干扰抑制方法能够自适应的抑制异步干扰，在异步干扰出现时，自适应地计算出相应的滤波权系数对其进行消除，在无异步干扰时，不进行抑制操作，以减少信号处理损失。In view of the problems existing in the above-mentioned prior art, the purpose of the present invention is to propose a method for suppressing asynchronous interference based on notch filtering processing, which can adaptively suppress asynchronous interference. When interference occurs, the corresponding filtering weight coefficient is adaptively calculated to eliminate it. When there is no asynchronous interference, no suppression operation is performed to reduce the loss of signal processing.

实现本发明目的主要思路：利用雷达原始数据矩阵在进行脉冲压缩之前，异步干扰在脉冲维进行加窗傅里叶变换后表现为单个或几个距离门的一条细线的特点，计算自适应陷波滤波权系数对其进行抑制。The main idea of realizing the purpose of the present invention is: using the characteristic of the radar original data matrix before pulse compression, the asynchronous interference is shown as a thin line of a single or several range gates after windowing Fourier transform in the pulse dimension, and calculating the adaptive trap. wave filter weight coefficient to suppress it.

为达到上述技术目的，本发明采用如下技术方案予以实现。In order to achieve the above technical purpose, the present invention adopts the following technical solutions to achieve.

一种基于陷波滤波处理的异步干扰抑制方法，包括以下步骤：A method for suppressing asynchronous interference based on notch filtering, comprising the following steps:

步骤1，确定机载雷达，所述机载雷达检测范围内存在目标，机载雷达向其检测范围内发射信号并经目标反射后接收到的回波信号，记为雷达原始回波数据矩阵；根据所述雷达原始回波数据矩阵，得到距离-多普勒域数据矩阵；然后确定主瓣杂波；Step 1, determine the airborne radar, the airborne radar has a target in the detection range, the airborne radar transmits a signal to the detection range and the echo signal received after being reflected by the target is recorded as the radar original echo data matrix; According to the original echo data matrix of the radar, a range-Doppler domain data matrix is obtained; then the main lobe clutter is determined;

步骤2，计算主瓣杂波的多普勒频率，并根据所述距离-多普勒域数据矩阵，得到长度为R的列向量g；其中R为大于1的正整数；Step 2, calculate the Doppler frequency of the main lobe clutter, and obtain a column vector g with a length of R according to the distance-Doppler domain data matrix; wherein R is a positive integer greater than 1;

步骤3，根据长度为R的列向量g，确定参考门限

Figure GDA0003635332840000022
Step 3, according to the column vector g of length R, determine the reference threshold
Figure GDA0003635332840000022

步骤4，根据所述参考门限和所述长度为R的列向量，得到修改处理后的结果gpro；Step 4, according to described reference threshold and described length is the column vector of R, obtain the result g pro after modification processing;

步骤5，根据修改处理后的结果gpro和参考门限

Figure GDA0003635332840000021
得到归一化后的功率和向量G；Step 5, according to the modified and processed result g pro and the reference threshold
Figure GDA0003635332840000021
Get the normalized power and vector G;

步骤6，根据归一化后的功率和向量G，得到陷波滤波权系数向量F；Step 6, according to the normalized power and vector G, obtain the notch filter weight coefficient vector F;

步骤7，使用陷波滤波权系数向量F对所述雷达原始回波数据矩阵进行滑窗处理，得到滑窗处理后的结果，所述滑窗处理后的结果即为基于陷波滤波处理的异步干扰抑制结果。Step 7, use the notch filter weight coefficient vector F to perform sliding window processing on the radar original echo data matrix, and obtain the result after the sliding window processing, and the result after the sliding window processing is the asynchronous processing based on the notch filter processing. Interference suppression results.

本发明与现有技术相比具有以下优点：Compared with the prior art, the present invention has the following advantages:

第一，本发明能够自适应地抑制不同距离和频率的异步干扰，再不存在异步干扰的数据进行处理时自适应滤波权系数全为1，以确保不会对信号数据造成处理损失。First, the present invention can adaptively suppress asynchronous interference of different distances and frequencies, and the adaptive filtering weight coefficients are all 1 when processing data without asynchronous interference, so as to ensure that no processing loss is caused to signal data.

第二，现有的异步干扰抑制方法采用两脉冲延时对消，对消结果取模并延时一帧；FAR处理及距离杂波图的建立与更新；检测过门限值，记录其距离单元位置，并填入一过门限表；考查过门限表格，确定奇异值位置；将异步干扰处信号用邻近信号插值替换的方法，计算过程复杂，耗时长；本发明的方法通过自适应权直接对原始数据进行划窗处理，计算量少，过程简单，耗时较短。Second, the existing asynchronous interference suppression method adopts two-pulse delay cancellation, the cancellation result is modulo and delayed by one frame; FAR processing and the establishment and update of the distance clutter map; the threshold value is detected, and the distance unit is recorded. Check the threshold table to determine the position of the singular value; the method of replacing the signal at the asynchronous interference position with the adjacent signal interpolation is complicated and time-consuming; the method of the present invention directly adjusts the The original data is processed by windowing, the calculation amount is small, the process is simple, and the time-consuming is short.

附图说明Description of drawings

下面结合附图和具体实施方式对本发明作进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

图1是本发明的一种基于陷波滤波处理的异步干扰抑制方法流程图；1 is a flowchart of an asynchronous interference suppression method based on notch filtering processing of the present invention;

图2是雷达原始回波数据矩阵的距离多普勒谱图；Fig. 2 is the range Doppler spectrogram of the original radar echo data matrix;

图3是雷达原始回波数据矩阵沿脉冲维进行加窗傅里叶变换后得到的结果示意图；Figure 3 is a schematic diagram of the result obtained after the original radar echo data matrix is subjected to a windowed Fourier transform along the pulse dimension;

图4是经过计算后得到的自适应权值图；Fig. 4 is the adaptive weight map obtained after calculation;

图5是经过本发明抑制后再进行脉冲压缩和距离多普勒处理后得到的结果示意图。FIG. 5 is a schematic diagram of the result obtained after pulse compression and range Doppler processing are performed after the suppression of the present invention.

