CN109188387B - Target parameter estimation method for distributed coherent radar based on interpolation compensation - Google Patents
Target parameter estimation method for distributed coherent radar based on interpolation compensation Download PDFInfo
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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
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- 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
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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
- G01S7/414—Discriminating targets with respect to background clutter
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Abstract
The invention discloses a distributed coherent radar target parameter estimation method based on interpolation compensation, which mainly solves the problems of poor estimation precision and low real-time processing efficiency of ground slow-speed moving target parameters in the prior art. The method comprises the following implementation steps: generating a baseband echo matrix; (2) filtering the baseband echo matrix; (3) Estimating rough position parameters of the ground slow moving target; (4) Estimating fine position parameters of the ground slow moving target by using an interpolation compensation method; (5) And finding out the abscissa value and the ordinate value of the ground slow motion target. Compared with the prior art, the method improves the estimation precision of the distributed coherent system on the parameters of the ground slow-speed moving target, and simultaneously improves the real-time processing efficiency of the distributed coherent system.
Description
Technical Field
The invention belongs to the technical field of radars, and further relates to a distributed coherent radar target parameter estimation method based on interpolation compensation in the technical field of motion platform radars. The invention can estimate the position coordinates of the ground slow-speed moving target by utilizing a distributed coherent system.
Background
When the distributed coherent system detects a high-altitude target or sea work, the clutter is weak, and the estimation of the distributed coherent system on the target parameter under the weak clutter background can be regarded as the estimation of the target parameter under the noise background. The distributed coherent system has the advantages of long detection distance and high coherent performance, and is widely applied to detection scenes with high requirement on parameter precision.
SongJing, zhang Jianyun, zheng Shindong et al propose a distributed radar target parameter estimation method based on phase synchronization in the published paper "distributed full coherent radar coherent parameter estimation performance" (Journal of Electronics & Information Technology 2014,8 Journal of Electronics and informatics). According to the method, under a multiple-input multiple-output (MIMO) mode, a hybrid Claramet-Roche (HCRB) closed solution of delay inequality estimation is firstly deduced, then under a full-coherent mode, after energy accumulation is carried out on target echoes received by a distributed system, an analytic formula of the accumulated target output signal-to-noise ratio gain is given, a configuration criterion of the number of receiving and transmitting antennas is researched, and finally, a conclusion that on the premise that the system phase synchronization precision is high enough, the higher delay inequality estimation precision and the higher output signal-to-noise ratio gain can be obtained based on a phase synchronization processing mode is obtained. The method has the disadvantage that since energy accumulation is realized by registering phases, additional phases are brought to target echoes, and estimated target position coordinates deviate from real target position coordinates.
The university of electronic technology proposed an improved sky-wave radar maneuvering target parameter estimation method based on a Maximum Likelihood function ML (Maximum Likelihood) in the patent document "an improved ML sky-wave radar maneuvering target parameter estimation method" (application number: CN201610190528.9, application publication number: CN 105676217A). The method models maneuvering target signals of the sky-wave radar into a generalized phase polynomial, then converts a likelihood function maximization problem into an optimization problem of 'over-determined' nonlinear least square estimation, and finally provides the method for carrying out multidimensional search in a space domain through a maximum likelihood function to realize parameter estimation of the maneuvering target. The method has the disadvantages that the method introduces the optimization problem of 'overdetermined' nonlinear least square estimation, which brings least square fitting errors to subsequent maneuvering target parameter estimation and leads to the deterioration of the maneuvering target parameter estimation precision.
The patent document of Beijing aerospace university in its application "a moving target parameter estimation method based on correlation function" (application number: CN201510256088.8 application publication number: CN 104898119A) proposes a moving target parameter estimation method based on correlation function. The method comprises the following steps: the method comprises the following steps: reading original moving target echo data and related imaging parameters; step two: performing azimuth Fourier transform processing; step three: the azimuth is multiplied by a Compressed Sensing (CS) factor for compensation; step four: distance Fourier transform processing; step five: multiplying the distance compensation factors in the same distance direction, and compressing the distance; step six: performing inverse distance Fourier transform; step seven: the distance-Doppler domain carries out correlation function processing; step eight: performing azimuth Fourier inverse transformation; step nine: zero padding is carried out in a frequency domain, interpolation processing is carried out on a correlation processing result through time domain upsampling, and the maximum value is obtained; step ten: the target speed is estimated from the correlation processing maximum. The method has the disadvantages that in the step of zero filling of the frequency domain, the time domain upsampling carries out interpolation processing on the correlation result, so that the system calculation amount is increased, and the real-time performance of the system is not high.
