多频连续波雷达跟踪控制器设计及相关理论和算法研究
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摘要
多频连续波雷达具有测速、测距精度高等优点,近年来随着靶场测量雷达改进和发展的需要,其研究又逐步受到人们的重视。本论文以多频连续波雷达跟踪控制器设计为背景,展开了相关理论和算法研究,本文所取得的创新性研究成果主要包括:
提出了两种多频连续波雷达测距新算法,即二次相差法和多频到双频测距法。详细地论述了二次相差测距法的原理,介绍了它的频点选取准则,分析了它对输出信噪比的要求和测距所能达到的精度,并给出了相应的仿真实验,仿真结果表明该方法达到了比较高的测距精度。在综合参差多频测距法和双频比相测距特点的基础上,提出了多频到双频测距法。该方法首先用参差多频法在较大的不模糊距离上捕获到目标,然后转入双频测距来提高测距精度,从而在较大的不模糊距离上达到了较高的测距精度。本文还对三种多频测距方法,即参差多频法、多频到双频测距法和二次相差法进行了对比,给出了相应的仿真实验,为多频连续波雷达测距方案的选取以及频点的设计提供了坚实的理论基础。
提出了一种提高连续波雷达测速精度的新方法,即三角形法,详细介绍了该方法的原理,给出了利用谱峰左右若干根谱线进行多普勒频率校正的公式,分析了三角形法对离散频谱的校正效果随信噪比以及参与校正的谱线根数变化情况,并利用该方法在单一固定多普勒频率、步进多普勒频率以及随机生成多普勒频率三种情况下进行了仿真实验。将三角形法和能量重心校正法进行了对比,得出三角形法对噪声不太敏感的结论。
分析了幅相不平衡对多频连续波雷达测量的影响,详细推导了幅相不平衡情况下的双频比相测距公式,给出了幅相误差引入的测距系统误差表达式。基于“频域提取校正参数,时域进行正交校正”的思路,提出了一种幅相不平衡校正新方法,并通过仿真实验对该方法进行了验证。仿真结果表明,该方法达到了比较高的幅相不平衡系数估计精度,校正后由于幅相不平衡造成的镜频和直流分量都得到了有效的抑制。
提出了一种连续波雷达零距离标校新方案,详细推导了该方案,证明了该方案的可行性和有效性,并通过仿真实验对该方案进行了验证。
分析了加速度对多频连续波雷达参数测量的影响,提出了一种基于局部解线性调频的多频连续波雷达实时加速度补偿新算法,详细介绍了它的原理,分析了该算法的运算量,并通过仿真实验将它和全局加速度补偿方法进行了对比。仿真结果表明,在满足一定信噪比的条件下,该算法的加速度补偿效果和全局加速度补偿算法几乎完全相同,但其运算量却比全局补偿算法小很多。
详细介绍了多频连续波雷达的总体结构和跟踪控制器软、硬件系统的设计方法以及它们的工作原理。然后给出了跟踪控制器自检试验结果和外场试验结果,验证了跟踪控制器
Multiple frequency CW radar has the virtues of high velocity and range accuracy,with the developoment of measureing radar in shooting range,it is paid more attetion to recently.In this thesis,research on related theory and algorithms is carried out based on the design of tracking controller of multiple frequency CW radar,following creative results are achieved:Two new ranging algorithms for CW radar are presented,they are the algorithm of quadratic phase difference and the algorithm of multiple frequency to dual frequency. The principle of the algorithm of quadratic phase difference is discussed in details,the criterion of its frequency design is introduced,and the limitation for output SNR and its ranging accuracy are also analyzed.Simulation is also given,showing that the algorithm reaches high ranging accuracy.The algorithm of multiple frequency to dual frequency is proposed based on the integration of stagger frequency ranging method and dual frequency ranging method.With this aogorithm,the target is firstly captured through stagger frequency ranging method within a long unambiguous distance,then the ranging accuracy is improved through dual frequency ranging method,reaching high range accuracy within a longer range.The three algorithms,including the algotithm of stagger frequency ranging, the algorithm of multiple frequency to dual frequency and the algorithm of quadratic phase difference,are compared with each other,related simulation is also given, laying the foundation for selecting ranging schemes and designing frequency.A new method to improve the precision of velocity measurement of CW radar is peoposed,it's named the method of triangle.The paper introduces the principle of this method,gives the formula of correcting the discrete spectrum with several spectrum lines around the spectrum peak, analyzes its correcting effects changed with SNR and spectrum line numbers used.Simulations under single fixed doppler frequency,paced doppler frequency and random doppler frequency are also given.The method of triangle is compared with energy centrobaric correction method,with the conclusion that method of triangle is less sensitive to noise.The paper analyses the influence of amplitude and phase imbalance on the CW radar's measurements,the formula of system ranging error caused by it is also gven.A new correction method is proposed based on the principle of extracting correction coefficients in frequency domain and correcting the errors in time domain,simulaiton results are also given,showing that the mothed reaches high accuracy of estimating correction coefficients,and the image and DC signals caused by the imbalance of amplitude and phase is constrained effectively after correction.
A new scheme for the calibration of zero range in CW radar is introduced and deduced in details,its feasibility and validity is proved.The scheme is also verified through simulations.The influence of acceleration on parameter measurements of CW radar is analyzed,a new real-time acceleration correction algorithm based on partial dechirping for CW radar is introduced,its principles and computional costs are discussed in details.The algorithm is also comapred with acceleration correction algorithm based on total dechirping,with the results that when SNR is met,it attains almost the same effects as the total acceleration correction algotithm,while its computional costs are much lower.The structure of the CW radar and the design of software and hardware of tracking controller is introduced in details,then the trial results including self-testing results and outfield results are given,showing that the tracking controller captures and tracks targets well and achieves high accuracy of parameters measurement.Finally,the paper is summarized and further research of CW radar is forecasted.