具体实施方式Detailed ways

参照图1，为本发明的一种基于陷波滤波处理的异步干扰抑制方法流程图；其中所述基于陷波滤波处理的异步干扰抑制方法，包括以下步骤：Referring to FIG. 1, it is a flowchart of a method for suppressing asynchronous interference based on notch filtering processing according to the present invention; wherein the method for suppressing asynchronous interference based on notch filtering processing includes the following steps:

步骤1，确定机载雷达，所述机载雷达检测范围内存在目标，机载雷达向其检测范围内发射信号并经目标反射后接收到的回波信号，记为雷达原始回波数据矩阵BN×M'×R，雷达原始回波数据矩阵BN×M'×R为阵元数N乘以脉冲数M'乘以距离门数R的数据块，且雷达原始回波数据矩阵BN×M'×R是一个N×M'×R的三维矩阵，N表示机载雷达包括的阵元总个数，M'表示一个相干处理间隔(CPI,Coherent Processing Interval)内机载雷达发射的脉冲总个数，R表示机载雷达对其检测范围进行划分后包括的距离门总个数，

Figure GDA0003635332840000031
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽。Step 1: Determine the airborne radar. There is a target within the detection range of the airborne radar. The airborne radar transmits a signal to the detection range of the airborne radar and receives the echo signal after being reflected by the target, which is recorded as the radar original echo data matrix B. N×M'×R , the radar original echo data matrix B N×M'×R is the data block of the array element number N multiplied by the pulse number M' multiplied by the range gate number R, and the radar original echo data matrix B N ×M'×R is a three-dimensional matrix of N×M'×R, where N represents the total number of array elements included in the airborne radar, and M' represents the data transmitted by the airborne radar within a coherent processing interval (CPI, Coherent Processing Interval). The total number of pulses, R represents the total number of range gates included after the airborne radar divides its detection range,
Figure GDA0003635332840000031
PRF stands for Pulse Repetition Frequency, and B stands for the bandwidth of the signal that the airborne radar transmits into its detection range.

在不进行脉冲压缩处理的情况下直接对雷达原始回波数据矩阵BN×M'×R沿脉冲维进行加切比雪夫窗的快速傅里叶变换(FFT)变换，得到快速傅里叶变换(FFT)变换后的N×M×R的三维矩阵Bceil；该快速傅里叶变换(FFT)后的N×M×R的三维矩阵Bceil中每个阵元对应一个大小为R×M的二维矩阵，即有：Without pulse compression, the original radar echo data matrix B N×M'×R is directly subjected to the fast Fourier transform (FFT) transform with Chebyshev window along the pulse dimension, and the fast Fourier transform is obtained. (FFT) transformed N×M×R three-dimensional matrix B ceil ; each array element in the N×M×R three-dimensional matrix B ceil after the fast Fourier transform (FFT) corresponds to a size of R×M The two-dimensional matrix of , that is:

Bceil＝[Bceil(1) Bceil(2) … Bceil(i) … Bceil(N)]B ceil = [B ceil (1) B ceil (2) … B ceil (i) … B ceil (N)]

其中，i＝1,2,…,N，Bceil(i)表示快速傅里叶变换(FFT)变换后的N×M×R的三维矩阵Bceil中第i个阵元对应的大小为R×M的二维矩阵，且快速傅里叶变换(FFT)变换后的N×M×R的三维矩阵Bceil中第i个阵元对应的大小为R×M的二维矩阵Bceil(i)包括R×M个数据，其表达式为：Among them, i=1,2,...,N, B ceil (i) represents the size corresponding to the i-th element in the N×M×R three-dimensional matrix B ceil transformed by the fast Fourier transform (FFT) is R ×M two-dimensional matrix, and the ith element in the N×M×R three-dimensional matrix B ceil transformed by the fast Fourier transform (FFT) corresponds to a two-dimensional matrix B ceil of size R×M B ceil (i ) includes R×M data, and its expression is:

Figure GDA0003635332840000041
Figure GDA0003635332840000041

其中，b11(i)表示快速傅里叶变换(FFT)变换后的N×M×R的三维矩阵Bceil中第i个阵元对应的大小为R×M的二维矩阵Bceil(i)内第1个距离门、第1个多普勒通道处的数据，b1M(i)表示快速傅里叶变换(FFT)变换后的N×M×R的三维矩阵Bceil中第i个阵元对应的大小为R×M的二维矩阵Bceil(i)内第1个距离门、第M个多普勒通道处的数据，bR1(i)表示快速傅里叶变换(FFT)变换后的N×M×R的三维矩阵Bceil中第i个阵元对应的大小为R×M的二维矩阵Bceil(i)内第R个距离门、第1个多普勒通道处的数据，bRM(i)表示快速傅里叶变换(FFT)变换后的N×M×R的三维矩阵Bceil中第i个阵元对应的大小为R×M的二维矩阵Bceil(i)内第R个距离门、第M个多普勒通道处的数据。Among them, b 11 (i) represents a two -dimensional matrix B ceil ( i ), the data at the first range gate and the first Doppler channel, b 1M (i) represents the ith in the N×M×R three-dimensional matrix B ceil transformed by the fast Fourier transform (FFT) The array element corresponds to the data at the first range gate and the Mth Doppler channel in the two-dimensional matrix B ceil (i) with a size of R×M, b R1 (i) represents the fast Fourier transform (FFT) The ith array element in the transformed N×M×R three-dimensional matrix B ceil corresponds to the R×M two-dimensional matrix B ceil (i) at the R-th distance gate and the first Doppler channel , b RM (i) represents the two-dimensional matrix B ceil of size R×M corresponding to the i-th element in the N×M×R three-dimensional matrix B ceil after the fast Fourier transform (FFT) transformation ( i) Data at the R-th range gate and the M-th Doppler channel.