Disclosure of Invention
The invention aims to provide a distributed coherent radar target parameter estimation method based on interpolation compensation aiming at the defects of the prior art.
The idea for realizing the purpose of the invention is as follows: in the distributed coherent system, a plurality of transmitting unit radars simultaneously transmit signals, and all receiving unit radars receive echoes scattered by a ground slow-speed moving target. In consideration of operability in real life, each unit radar in the distributed coherent system has the functions of a transmitting unit radar and a receiving unit radar. And in order to realize receiving coherent, all receiving units should be ensured to fly in formation. In the receiving coherent processing, firstly, the three-dimensional echo matrix (range gate number transmission pulse processing period number receiving array element number) of each receiving unit radar is subjected to system error correction to eliminate the influence caused by the inconsistency of local oscillation phase and time synchronization phase between the receiving unit radars. And then, carrying out down-conversion processing on the echo matrix after the system error correction, namely, moving the frequency centers of all elements of the matrix to a baseband position to obtain the baseband echo matrix of each receiving unit radar. In order to separate the echoes scattered by the targets of the radars of different transmitting units by a plurality of baseband matching filters in the receiver of the radar of each receiving unit, mutually orthogonal transmitting waveforms should be selected for the radars of each transmitting unit, so that the echo component contributed by each radar of the transmitting unit is matched in the radar of each receiving unit. In each receiving unit radar, rough position parameters of a ground slow moving target, including a range gate, a Doppler channel number and a wave beam number of the ground slow moving target, are found out for three-dimensional echo matrixes which correspond to different transmitting unit radars and are subjected to filtering processing by using a peak value extraction method, fine position parameters of the ground slow moving target are obtained by using an interpolation compensation method, and finally, a target echo column vector is formed according to the sequence from small to large of radar serial numbers of receiving units under the conditions that each transmitting unit radar transmits and each receiving unit radar receives, the fine position parameters of the ground slow moving target are used as element values of matrix indexes of the three-dimensional matrixes subjected to interpolation compensation. And performing gain value matching on each point in the ground observation area by using the column vector through the distributed coherent system, finding out a position point corresponding to the maximum gain value, and respectively taking an abscissa value and an ordinate value corresponding to the position point as an abscissa value and an ordinate value of the ground slow motion target, thereby realizing the estimation of the position coordinate of the ground slow motion target by using the distributed coherent system. In order to improve the real-time processing efficiency of the system and reduce the computation amount, the rough position parameters of the target obtained by a peak value extraction method are used, only the part near the rough position parameters is selected, and the three-dimensional echo matrix is compensated by local interpolation, so that the real-time processing efficiency of the system and the computation amount can be obviously improved and reduced on the premise of not reducing the parameter estimation precision.
The method comprises the following specific steps:
(1) Generating a baseband echo matrix:
(1a) In the distributed coherent system, an echo matrix formed by echo data scattered by a ground slow moving target is received by each receiving unit radar, and system error correction is carried out to obtain an echo matrix after the system error correction;
(1b) Shifting the frequency center of the element at each position of the echo matrix after the system error correction to a baseband frequency position to obtain a baseband echo matrix of each receiving unit radar;
(2) Filtering the baseband echo matrix:
(2a) Calculating an echo value corresponding to each transmitting unit radar after each element in a baseband echo matrix is subjected to range matching filtering by using a range matching filtering formula, and sequencing all values from small to large according to a range gate where the values are located to form a three-dimensional echo matrix after range matching filtering;
(2b) Calculating the numerical values of all elements in the three-dimensional echo matrix after the distance domain matching filtering through a Doppler filtering formula, and sequencing all the numerical values from small to large according to the number of a Doppler channel where the numerical values are located to form the three-dimensional echo matrix after the Doppler filtering;
(2c) Calculating the numerical values of all elements in the three-dimensional echo matrix after Doppler filtering after digital beam forming processing by using a digital beam forming formula, and sequencing all the numerical values from small to large according to the beam sequence numbers of the numerical values to form the three-dimensional echo matrix after digital beam forming;
(3) Estimating rough position parameters of the ground slow moving target;
(4) Estimating fine position parameters of the ground slow moving target by using an interpolation compensation method:
(4a) Obtaining a three-dimensional echo matrix after interpolation compensation by using an interpolation compensation method;
(4b) Finding out fine position parameters of the ground slow moving target from the three-dimensional echo matrix after interpolation compensation by using a peak value extraction method;
(5) Finding out an abscissa value and an ordinate value of the ground slow motion target:
(5a) Obtaining a search interval of an abscissa value and an ordinate value of the ground slow motion target by using a value assigning method;
(5b) And respectively finding out the abscissa value and the ordinate value of the ground slow motion target from a rectangular area formed by search intervals of the abscissa value and the ordinate value.