提出了两种多频连续波雷达测距新算法,即二次相差法和多频到双频测距法。详细地论述了二次相差测距法的原理,介绍了它的频点选取准则,分析了它对输出信噪比的要求和测距所能达到的精度,并给出了相应的仿真实验,仿真结果表明该方法达到了比较高的测距精度。在综合参差多频测距法和双频比相测距特点的基础上,提出了多频到双频测距法。该方法首先用参差多频法在较大的不模糊距离上捕获到目标,然后转入双频测距来提高测距精度,从而在较大的不模糊距离上达到了较高的测距精度。本文还对三种多频测距方法,即参差多频法、多频到双频测距法和二次相差法进行了对比,给出了相应的仿真实验,为多频连续波雷达测距方案的选取以及频点的设计提供了坚实的理论基础。
提出了一种提高连续波雷达测速精度的新方法,即三角形法,详细介绍了该方法的原理,给出了利用谱峰左右若干根谱线进行多普勒频率校正的公式,分析了三角形法对离散频谱的校正效果随信噪比以及参与校正的谱线根数变化情况,并利用该方法在单一固定多普勒频率、步进多普勒频率以及随机生成多普勒频率三种情况下进行了仿真实验。将三角形法和能量重心校正法进行了对比,得出三角形法对噪声不太敏感的结论。
分析了幅相不平衡对多频连续波雷达测量的影响,详细推导了幅相不平衡情况下的双频比相测距公式,给出了幅相误差引入的测距系统误差表达式。基于“频域提取校正参数,时域进行正交校正”的思路,提出了一种幅相不平衡校正新方法,并通过仿真实验对该方法进行了验证。仿真结果表明,该方法达到了比较高的幅相不平衡系数估计精度,校正后由于幅相不平衡造成的镜频和直流分量都得到了有效的抑制。
提出了一种连续波雷达零距离标校新方案,详细推导了该方案,证明了该方案的可行性和有效性,并通过仿真实验对该方案进行了验证。
分析了加速度对多频连续波雷达参数测量的影响,提出了一种基于局部解线性调频的多频连续波雷达实时加速度补偿新算法,详细介绍了它的原理,分析了该算法的运算量,并通过仿真实验将它和全局加速度补偿方法进行了对比。仿真结果表明,在满足一定信噪比的条件下,该算法的加速度补偿效果和全局加速度补偿算法几乎完全相同,但其运算量却比全局补偿算法小很多。
详细介绍了多频连续波雷达的总体结构和跟踪控制器软、硬件系统的设计方法以及它们的工作原理。然后给出了跟踪控制器自检试验结果和外场试验结果,验证了跟踪控制器
Multiple frequency CW radar has the virtues of high velocity and range accuracy,with the developoment of measureing radar in shooting range,it is paid more attetion to recently.In this thesis,research on related theory and algorithms is carried out based on the design of tracking controller of multiple frequency CW radar,following creative results are achieved:Two new ranging algorithms for CW radar are presented,they are the algorithm of quadratic phase difference and the algorithm of multiple frequency to dual frequency. The principle of the algorithm of quadratic phase difference is discussed in details,the criterion of its frequency design is introduced,and the limitation for output SNR and its ranging accuracy are also analyzed.Simulation is also given,showing that the algorithm reaches high ranging accuracy.The algorithm of multiple frequency to dual frequency is proposed based on the integration of stagger frequency ranging method and dual frequency ranging method.With this aogorithm,the target is firstly captured through stagger frequency ranging method within a long unambiguous distance,then the ranging accuracy is improved through dual frequency ranging method,reaching high range accuracy within a longer range.The three algorithms,including the algotithm of stagger frequency ranging, the algorithm of multiple frequency to dual frequency and the algorithm of quadratic phase difference,are compared with each other,related simulation is also given, laying the foundation for selecting ranging schemes and designing frequency.A new method to improve the precision of velocity measurement of CW radar is peoposed,it's named the method of triangle.The paper introduces the principle of this method,gives the formula of correcting the discrete spectrum with several spectrum lines around the spectrum peak, analyzes its correcting effects changed with SNR and spectrum line numbers used.Simulations under single fixed doppler frequency,paced doppler frequency and random doppler frequency are also given.The method of triangle is compared with energy centrobaric correction method,with the conclusion that method of triangle is less sensitive to noise.The paper analyses the influence of amplitude and phase imbalance on the CW radar's measurements,the formula of system ranging error caused by it is also gven.A new correction method is proposed based on the principle of extracting correction coefficients in frequency domain and correcting the errors in time domain,simulaiton results are also given,showing that the mothed reaches high accuracy of estimating correction coefficients,and the image and DC signals caused by the imbalance of amplitude and phase is constrained effectively after correction.
A new scheme for the calibration of zero range in CW radar is introduced and deduced in details,its feasibility and validity is proved.The scheme is also verified through simulations.The influence of acceleration on parameter measurements of CW radar is analyzed,a new real-time acceleration correction algorithm based on partial dechirping for CW radar is introduced,its principles and computional costs are discussed in details.The algorithm is also comapred with acceleration correction algorithm based on total dechirping,with the results that when SNR is met,it attains almost the same effects as the total acceleration correction algotithm,while its computional costs are much lower.The structure of the CW radar and the design of software and hardware of tracking controller is introduced in details,then the trial results including self-testing results and outfield results are given,showing that the tracking controller captures and tracks targets well and achieves high accuracy of parameters measurement.Finally,the paper is summarized and further research of CW radar is forecasted.
引文
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