将该快速傅里叶变换(FFT)后的N×M×R的三维矩阵Bceil中每个阵元对应一个大小为R×M的二维矩阵进行累加，进而得到变换后的频域数据块,记为距离-多普勒域数据矩阵BFFT，其计算表达式为：Each element in the N×M×R three-dimensional matrix B ceil after the fast Fourier transform (FFT) is accumulated corresponding to a two-dimensional matrix of size R×M, and then the transformed frequency domain data block is obtained. , denoted as the distance-Doppler domain data matrix B FFT , and its calculation expression is:

Figure GDA0003635332840000042
Figure GDA0003635332840000042

此时距离-多普勒域数据矩阵BFFT是一个R×M的二维矩阵，且距离-多普勒域数据矩阵BFFT中包括R×M个距离-多普勒域数据，M表示距离-多普勒域数据矩阵BFFT包括的多普勒通道总个数，且与一个相干处理间隔(CPI,Coherent Processing Interval)内机载雷达发射的脉冲总个数M'取值相等；R表示机载雷达对其检测范围进行划分后包括的距离门总个数，

Figure GDA0003635332840000043
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽。At this time, the range-Doppler domain data matrix B FFT is an R×M two-dimensional matrix, and the range-Doppler domain data matrix B FFT includes R×M range-Doppler domain data, where M represents the distance - The total number of Doppler channels included in the Doppler domain data matrix B FFT is equal to the total number of pulses M' transmitted by the airborne radar within a coherent processing interval (CPI, Coherent Processing Interval); R represents The total number of range gates included by the airborne radar after dividing its detection range,
Figure GDA0003635332840000043
PRF stands for Pulse Repetition Frequency, and B stands for the bandwidth of the signal that the airborne radar transmits into its detection range.

将机载雷达向其检测范围内发射信号中的最大辐射波束定义为主瓣波束，将主瓣波束的照射方向定义为主波束指向，将主瓣波束照射到地面并经地面反射产生的回波信号定义为主瓣杂波；由于进行了快速傅里叶变换将信号由时域变换到频域，因此主瓣杂波会被压缩聚集，在距离-多普勒图中的表现形式为在某个多普勒频率(反应在多普勒通道中)上形成一条具有一定宽度的竖线，如图2中第30号多普勒通道处。The largest radiation beam in the signal transmitted by the airborne radar to its detection range is defined as the main lobe beam, the irradiation direction of the main lobe beam is defined as the direction of the main beam, and the main lobe beam is irradiated to the ground and the echo generated by the ground reflection The signal is defined as the main lobe clutter; because the fast Fourier transform is performed to transform the signal from the time domain to the frequency domain, the main lobe clutter will be compressed and gathered, and the expression in the range-Doppler diagram is in a certain range. A vertical line with a certain width is formed on each Doppler frequency (reflected in the Doppler channel), as shown in the No. 30 Doppler channel in Figure 2.

步骤2，计算主瓣杂波的多普勒频率fd：Step 2, calculate the Doppler frequency f d of the main lobe clutter:

Figure GDA0003635332840000051
Figure GDA0003635332840000051

其中，v为机载雷达载机的飞行速度，λ为机载雷达向其检测范围内发射信号的波长，φ0为主波束指向与机载雷达载机飞行速度方向的夹角，根据机载雷达载机飞行几何关系可得：Among them, v is the flight speed of the airborne radar carrier aircraft, λ is the wavelength of the signal transmitted by the airborne radar to its detection range, and φ0 is the angle between the main beam pointing and the flight speed direction of the airborne radar carrier aircraft. The geometric relationship of the radar carrier aircraft flight can be obtained:

Figure GDA0003635332840000052
Figure GDA0003635332840000052

其中，

Figure GDA0003635332840000053
为主波束指向的方位角，θ0为主波束指向的俯仰角，sin表示正弦函数，cos表示余弦函数。in,
Figure GDA0003635332840000053
The azimuth angle pointed to by the main beam, θ 0 the pitch angle pointed to by the main beam, sin represents the sine function, and cos represents the cosine function.

得到主瓣杂波的多普勒频率fd之后，需要在距离-多普勒域数据矩阵BFFT中去除多普勒频率在fd附近的杂波数据以消除主瓣杂波能量的影响，得到清晰区部分的数据；这里沿多普勒-脉冲频域数据矩阵BFFT的多普勒方向找出主瓣杂波的多普勒频率fd，并选取以主瓣杂波的多普勒频率fd为中心、长度为

Figure GDA0003635332840000054
宽度为R的区域，记为
Figure GDA0003635332840000055
的二维矩阵，将所述
Figure GDA0003635332840000056
的二维矩阵中的
Figure GDA0003635332840000057
个距离-多普勒域数据全部剔除，并将距离-多普勒域数据矩阵BFFT中所述
Figure GDA0003635332840000058
个距离-多普勒域数据全部剔除后的剩余两个区域依次拼接，即将
Figure GDA0003635332840000059
的二维矩阵和
Figure GDA00036353328400000510
的二维矩阵顺序拼接，得到
Figure GDA00036353328400000511
的二维矩阵B，将所述
Figure GDA00036353328400000512
的二维矩阵B记为清晰区域，并且所述
Figure GDA00036353328400000513
的二维矩阵B中每一个距离-多普勒域数据均为清晰区域数据。After obtaining the Doppler frequency f d of the main lobe clutter, it is necessary to remove the clutter data with the Doppler frequency near f d in the range-Doppler domain data matrix B FFT to eliminate the influence of the main lobe clutter energy, The data of the clear area is obtained; here, the Doppler frequency f d of the main lobe clutter is found along the Doppler direction of the Doppler-pulse frequency domain data matrix B FFT , and the Doppler frequency f d of the main lobe clutter is selected. The frequency f d is the center and the length is
Figure GDA0003635332840000054
A region of width R, denoted as
Figure GDA0003635332840000055
, the two-dimensional matrix of
Figure GDA0003635332840000056
in a two-dimensional matrix of
Figure GDA0003635332840000057
The range-Doppler domain data are all culled, and the range-Doppler domain data matrix B FFT described in
Figure GDA0003635332840000058
After the distance-Doppler domain data are all eliminated, the remaining two regions are spliced in turn, that is,
Figure GDA0003635332840000059
the two-dimensional matrix and
Figure GDA00036353328400000510
The two-dimensional matrices are sequentially spliced to get
Figure GDA00036353328400000511
the two-dimensional matrix B, the
Figure GDA00036353328400000512
The two-dimensional matrix B is denoted as a clear region, and the
Figure GDA00036353328400000513
Each range-Doppler domain data in the two-dimensional matrix B of is clear area data.