Compared with the prior art, the invention has the following advantages:
firstly, the method compensates the extra phase brought by the energy accumulation to the target echo by using an interpolation compensation method, overcomes the defect that the estimated target position coordinate deviates from the real target position coordinate due to the extra phase brought by the energy accumulation to the target echo in the prior art, ensures that the method is not easily influenced by the extra phase in engineering practice, and improves the estimation precision of a distributed coherent system on the position parameter of the ground slow motion target.
Secondly, the invention utilizes a peak value extraction method, obtains the position parameters of the ground slow moving target by extracting the index corresponding to the maximum value, improves the real-time performance of the system, overcomes the defect that the real-time performance of the system is not high because the correlation result is interpolated by utilizing time domain sampling and the system calculation amount is increased in the prior art, and can improve the real-time processing efficiency of the distributed coherent system.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a simulation of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The steps of the present invention are further described with reference to fig. 1.
And (3) inside the distributed coherent system, receiving an echo matrix formed by echo data scattered by the ground slow moving target by each receiving unit radar, and performing system error correction to obtain the echo matrix after the system error correction.
The specific steps of the system error correction are as follows:
and step 1, estimating a system error matrix between the receiving unit radars, which is caused by the difference of local oscillation phases and time synchronization phases, by using a system error estimation module in the distributed coherent system.
And 2, dividing elements at each position in an echo matrix formed by echo data scattered by the ground slow moving target received by each receiving unit radar by elements at the same position in the system error matrix to obtain the echo matrix after system error correction.
And moving the frequency center of the element at each position of the echo matrix after the system error correction to a baseband frequency position to obtain the baseband echo matrix of each receiving unit radar.
And 2, filtering the baseband echo matrix.
And calculating the echo value of each radar corresponding to each transmitting unit after each element in the baseband echo matrix is subjected to distance domain matching filtering by using a distance domain matching filtering formula, and sequencing all the values from small to large according to the range gate where the values are located to form a three-dimensional echo matrix after distance domain matching filtering.
The distance domain matched filtering formula is as follows:
wherein, y p,q (l, k, n) represents the values of the p transmitting unit radar transmission, the l range gate received by the q receiving unit radar, the k transmitting pulse processing period and the n receiving array element after the distance domain matching filtering processing is carried out on the baseband echo matrix, and p =1,2 T ，m T Represents the total number of transmitting unit radars in the distributed coherent system, q =1,2 R ，m R Denotes the total number of receiving unit radars in the distributed coherent system, L =1, 2.. L, L denotes the total number of range gates, K =1, 2.. K, K denotes the total number of all transmit pulse processing periods, N =1, 2.. K, N denotes the total number of receiving array elements in each receiving unit radar of the distributed coherent system, Σ denotes a summing operation, x denotes a sum of the receiving array elements in each receiving unit radar of the distributed coherent system q (r, k, n) represents the r-th distance frequency domain sampling point, the k-th transmission pulse processing period and the n-th distance frequency domain echo data of the receiving array element received by the q-th receiving unit radar, s p (r) represents distance frequency domain matched filtering data at the r-th distance frequency domain sampling point of the p-th transmitting unit radar, wherein x represents conjugate operation, exp represents exponential operation taking natural logarithm as a base, j represents an imaginary unit symbol, and pi represents a circumferential rate.
And calculating the numerical values of all elements in the three-dimensional echo matrix after the distance domain matching filtering through a Doppler filtering formula, and sequencing all the numerical values from small to large according to the number of the Doppler channel where the numerical values are located to form the three-dimensional echo matrix after the Doppler filtering.
The doppler filtering formula is as follows:
wherein z is p,q (l, a, n) represents the values of the p-th transmitting unit radar transmission, the l-th range gate, the a-th Doppler channel and the n-th receiving array element which are received by the q-th receiving unit radar after the distance domain matching filtering is carried out, and a =1, 2.
And calculating the numerical values of all elements in the three-dimensional echo matrix after Doppler filtering after digital beam forming by using a digital beam forming formula, and sequencing all the numerical values from small to large according to the beam sequence numbers of the numerical values to form the three-dimensional echo matrix after digital beam forming.
The digital beam forming formula is as follows:
wherein, f p,q And (l, a, c) represent numerical values of a p-th transmitting unit radar transmitting, a l-th receiving unit radar receiving, an a-th Doppler channel and a c-th wave beam after digital wave beam forming processing in the Doppler-filtered three-dimensional echo matrix, wherein c =1, 2.
And 3, estimating rough position parameters of the ground slow moving target.
The specific steps of estimating the rough position parameter of the ground slow moving target are as follows:
And 2, replacing the rough position parameters of the ground slow moving target by using the matrix index of the maximum value.
And 4, estimating fine position parameters of the ground slow moving target by using an interpolation compensation method.
And obtaining the three-dimensional echo matrix after interpolation compensation by using an interpolation compensation method.
The interpolation compensation method comprises the following specific steps:
and 1, respectively performing inverse fast Fourier transform on each dimension in the three-dimensional echo matrix after the digital beam forming to obtain the three-dimensional echo matrix after the inverse fast Fourier transform.
And finding out fine position parameters of the ground slow moving target from the three-dimensional echo matrix after interpolation compensation by using a peak value extraction method.
The peak extraction method comprises the following specific steps:
and 1, finding out the maximum values of all elements from the three-dimensional echo matrix after interpolation compensation.
And 2, replacing the fine position parameters of the ground slow moving target by using the matrix index of the maximum value.
And 5, finding out the abscissa value and the ordinate value of the ground slow motion target.
And obtaining a search interval of an abscissa value and an ordinate value of the ground slow motion target by using an assigning method.
The value assigning method comprises the following specific steps:
and 1, replacing a search interval of the horizontal coordinate value of the ground slow motion target by using a value interval of the horizontal coordinate value of the ground observation area by using a distributed coherent system.
And 2, replacing the search interval of the longitudinal coordinate value of the ground slow motion target by using the value interval of the longitudinal coordinate value of the ground observation area of the distributed coherent system.
And respectively finding out the abscissa value and the ordinate value of the ground slow motion target from a rectangular area formed by search intervals of the abscissa value and the ordinate value.
The specific steps of respectively finding out the abscissa value and the ordinate value of the ground slow motion target are as follows:
and step 1, finding out element values taking fine position parameters of the ground slow moving target as matrix indexes from the three-dimensional echo matrix after interpolation compensation, and forming a target echo column vector by using the element values according to the sequence from small to large of radar serial numbers of receiving units.
And 2, calculating a search guide vector corresponding to each position point in the rectangular area according to the following formula:
wherein s is w Representing the search steering vector corresponding to the w-th position point in the rectangular region, wherein lambda represents the emission wavelength and T w1 Represents the distance from the w-th position point in the rectangular area to the 1 st transmitting unit radar, R w1 Represents the distance T from the w-th position point in the rectangular area to the 1 st receiving unit radar w2 Represents the distance T from the w-th position point in the rectangular area to the 2 nd transmitting unit radar wp Represents the distance from the w-th position point in the rectangular area to the p-th transmitting unit radar, R wq The distance from the w-th position point to the q-th receiving unit radar in the rectangular area is shown, and T represents the transposition operation.
And 3, calculating a gain value at each position point in the rectangular area according to the following formula:
Y w ＝s w H z
wherein, Y w Denotes a gain value at the w-th position point within the rectangular area, H denotes a conjugate transpose operation,z represents the target echo train vector.
And 4, finding out a position point corresponding to the maximum gain value from all position points in the rectangular area, and taking an abscissa value and an ordinate value corresponding to the position point as an abscissa value and an ordinate value of the ground slow motion target respectively.