再对所述

Figure GDA00036353328400000514
的二维矩阵B中每一行
Figure GDA00036353328400000515
个多普勒-脉冲频域数据相加，将相加后的结果记为一个距离门的功率和，进而得到R个距离门的功率和，并将R个距离门的功率和记为长度为R的列向量g；其中，R表示机载雷达对其检测范围进行划分后包括的距离门总个数。again to the said
Figure GDA00036353328400000514
Each row of the 2D matrix B of
Figure GDA00036353328400000515
Add the Doppler-pulse frequency domain data, record the sum of the power of one range gate, and then obtain the power sum of R range gates, and record the power sum of the R range gates as the length of The column vector g of R; where R represents the total number of range gates included after the airborne radar divides its detection range.

步骤3，根据之前的分析我们知道异步干扰在雷达信号中幅度远大于噪声基底，因此具体表现为杂波数据中的一个个奇异点，因此需要去除奇异点，具体做法如下：Step 3, according to the previous analysis, we know that the amplitude of asynchronous interference in the radar signal is much larger than the noise floor, so it is specifically manifested as singular points in the clutter data, so it is necessary to remove the singular points. The specific method is as follows:

对长度为R的列向量g中R个距离门的功率和进行从小到大排序，将从小到大排序后的得到的结果记为长度为R的排序后列向量gsort，并去除长度为R的排序后列向量gsort中功率过大的点，由于长度为R的排序后列向量gsort是经过从小到大排序后R个距离门的功率和，因此只需要在长度为R的排序后列向量gsort中选择合适位置的数据即可。Sort the power sums of the R distance gates in the column vector g of length R from small to large, and the result obtained after sorting from small to large is recorded as the sorted column vector g sort of length R, and remove the length of R The power point in the sorted column vector g sort is too large. Since the sorted column vector g sort of length R is the power sum of R distance gates after sorting from small to large, it only needs to be sorted after the length of R. Select the data in the appropriate position in the column vector g sort .

具体做法为：将长度为R的排序后列向量gsort中第1个距离门的功率和至第

Figure GDA0003635332840000061
个距离门的功率和，以及第
Figure GDA0003635332840000062
个距离门的功率和至第R个距离门的功率和全部剔除，将剩余
Figure GDA0003635332840000063
个距离门的功率和依次相加，并将相加后结果除以
Figure GDA0003635332840000064
进而得到统计平均值，将所述统计平均值作为参考门限
Figure GDA0003635332840000065
其计算表达式为：The specific method is: sum the power of the first distance gate in the sorted column vector gsort of length R to the first distance gate
Figure GDA0003635332840000061
The power sum of the distance gates, and the
Figure GDA0003635332840000062
The power sum of the distance gates and the power sum to the R-th distance gate are all eliminated, and the remaining
Figure GDA0003635332840000063
The power sums of the distance gates are added sequentially, and the summed result is divided by
Figure GDA0003635332840000064
Then, the statistical average value is obtained, and the statistical average value is used as the reference threshold
Figure GDA0003635332840000065
Its calculation expression is:

Figure GDA0003635332840000066
Figure GDA0003635332840000066

其中，

Figure GDA0003635332840000067
gsort(i')表示长度为R的排序后列向量gsort中第i'个距离门的功率和，R表示机载雷达对其检测范围进行划分后包括的距离门总个数，
Figure GDA0003635332840000068
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽。in,
Figure GDA0003635332840000067
gsort (i') represents the power sum of the i'th range gate in the sorted column vector gsort of length R, R represents the total number of range gates included after the airborne radar divides its detection range,
Figure GDA0003635332840000068
PRF stands for Pulse Repetition Frequency, and B stands for the bandwidth of the signal that the airborne radar transmits into its detection range.

此处去掉长度为R的排序后列向量gsort中第1个距离门的功率和至第

Figure GDA0003635332840000069
个距离门的功率和是为了保证准确性，防止过小的样本干扰整体数据样本。Here, the power sum of the first distance gate in the sorted column vector gsort of length R is removed to the first
Figure GDA0003635332840000069
The power sum of the distance gates is to ensure accuracy and prevent too small samples from interfering with the overall data samples.

步骤4，取参考门限

Figure GDA00036353328400000610
的一定倍数k后得到的
Figure GDA00036353328400000611
作为之后进行检测判断的阈值，这里的k是设定的比例参数，1＜k＜10，本实施例中k取值为4；根据不同情况可以进行修改处理，将长度为R的列向量g中所有小于
Figure GDA00036353328400000612
的距离门的功率和全部替换为
Figure GDA00036353328400000613
将长度为R的列向量g中所有大于或等于
Figure GDA00036353328400000614
的距离门的功率和保持不变；进而得到修改处理后的结果gpro，此时修改处理后的结果gpro是一个长度为R的列向量；其中，R表示机载雷达对其检测范围进行划分后包括的距离门总个数。Step 4, take the reference threshold
Figure GDA00036353328400000610
obtained after a certain multiple of k
Figure GDA00036353328400000611
As the threshold for subsequent detection and judgment, k here is the set proportional parameter, 1<k<10, and k is 4 in this embodiment; modification processing can be performed according to different situations, and the column vector g with length R all less than
Figure GDA00036353328400000612
The power of the distance gate and all replaced by
Figure GDA00036353328400000613
Put all columns greater than or equal to the length R in the column vector g
Figure GDA00036353328400000614
The power sum of the range gate remains unchanged; and then the modified result g pro is obtained. At this time, the modified result g pro is a column vector of length R; where R represents the detection range of the airborne radar. The total number of distance gates included after division.