The effect of the present invention will be further described with reference to simulation experiments.
1. Simulation conditions are as follows:
the environment of the simulation experiment of the invention is as follows: MATLAB 2017b, intel (R) Xeon (R) CPU 2.20GHz, window 7 professional edition.
2. Simulation content and result analysis:
the simulation experiment of the invention is to estimate the abscissa value and the ordinate value of the ground slow-speed moving target by utilizing the method of the invention according to the echo of the ground slow-speed moving target received by the distributed coherent system. Each unit radar in the distributed coherent system has transceiving integrity, namely, each unit radar is a transmitting unit radar and a receiving unit radar. The total number of the unit radars is 4, the total number of the range gates is 200, the total number of all the transmitted pulse processing cycles is 128, the number of receiving array elements of each receiving unit radar is 8, the zero-filling multiple is 10 times, the transmitting power of each transmitting unit radar is 200kw, the transmitting carrier frequency is 300MHz, the bandwidth of a transmitting signal is 1MHz, the pulse repetition frequency is 5KHz, and the echo signal-to-noise ratio of a ground slow-speed moving target is 30dB.
FIG. 2 is a simulation of the present invention. Fig. 2 (a) is a comparison graph of echo vector phases in an ideal case, an interpolation compensation case and a case without interpolation compensation when the distances between radar receiving units are all 100 meters for a ground slow moving target. The abscissa in fig. 2 (a) represents the transmit-receive pair, and the ordinate represents the phase of the echo vector. In fig. 2 (a), a curve without a sign indicates a simulation result curve of the echo vector phase in an ideal case, a curve with a square sign indicates a simulation result curve of the echo vector phase in an interpolation compensation case, and a curve with a triangle sign indicates a simulation result curve of the echo vector phase in a case without the interpolation compensation.
As can be seen from fig. 2 (a), when the signal-to-noise ratio is 30dB and the distance between the receiving unit radars is 100 meters, compared with the echo vector phase curve without interpolation compensation, the echo vector phase curve under interpolation compensation has a better goodness of fit with most points of the echo vector phase curve under ideal conditions, and only at the position with the abscissa of 11, the phase of the point is different from that of the corresponding point under ideal conditions due to spatial angle ambiguity. Therefore, when the distance between the receiving unit radars is uniform, the target abscissa value and the target ordinate value can be accurately estimated by using the echo vector under the interpolation compensation condition. Ideally the echo vector phase is only related to the transmit and receive distances. The transmitting distance refers to the distance from each transmitting unit radar to a ground slow-speed moving target. The receiving distance refers to the distance from each receiving unit radar to a ground slow-speed moving target.
Fig. 2 (b) is a phase comparison diagram of echo vectors in an ideal case, an interpolation compensation case and a case without interpolation compensation when the distances between four receiving unit radars are 100 meters, 200 meters and 300 meters respectively for a ground slow-speed moving target. In fig. 2 (b), the abscissa represents the transmit-receive pair, and the ordinate represents the echo vector phase. The curve without marks in fig. 2 (b) represents the simulation result curve of the echo vector phase in the ideal case, the curve marked with diamonds represents the simulation result curve of the echo vector phase in the interpolation compensation case, and the curve marked with circles represents the simulation result curve of the echo vector phase in the non-interpolation compensation case.
As can be seen from fig. 2 (b), when the radar distance parameters of the receiving units are adjusted so that the distances between the four receiving unit radars are 100 meters, 200 meters and 300 meters, the goodness of fit is better for each point of the echo vector phase curve under the interpolation compensation condition and the echo vector phase curve under the ideal condition compared with the echo vector phase curve under the condition without the interpolation compensation. Therefore, when the distance between the receiving unit radars is non-uniform, the horizontal coordinate value and the vertical coordinate value of the target can be accurately estimated by using the echo vector under the interpolation compensation condition.