步骤5，对修改处理后的结果gpro关于步骤3中求得的参考门限

Figure GDA00036353328400000615
进行归一化处理，得到归一化后的功率和向量G，其计算表达式为：Step 5, the reference threshold obtained in step 3 for the modified result g pro
Figure GDA00036353328400000615
Perform normalization processing to obtain the normalized power and vector G, and its calculation expression is:

Figure GDA00036353328400000616
Figure GDA00036353328400000616

此时归一化后的功率和向量G是一个长度为R的列向量，R表示机载雷达对其检测范围进行划分后包括的距离门总个数。At this time, the normalized power sum vector G is a column vector with a length of R, where R represents the total number of range gates included after the airborne radar divides its detection range.

步骤6，对步骤5中求得的归一化后的功率和向量G进行求倒操作，将求倒操作后得到的结果记为陷波滤波权系数向量F，其计算表达式为：Step 6, perform an inversion operation on the normalized power and vector G obtained in step 5, and record the result obtained after the inversion operation as a notch filter weight coefficient vector F, and its calculation expression is:

F＝1/GF=1/G

此时陷波滤波权系数向量F是长度为R的列向量，R表示机载雷达对其检测范围进行划分后包括的距离门总个数。At this time, the notch filter weight coefficient vector F is a column vector of length R, and R represents the total number of range gates included after the airborne radar divides its detection range.

步骤7，使用滑窗算法以步骤6中求得的陷波滤波权系数向量F对雷达原始回波数据矩阵BN×M'×R沿脉冲维进行滑窗处理，得到滑窗处理后的结果，所述滑窗处理后的结果即为基于陷波滤波处理的异步干扰抑制结果；其中，M'表示一个相干处理间隔(CPI,CoherentProcessing Interval)内机载雷达发射的脉冲总个数。Step 7, use the sliding window algorithm to perform sliding window processing on the radar original echo data matrix B N×M'×R along the pulse dimension with the notch filter weight coefficient vector F obtained in step 6, and obtain the result after sliding window processing , the result of the sliding window processing is the asynchronous interference suppression result based on the notch filter processing; wherein, M' represents the total number of pulses transmitted by the airborne radar within a coherent processing interval (CPI, Coherent Processing Interval).

本发明的优点可通过以下仿真试验进一步说明。The advantages of the present invention can be further illustrated by the following simulation experiments.

(一)实验参数及实验条件(1) Experimental parameters and experimental conditions

本次实验采用的参数如下：The parameters used in this experiment are as follows:

1)机载雷达天线采用2行×16列的平面阵列，阵元间距为机载雷达发射波形半波长，则俯仰滤波后可以得到大小为N×M×R的雷达回波数据；雷达阵面斜侧视阵安放。1) The airborne radar antenna adopts a 2-row × 16-column planar array, and the array element spacing is half the wavelength of the airborne radar transmit waveform, then the radar echo data of size N×M×R can be obtained after pitch filtering; Oblique side view array placement.

2)在同一个相干处理间隔CPI内发射101个相干积累脉冲，脉冲重复频率是2.203kHz；距离采样频率为2MHz；主波束指向与载机机头夹角为176°，偏航角为5°；载机高度为8.3公里，水平匀速飞行，速度为149m/s；地球半径为6378公里。2) Launch 101 coherent accumulation pulses within the same coherent processing interval CPI, the pulse repetition frequency is 2.203kHz; the distance sampling frequency is 2MHz; the angle between the main beam pointing and the nose of the carrier aircraft is 176°, and the yaw angle is 5° ; The carrier altitude is 8.3 kilometers, the plane is flying at a constant horizontal speed, and the speed is 149m/s; the radius of the earth is 6378 kilometers.

(二)实验内容及结果分析(2) Experiment content and result analysis

A.本次实验首先对雷达原始回波数据矩阵进行正常的脉冲压缩和脉冲多普勒处理，处理结果如图2所示；其中，横坐标表示信号的多普勒通道数，纵坐标表示信号的距离门数，从图2可以看出，在50-150号和670-770号距离门处有大量很明显的横条纹，同时在300号距离门处有少量较弱的横条纹，这些横条纹即为异步干扰。A. In this experiment, normal pulse compression and pulse Doppler processing are first performed on the original radar echo data matrix. The processing results are shown in Figure 2; the abscissa represents the number of Doppler channels of the signal, and the ordinate represents the signal As can be seen from Figure 2, there are a large number of obvious horizontal stripes at the distance gates 50-150 and 670-770, and there are a few weaker horizontal stripes at the distance gate 300. These horizontal stripes Stripes are asynchronous interference.

B.对雷达回波数据按照本发明的流程进行处理；图3为雷达原始回波数据矩阵沿脉冲维进行加窗傅里叶变换后得到的结果示意图，对比图2可以看到此时异步干扰的能量集中在50、70、90、270和680号距离门，形成多条能量集中的细横线；图4为经过计算后得到的自适应权值图，可以看到在除干扰集中区域形成了自适应的陷波凹口以抑制干扰，而其余部分权值均为1，不会改变原始雷达回波数据。B. the radar echo data is processed according to the process flow of the present invention; Fig. 3 is a schematic diagram of the result obtained after the original radar echo data matrix is subjected to the windowed Fourier transform along the pulse dimension, and compared with Fig. 2, we can see the asynchronous interference at this time The energy is concentrated in the distance gates 50, 70, 90, 270 and 680, forming a number of thin horizontal lines of energy concentration; Figure 4 is the adaptive weight diagram obtained after calculation, it can be seen that the formation of the interference removal concentration area An adaptive notch is used to suppress interference, while the rest of the weights are all 1, which will not change the original radar echo data.