Claims (10)
1. A distributed coherent radar target parameter estimation method based on interpolation compensation is characterized in that for an echo matrix formed by echo data scattered by a ground slow moving target and received by each receiving unit radar, fine position parameters of the ground slow moving target are estimated by using an interpolation compensation method, and an abscissa value and an ordinate value of the ground slow moving target are found out; the method comprises the following specific steps:
(1) Generating a baseband echo matrix:
(1a) In the distributed coherent system, an echo matrix formed by echo data scattered by a ground slow moving target is received by each receiving unit radar, and system error correction is carried out to obtain an echo matrix after the system error correction;
(1b) Shifting the frequency center of the element at each position of the echo matrix after the system error correction to a baseband frequency position to obtain a baseband echo matrix of each receiving unit radar;
(2) And (3) filtering the baseband echo matrix:
(2a) Calculating an echo value corresponding to each transmitting unit radar after each element in a baseband echo matrix is subjected to range matching filtering by using a range matching filtering formula, and sequencing all values from small to large according to a range gate where the values are located to form a three-dimensional echo matrix after range matching filtering;
(2b) Calculating the numerical values of all elements in the three-dimensional echo matrix after the distance domain matching filtering through a Doppler filtering formula, and sequencing all the numerical values from small to large according to the number of a Doppler channel where the numerical values are located to form the three-dimensional echo matrix after the Doppler filtering;
(2c) Calculating the numerical values of all elements in the three-dimensional echo matrix after Doppler filtering after digital beam forming processing by using a digital beam forming formula, and sequencing all the numerical values from small to large according to the beam sequence numbers of the numerical values to form the three-dimensional echo matrix after digital beam forming;
(3) Estimating rough position parameters of the ground slow moving target;
(4) Estimating fine position parameters of the ground slow moving target by using an interpolation compensation method:
(4a) Obtaining a three-dimensional echo matrix after interpolation compensation by using an interpolation compensation method;
(4b) Finding out fine position parameters of the ground slow moving target from the three-dimensional echo matrix after interpolation compensation by using a peak value extraction method;
(5) Finding out an abscissa value and an ordinate value of the ground slow motion target:
(5a) Obtaining search intervals of horizontal coordinate values and vertical coordinate values of the ground slow moving target by using a value assigning method;
(5b) And respectively finding out the abscissa value and the ordinate value of the ground slow motion target from a rectangular area formed by search intervals of the abscissa value and the ordinate value.
2. The method for estimating the target parameters of the distributed coherent radar based on interpolation compensation according to claim 1, wherein the specific steps of the systematic error correction in step (1 a) are as follows:
firstly, estimating a system error matrix between the radars of each receiving unit due to the difference of local oscillation phases and time synchronization phases by using a system error estimation module in a distributed coherent system;
and secondly, dividing elements at each position in an echo matrix formed by echo data scattered by the ground slow moving target received by each receiving unit radar by the elements at the same position in the system error matrix to obtain the echo matrix after system error correction.
3. The method for estimating target parameters of a distributed coherent radar based on interpolation compensation according to claim 1, wherein the distance domain matched filter formula in step (2 a) is as follows:
wherein, y p,q (l, k, n) represents the numerical values of the p transmitting unit radar transmission, the l range gate received by the q receiving unit radar, the k transmitting pulse processing period and the n receiving array element after the distance domain matching filtering processing is carried out on the baseband echo matrix, and p =1,2 T ，m T Represents the total number of transmitting unit radars in the distributed coherent system, q =1,2 R ，m R Denotes the total number of receiving unit radars in the distributed coherent system, L =1, 2.., L denotes the total number of range gates, K =1, 2., K denotes the total number of all transmit pulse processing periods, N =1, 2., N denotes the total number of receiving array elements in each receiving unit radar of the distributed coherent system, Σ denotes a summing operation, x denotes a sum of the receiving array elements in each receiving unit radar of the distributed coherent system q (r, k, n) represents the r-th distance frequency domain sampling point, the k-th transmission pulse processing period and the n-th distance frequency domain echo data of the receiving array element received by the q-th receiving unit radar, s p (r) represents distance frequency domain matched filtering data at an r-th distance frequency domain sampling point of the p-th transmitting unit radar, wherein x represents conjugate operation, exp represents exponential operation taking natural logarithm as a base, j represents an imaginary unit symbol, and pi represents a circumferential rate.
4. The interpolation compensation-based distributed coherent radar target parameter estimation method according to claim 1, wherein the doppler filtering formula in step (2 b) is as follows:
wherein z is p,q (l, a, n) represents the values of the p-th transmitting unit radar transmission, the l-th range gate, the a-th Doppler channel and the n-th receiving array element which are received by the q-th receiving unit radar after the distance domain matching filtering is carried out, and a =1, 2.