C.图5为经过本发明抑制后再进行脉冲压缩和距离多普勒处理后得到的结果示意图，对比图2可以明显看出图2对应部分的横条纹在图5中已经消失，说明异步干扰已经得到有效地抑制；从图5的结果来看，本发明的方法可以有效抑制异步干扰，且抑制效果非常好。C. Figure 5 is a schematic diagram of the results obtained after pulse compression and range Doppler processing are performed after the suppression of the present invention. Compared with Figure 2, it can be clearly seen that the horizontal stripes in the corresponding part of Figure 2 have disappeared in Figure 5, indicating that the asynchronous interference It has been effectively suppressed; from the results of FIG. 5 , the method of the present invention can effectively suppress the asynchronous interference, and the suppression effect is very good.

综上所述，仿真实验验证了本发明的正确性，有效性和可靠性。In conclusion, the simulation experiment verifies the correctness, effectiveness and reliability of the present invention.

显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围；这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention; in this way, if these modifications and variations of the present invention belong to the scope of the claims of the present invention and its equivalent technology, It is then intended that the present invention also includes such modifications and variations.

Claims (8)

1.一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，包括以下步骤：1. an asynchronous interference suppression method based on notch filter processing, is characterized in that, comprises the following steps: 步骤1，确定机载雷达，所述机载雷达检测范围内存在目标，机载雷达向其检测范围内发射信号并经目标反射后接收到的回波信号，记为雷达原始回波数据矩阵；根据所述雷达原始回波数据矩阵，得到距离-多普勒域数据矩阵；然后确定主瓣杂波；Step 1, determine the airborne radar, the airborne radar has a target in the detection range, the airborne radar transmits a signal to the detection range and the echo signal received after being reflected by the target is recorded as the radar original echo data matrix; According to the original echo data matrix of the radar, a range-Doppler domain data matrix is obtained; then the main lobe clutter is determined; 步骤2，计算主瓣杂波的多普勒频率，并根据所述距离-多普勒域数据矩阵，得到长度为R的列向量g；其中R为大于1的正整数；Step 2, calculate the Doppler frequency of the main lobe clutter, and obtain a column vector g with a length of R according to the distance-Doppler domain data matrix; wherein R is a positive integer greater than 1; 步骤3，根据长度为R的列向量g，确定参考门限
Figure FDA0003635332830000011
Step 3, according to the column vector g of length R, determine the reference threshold
Figure FDA0003635332830000011
 步骤4，根据所述参考门限和所述长度为R的列向量，得到修改处理后的结果gpro；Step 4, according to described reference threshold and described length is the column vector of R, obtain the result g pro after modification processing; 步骤5，根据修改处理后的结果gpro和参考门限
Figure FDA0003635332830000012
得到归一化后的功率和向量G；Step 5, according to the modified and processed result g pro and the reference threshold
Figure FDA0003635332830000012
Get the normalized power and vector G; 步骤6，根据归一化后的功率和向量G，得到陷波滤波权系数向量F；Step 6, according to the normalized power and vector G, obtain the notch filter weight coefficient vector F; 步骤7，使用陷波滤波权系数向量F对所述雷达原始回波数据矩阵进行滑窗处理，得到滑窗处理后的结果，所述滑窗处理后的结果即为基于陷波滤波处理的异步干扰抑制结果；Step 7, use the notch filter weight coefficient vector F to perform sliding window processing on the radar original echo data matrix, and obtain the result after the sliding window processing, and the result after the sliding window processing is the asynchronous processing based on the notch filter processing. Interference suppression results; 在步骤1中，所述雷达原始回波数据矩阵为BN×M'×R，且雷达原始回波数据矩阵BN×M'×R是N×M'×R的三维矩阵，N表示机载雷达包括的阵元总个数，M'表示一个相干处理间隔内机载雷达发射的脉冲总个数，R表示机载雷达对其检测范围进行划分后包括的距离门总个数，
Figure FDA0003635332830000013
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽；In step 1, the radar original echo data matrix is B N×M'×R , and the radar original echo data matrix B N×M'×R is a three-dimensional matrix of N×M'×R, and N represents the machine The total number of array elements included in the airborne radar, M' represents the total number of pulses transmitted by the airborne radar within a coherent processing interval, R represents the total number of range gates included by the airborne radar after dividing its detection range,
Figure FDA0003635332830000013
PRF represents the pulse repetition frequency, and B represents the bandwidth of the signal transmitted by the airborne radar to its detection range; 所述距离-多普勒域数据矩阵，其得到过程为：The range-Doppler domain data matrix, its obtaining process is: 对雷达原始回波数据矩阵BN×M'×R沿脉冲维进行加切比雪夫窗的快速傅里叶变换，得到快速傅里叶变换变换后的N×M×R的三维矩阵Bceil，其表达式为：Perform fast Fourier transform with Chebyshev window on the original radar echo data matrix B N×M'×R along the pulse dimension, and obtain the N×M×R three-dimensional matrix B ceil after fast Fourier transform transformation, Its expression is: Bceil＝[Bceil(1) Bceil(2)…Bceil(i)…Bceil(N)]B ceil = [B ceil (1) B ceil (2)…B ceil (i)…B ceil (N)] 其中，i＝1,2,…,N，Bceil(i)表示快速傅里叶变换后的N×M×R的三维矩阵Bceil中第i个阵元对应的大小为R×M的二维矩阵；M表示距离-多普勒域数据矩阵BFFT包括的多普勒通道总个数，且与一个相干处理间隔内机载雷达发射的脉冲总个数M'取值相等；Among them, i=1,2,...,N, B ceil (i) represents the size of R×M corresponding to the i-th element in the three-dimensional matrix B ceil of N×M×R after fast Fourier transformation dimensional matrix; M represents the total number of Doppler channels included in the range-Doppler domain data matrix B FFT , and is equal to the total number of pulses M' emitted by the airborne radar within a coherent processing interval; 将该快速傅里叶变换后的N×M×R的三维矩阵Bceil中每个阵元对应一个大小为R×M 的二维矩阵进行累加，进而得到变换后的频域数据块,记为距离-多普勒域数据矩阵BFFT，其计算表达式为：Each element in the fast Fourier-transformed N×M×R three-dimensional matrix B ceil corresponds to a two-dimensional matrix of size R×M to accumulate, and then the transformed frequency domain data block is obtained, denoted as The range-Doppler domain data matrix B FFT , and its calculation expression is:
Figure FDA0003635332830000021
Figure FDA0003635332830000021
 所述距离-多普勒域数据矩阵BFFT是一个R×M的二维矩阵，且距离-多普勒域数据矩阵BFFT中包括R×M个多普勒-脉冲频域数据。The range-Doppler domain data matrix B FFT is an R×M two-dimensional matrix, and the range-Doppler domain data matrix B FFT includes R×M pieces of Doppler-pulse frequency domain data. 2.如权利要求1所述的一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，在步骤1中，所述主瓣杂波，其确定过程为：2. a kind of asynchronous interference suppression method based on notch filter processing as claimed in claim 1, is characterized in that, in step 1, described main lobe clutter, its determination process is: 将机载雷达向其检测范围内发射信号中的最大辐射波束定义为主瓣波束，将主瓣波束的照射方向定义为主波束指向，将主瓣波束照射到地面并经地面反射产生的回波信号定义为主瓣杂波。The largest radiation beam in the signal transmitted by the airborne radar to its detection range is defined as the main lobe beam, the irradiation direction of the main lobe beam is defined as the direction of the main beam, and the main lobe beam is irradiated to the ground and the echo generated by the ground reflection The signal is defined as mainlobe clutter. 3.如权利要求1或2所述的一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，在步骤2中，所述主瓣杂波的多普勒频率为fd，其计算表达式为：3. a kind of asynchronous interference suppression method based on notch filter processing as claimed in claim 1 or 2, is characterized in that, in step 2, the Doppler frequency of described main lobe clutter is f d , its calculation The expression is:
Figure FDA0003635332830000022
Figure FDA0003635332830000022
 其中，v为机载雷达载机的飞行速度，λ为机载雷达向其检测范围内发射信号的波长，φ0为主波束指向与机载雷达载机飞行速度方向的夹角；Among them, v is the flight speed of the airborne radar carrier aircraft, λ is the wavelength of the signal emitted by the airborne radar to its detection range, and φ0 is the angle between the main beam pointing and the flight speed direction of the airborne radar carrier aircraft; 所述长度为R的列向量，其得到过程为：The length of the column vector of R, its obtaining process is: 沿多普勒-脉冲频域数据矩阵BFFT的多普勒方向找出主瓣杂波的多普勒频率fd，并选取以主瓣杂波的多普勒频率fd为中心、长度为
Figure FDA0003635332830000023
宽度为R的区域，记为
Figure FDA0003635332830000024
的二维矩阵，将所述
Figure FDA0003635332830000025
的二维矩阵中的
Figure FDA0003635332830000026
个距离-多普勒域数据全部剔除，并将距离-多普勒域数据矩阵BFFT中所述
Figure FDA0003635332830000027
个距离-多普勒域数据全部剔除后的剩余两个区域依次拼接，即将
Figure FDA0003635332830000028
的二维矩阵和
Figure FDA0003635332830000029
的二维矩阵顺序拼接，得到
Figure FDA00036353328300000210
的二维矩阵B；Find the Doppler frequency f d of the main lobe clutter along the Doppler direction of the Doppler-pulse frequency domain data matrix B FFT , and select the Doppler frequency f d of the main lobe clutter as the center and the length as
Figure FDA0003635332830000023
A region of width R, denoted as
Figure FDA0003635332830000024
, the two-dimensional matrix of
Figure FDA0003635332830000025
in a two-dimensional matrix of
Figure FDA0003635332830000026
The distance-Doppler domain data are all culled, and the distance-Doppler domain data matrix B FFT described in
Figure FDA0003635332830000027
After the distance-Doppler domain data are all removed, the remaining two regions are spliced in turn, that is,
Figure FDA0003635332830000028
The two-dimensional matrix and
Figure FDA0003635332830000029
The two-dimensional matrices are sequentially spliced to get
Figure FDA00036353328300000210
The two-dimensional matrix B; 再对所述
Figure FDA00036353328300000211
的二维矩阵B中每一行
Figure FDA00036353328300000212
个多普勒-脉冲频域数据相加，将相加后的结果记为一个距离门的功率和，进而得到R个距离门的功率和，并将R个距离门的功率和记为长度为R的列向量g；其中，R表示机载雷达对其检测范围进行划分后包括的距离门总个数。again to the said
Figure FDA00036353328300000211
Each row of the 2D matrix B of
Figure FDA00036353328300000212
Add the Doppler-pulse frequency domain data, record the sum of the power of one range gate, and then obtain the power sum of R range gates, and record the power sum of the R range gates as the length of The column vector g of R; where R represents the total number of range gates included after the airborne radar divides its detection range. 4.如权利要求3所述的一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，在步骤3中，所述参考门限
Figure FDA0003635332830000031
其确定过程为：4. a kind of asynchronous interference suppression method based on notch filter processing as claimed in claim 3 is characterized in that, in step 3, described reference threshold
Figure FDA0003635332830000031
Its determination process is: 将长度为R的排序后列向量gsort中第1个距离门的功率和至第
Figure FDA0003635332830000032
个距离门的功率和，以及第
Figure FDA0003635332830000033
个距离门的功率和至第R个距离门的功率和全部剔除，将剩余
Figure FDA0003635332830000034
个距离门的功率和依次相加，并将相加后结果除以
Figure FDA0003635332830000035
进而得到统计平均值，将所述统计平均值作为参考门限
Figure FDA0003635332830000036
其计算表达式为：Sum the power of the first distance gate in the sorted column vector gsort of length R to the first
Figure FDA0003635332830000032
The power sum of the distance gates, and the
Figure FDA0003635332830000033
The power sum of the distance gates and the power sum to the R-th distance gate are all eliminated, and the remaining