5. The method for estimating parameters of a distributed coherent radar target based on interpolation compensation according to claim 1, wherein the digital beam forming formula in step (2 c) is as follows:
wherein, f p,q (l, a, c) represents the numerical values of the p-th transmitting unit radar transmission, the l-th range gate received by the q-th receiving unit radar, the a-th Doppler channel and the c-th wave beam after digital wave beam forming processing in the three-dimensional echo matrix after Doppler filtering, and c =1, 2.
6. The method for estimating the target parameters of the distributed coherent radar based on interpolation compensation according to claim 1, wherein the step (3) of estimating the rough position parameters of the ground slow moving target comprises the following specific steps:
the method comprises the following steps that firstly, the maximum values of all elements are found out from a three-dimensional echo matrix formed by digital wave beams;
and secondly, replacing the rough position parameters of the ground slow moving target by using the matrix index of the maximum value.
7. The method for estimating the target parameters of the distributed coherent radar based on interpolation compensation according to claim 1, wherein the interpolation compensation method in step (4 a) comprises the following specific steps:
firstly, performing inverse fast Fourier transform on each dimension in a three-dimensional echo matrix after digital beam forming to obtain a three-dimensional echo matrix after the inverse fast Fourier transform;
secondly, respectively filling zero to the tail of each dimension of the three-dimensional echo matrix after the fast Fourier inverse transformation until the three dimensions of the three-dimensional echo matrix reach alpha L respectively,
And alphaN, alpha represents zero-filling multiple, alpha is in [1,1 ]0]The positive integer in the echo signal belongs to a symbol, and a three-dimensional echo matrix after zero padding is obtained;
thirdly, respectively making alpha L points and a,
And performing fast Fourier transform on the points and the alpha N points to obtain a three-dimensional echo matrix after interpolation compensation.
8. The method for estimating the target parameters of the distributed coherent radar based on interpolation compensation according to claim 1, wherein the peak value extraction method in step (4 b) comprises the following steps:
the method comprises the following steps of firstly, finding out the maximum value of all elements from a three-dimensional echo matrix after interpolation compensation;
and secondly, replacing the fine position parameters of the ground slow moving target by using the matrix index of the maximum value.
9. The method for estimating the parameters of the distributed coherent radar target based on interpolation compensation according to claim 1, wherein the assigning in step (5 a) comprises the following steps:
replacing a search interval of an abscissa value of a ground slow motion target by a value interval of an abscissa value of a ground observation area by using a distributed coherent system;
and secondly, replacing the search interval of the longitudinal coordinate value of the ground slow motion target by using the value interval of the longitudinal coordinate value of the ground observation area by using the distributed coherent system.
10. The method for estimating target parameters of a distributed coherent radar based on interpolation compensation according to claim 1, wherein the specific steps of finding out the abscissa and ordinate values of the slow moving target on the ground in step (5 b) are as follows:
step one, finding out element values taking fine position parameters of a ground slow moving target as matrix indexes from a three-dimensional echo matrix after interpolation compensation, and forming echo vectors by the element values according to the sequence from small to large of radar serial numbers of receiving units;
secondly, calculating a search guide vector corresponding to each position point in the rectangular area according to the following formula:
wherein s is w Represents a search steering vector corresponding to the w-th position point in the rectangular region, wherein lambda represents the emission wavelength, and T w1 Represents the distance from the w-th position point in the rectangular area to the 1 st transmitting unit radar, R w1 Represents the distance T from the w-th position point in the rectangular area to the 1 st receiving unit radar w2 Represents the distance from the w-th position point in the rectangular area to the 2 nd transmitting unit radar, T wp Represents the distance from the w-th position point in the rectangular area to the p-th transmitting unit radar, R wq Representing the distance from the w-th position point to the q-th receiving unit radar in the rectangular area, and T representing transposition operation;
thirdly, calculating a gain value at each position point in the rectangular area according to the following formula:
Y w ＝s w H z
wherein, Y w Representing the gain value at the w-th position point in the rectangular area, H representing the conjugate transpose operation, and z representing the echo vector;
and fourthly, finding out a position point corresponding to the maximum gain value from all position points in the rectangular area, and taking an abscissa value and an ordinate value corresponding to the position point as an abscissa value and an ordinate value of the ground slow motion target respectively.
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