Figure FDA0003635332830000034
The power sums of the distance gates are added sequentially, and the summed result is divided by
Figure FDA0003635332830000035
Then, the statistical average value is obtained, and the statistical average value is used as the reference threshold
Figure FDA0003635332830000036
Its calculation expression is:
Figure FDA0003635332830000037
Figure FDA0003635332830000037
 其中，
Figure FDA0003635332830000038
gsort(i')表示长度为R的排序后列向量gsort中第i'个距离门的功率和，R表示机载雷达对其检测范围进行划分后包括的距离门总个数，
Figure FDA0003635332830000039
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽。in,
Figure FDA0003635332830000038
gsort (i') represents the power sum of the i'th range gate in the sorted column vector gsort of length R, R represents the total number of range gates included after the airborne radar divides its detection range,
Figure FDA0003635332830000039
PRF stands for Pulse Repetition Frequency, and B stands for the bandwidth of the signal that the airborne radar transmits into its detection range. 5.如权利要求1所述的一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，在步骤4中，所述修改处理后的结果gpro，其得到过程为：5. a kind of asynchronous interference suppression method based on notch filter processing as claimed in claim 1, is characterized in that, in step 4, the result g pro after described modification processing, its obtaining process is: 将长度为R的列向量g中所有小于
Figure FDA00036353328300000310
的距离门的功率和全部替换为
Figure FDA00036353328300000311
将长度为R的列向量g中所有大于或等于
Figure FDA00036353328300000312
的距离门的功率和保持不变；进而得到修改处理后的结果gpro，所述修改处理后的结果gpro是一个长度为R的列向量；其中，k表示设定的比例参数，1＜k＜10；R表示机载雷达对其检测范围进行划分后包括的距离门总个数，
Figure FDA00036353328300000313
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽。Put all the values in the column vector g of length R less than
Figure FDA00036353328300000310
The power of the distance gate and all replaced by
Figure FDA00036353328300000311
Put all columns greater than or equal to the length R in the column vector g
Figure FDA00036353328300000312
The power sum of the distance gate remains unchanged; and then the modified result g pro is obtained, and the modified result g pro is a column vector of length R; wherein, k represents the set proportional parameter, 1 <k<10; R represents the total number of range gates included after the airborne radar divides its detection range,
Figure FDA00036353328300000313
PRF stands for Pulse Repetition Frequency, and B stands for the bandwidth of the signal that the airborne radar transmits into its detection range. 6.如权利要求1所述的一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，在步骤5中，所述归一化后的功率和向量G，其得到过程为：6. a kind of asynchronous interference suppression method based on notch filter processing as claimed in claim 1, is characterized in that, in step 5, described normalized power and vector G, its obtaining process is: 对修改处理后的结果gpro关于参考门限
Figure FDA00036353328300000314
进行归一化处理，得到归一化后的功率和向量G，其计算表达式为：About the reference threshold of the modified result g pro
Figure FDA00036353328300000314
Perform normalization processing to obtain the normalized power and vector G, and its calculation expression is:
Figure FDA00036353328300000315
Figure FDA00036353328300000315
 所述归一化后的功率和向量G是一个长度为R的列向量，R表示机载雷达对其检测范围进行划分后包括的距离门总个数，
Figure FDA0003635332830000041
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽。The normalized power sum vector G is a column vector of length R, where R represents the total number of range gates included after the airborne radar divides its detection range,
Figure FDA0003635332830000041
PRF stands for Pulse Repetition Frequency, and B stands for the bandwidth of the signal that the airborne radar transmits into its detection range. 7.如权利要求1所述的一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，在步骤6中，所述陷波滤波权系数向量F，其计算表达式为：7. a kind of asynchronous interference suppression method based on notch filter processing as claimed in claim 1, is characterized in that, in step 6, described notch filter weight coefficient vector F, its calculation expression is: F＝1/GF=1/G 所述陷波滤波权系数向量F是长度为R的列向量，R表示机载雷达对其检测范围进行划分后包括的距离门总个数，
Figure FDA0003635332830000042
PRF表示脉冲重复频率，B表示机载雷达向其检测范围内发射信号的带宽。The notch filter weight coefficient vector F is a column vector with a length of R, where R represents the total number of range gates included after the airborne radar divides its detection range,
Figure FDA0003635332830000042
PRF stands for Pulse Repetition Frequency, and B stands for the bandwidth of the signal that the airborne radar transmits into its detection range. 8.如权利要求5所述的一种基于陷波滤波处理的异步干扰抑制方法，其特征在于，在步骤7中，所述滑窗处理后的结果，具体是使用滑窗算法以所述陷波滤波权系数向量F对雷达原始回波数据矩阵BN×M'×R沿脉冲维进行滑窗处理后得到的结果；其中，M'表示一个相干处理间隔内机载雷达发射的脉冲总个数。8. a kind of asynchronous interference suppression method based on notch filter processing as claimed in claim 5, is characterized in that, in step 7, the result after described sliding window processing, specifically uses sliding window algorithm to describe notch The wave filtering weight coefficient vector F is the result obtained by performing sliding window processing along the pulse dimension on the radar original echo data matrix B N×M'×R ; where M' represents the total number of pulses emitted by the airborne radar within a coherent processing interval. number.
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